Mil学习之Mcal

Posted 2021-09-07 Thomas会写字

 将常用的Mcal模块函数梳理了一下 

代码没有调试，可能会有Bug

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Matrox.MatroxImagingLibrary;
using System.IO;


namespace WindowsFormsApplication1
{
    public class MilCal
    {
        MIL_ID MilSystem = MIL.M_NULL;
        MIL_ID MilCalibration = MIL.M_NULL;
        String strCalFilePath = "";
        
        public MilCal(MIL_ID MilSystem, String strMac)
        {
            if (MilSystem == MIL.M_NULL)
                return;

            this.MilSystem = MilSystem;
            this.strCalFilePath = strMac;
            MIL.McalRestore(strCalFilePath, MilSystem, MIL.M_DEFAULT, ref MilCalibration);
        }
        public MilCal(MIL_ID MilCalID)
        {
            if (MilCalID == MIL.M_NULL)
                return;

            StringBuilder ObjectFilePath = new StringBuilder();
            MIL.MobjInquire(MilCalID, MIL.M_OWNER_SYSTEM, ref MilSystem);
            MIL.MobjInquire(MilCalID, MIL.M_OBJECT_FILE_PATH, ObjectFilePath);
            strCalFilePath = ObjectFilePath.ToString();
        }
        public MilCal(MIL_ID MilSystem, MIL_ID MilCalID)
        {
            if (MilSystem == MIL.M_NULL)
                return;

            this.MilSystem = MilSystem;
            this.MilCalibration = MilCalID;

            StringBuilder ObjectFilePath = new StringBuilder();
            MIL.MobjInquire(MilCalID, MIL.M_OBJECT_FILE_PATH, ObjectFilePath);
            strCalFilePath = ObjectFilePath.ToString();
        }
        public void MilCalFree()
        {
            if (MilCalibration != MIL.M_NULL)
            {
                MIL.McalFree(MilCalibration);
                MilCalibration = MIL.M_NULL;
            }
        }

        public int MilCalCamera(ref MIL_ID MilInputImg, MIL_INT ChessGrid_Rows, MIL_INT ChessGrid_Cols, double ChessGrid_RowSpacing, double ChessGrid_ColSpacing)
        {
            if (MilInputImg == MIL.M_NULL)
            {
                return 1;
            }

            MilCalFree();
            MIL.McalAlloc(MilSystem, MIL.M_DEFAULT, MIL.M_DEFAULT, ref MilCalibration);

            if (ChessGrid_Rows * ChessGrid_Cols > 0)
                MIL.McalGrid(MilCalibration, MilInputImg, 0, 0, 0,
                                ChessGrid_Rows, ChessGrid_Cols,
                                ChessGrid_RowSpacing, ChessGrid_ColSpacing,
                                MIL.M_DEFAULT, MIL.M_CHESSBOARD_GRID);
            else
            {
                MIL.McalControl(MilCalibration, MIL.M_GRID_PARTIAL, MIL.M_ENABLE);
                MIL.McalGrid(MilCalibration, MilInputImg, 0.0, 0.0,
                    MIL.M_NULL, MIL.M_UNKNOWN, MIL.M_UNKNOWN,
                    ChessGrid_RowSpacing, ChessGrid_ColSpacing,
                    MIL.M_FULL_CALIBRATION, MIL.M_CHESSBOARD_GRID);
            }

            if (MilCalGetCalState() == true)
                return 0;

            MilCalFree();
            return 2;
        }
        public void MilCalSave(string strFilePathAndFileName)
        {
            MIL.McalSave(strFilePathAndFileName, MilCalibration, MIL.M_DEFAULT);
        }

        public void MilCalTransPixel2World(double dPixelX, double dPixelY, ref double dWordX, ref double dWordY)
        {
            if (MilCalibration != MIL.M_NULL)
            {
                MIL.McalTransformCoordinate(MilCalibration,
                   MIL.M_PIXEL_TO_WORLD,
                   dPixelX, dPixelY, ref dWordX, ref dWordY);
            }
        }
        public void MilCalTransWorld2Pixel(double dWordX, double dWordY, ref double dPixelX, ref double dPixelY)
        {
            if (MilCalibration != MIL.M_NULL)
            {
                MIL.McalTransformCoordinate(MilCalibration,
                   MIL.M_WORLD_TO_PIXEL,
                   dWordX, dWordY, ref dPixelX, ref dPixelY);
            }
        }
        public void MilCalTransPixel2World(double dLenPixel, ref double dLenWorld)
        {
            if (MilCalibration != MIL.M_NULL)
            {
                MIL.McalTransformResult(MilCalibration, MIL.M_PIXEL_TO_WORLD, MIL.M_LENGTH, dLenPixel, ref dLenWorld);

            }
        }
        public void MilCalTransWorld2Pixel(double dLenWorld, ref double dLenPixel)
        {
            if (MilCalibration != MIL.M_NULL)
            {
                MIL.McalTransformResult(MilCalibration, MIL.M_WORLD_TO_PIXEL, MIL.M_LENGTH, dLenWorld, ref dLenPixel);

            }
        }

        public bool MilCalGetCalState()
        {
            MIL_ID CalibrationStatus = MIL.M_NULL;
            MIL.McalInquire(MilCalibration, MIL.M_CALIBRATION_STATUS + MIL.M_TYPE_MIL_INT, ref CalibrationStatus);
            return CalibrationStatus == MIL.M_CALIBRATED;
        }
        public void MilCalGetCalInfo(ref int nRowNum, ref int nColNum, ref double dRowSpacing, ref double dColSpacing)
        {
            MIL.McalInquire(MilCalibration, MIL.M_COLUMN_NUMBER + MIL.M_TYPE_MIL_INT, ref nColNum);
            MIL.McalInquire(MilCalibration, MIL.M_ROW_NUMBER + MIL.M_TYPE_MIL_INT, ref nRowNum);
            MIL.McalInquire(MilCalibration, MIL.M_COLUMN_SPACING, ref dColSpacing);
            MIL.McalInquire(MilCalibration, MIL.M_ROW_SPACING, ref dRowSpacing);
        }
        public void MilCalGetCalPoints(ref double[] dPtsX, ref double[] dPtsY)
        {
            MIL_INT PtNum = 0;
            MIL.McalInquire(MilCalibration, MIL.M_CALIBRATION_IMAGE_POINTS_X + MIL.M_NB_ELEMENTS + MIL.M_TYPE_MIL_INT, ref PtNum);
            dPtsX = new double[PtNum];
            MIL.McalInquire(MilCalibration, MIL.M_CALIBRATION_IMAGE_POINTS_X, dPtsX);

            MIL.McalInquire(MilCalibration, MIL.M_CALIBRATION_IMAGE_POINTS_Y + MIL.M_NB_ELEMENTS + MIL.M_TYPE_MIL_INT, ref PtNum);
            dPtsY = new double[PtNum];
            MIL.McalInquire(MilCalibration, MIL.M_CALIBRATION_IMAGE_POINTS_Y, dPtsY);
        }

        public void MilCalDrawAxis(MIL_ID MilGraContext, MIL_ID MilGraList, double dColor)
        {
            MIL.MgraColor(MilGraContext, dColor);
            MIL.McalDraw(MilGraContext, MilCalibration, MilGraList, MIL.M_DRAW_RELATIVE_COORDINATE_SYSTEM + MIL.M_DRAW_FRAME, MIL.M_DEFAULT, MIL.M_DEFAULT);
        }
        public void MilCalDrawPoints(MIL_ID MilGraContext, MIL_ID MilGraList, double dColor)
        {
            MIL.MgraColor(MilGraContext, dColor);
            MIL.McalDraw(MilGraContext, MilCalibration, MilGraList, MIL.M_DRAW_IMAGE_POINTS, MIL.M_DEFAULT, MIL.M_DEFAULT);
        }
        public void MilCalDrawRegion(MIL_ID MilGraContext, MIL_ID MilGraList, double dColor)
        {
            MIL.MgraColor(MIL.M_DEFAULT, dColor);
            MIL.McalDraw(MilGraContext, MilCalibration, MilGraList, MIL.M_DRAW_VALID_REGION, MIL.M_DEFAULT, MIL.M_DEFAULT);
        }
    }
}