public bool CalibRotateCenter(string cellName, Point2D pt2Mark1, Point2D pt2Mark2,
double rotateAngle, BaseParComprehensive parComprehensive)
{
try
{
//获取旋转中心cell
BaseParCalibrate baseParComprehensive = parComprehensive.GetCellParCalibrate(cellName);
//获取旋转中心算子
ParCalibRotate parCalibRotate = (ParCalibRotate)baseParComprehensive;
//根据参数求旋转中心
Point2D rc = new FunCalibRotate().GetOriginPoint(rotateAngle, pt2Mark1, pt2Mark2);
//把旋转中心存入算子
parCalibRotate.XRC = rc.DblValue1;
parCalibRotate.YRC = rc.DblValue2;
//讲计算结果写入xml
parComprehensive.WriteXmlDoc(cellName);
//将参数保存到结果类
new FunCalibRotate().SaveParToResult(HtResult_Cam1, parCalibRotate);
//输出计算结果
string info = string.Format("相机{0}旋转中心标定完成，X:{1},Y:{2}", g_NoCamera,
parCalibRotate.XRC.ToString(), parCalibRotate.YRC.ToString());
ShowState(info);
return(true);
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
public void DualLocation(int index)
{
if (Camera1Done & Camera2Done)
{
ShowState("开始计算工位" + index + "偏差");
BaseParCalibrate baseParComprehensive = ParComprehensive2.P_I.GetCellParCalibrate(Camera2RC);
ParCalibRotate parCalibRotate = (ParCalibRotate)baseParComprehensive;
double angle = Math.Atan(
(Pt2Mark2.DblValue2
- Pt2Mark1.DblValue2)
* AMP
/ Protocols.confDisMark) * 180 / Math.PI
- StationDataMngr.CalibPos_L[index - 1].DblValue4;
ShowState("工位" + index + "逆时针角度偏差: " + angle);
FunCalibRotate fcr = new FunCalibRotate();
Point2D MarkAfterRotate = fcr.GetPoint_AfterRotation(
angle / 180 * Math.PI, parCalibRotate.PointRC, Pt2Mark2);
double deltaY = MarkAfterRotate.DblValue1 - StationDataMngr.CalibPos_L[index - 1].DblValue1;
double deltaX = MarkAfterRotate.DblValue2 - StationDataMngr.CalibPos_L[index - 1].DblValue2;
deltaX *= AMP;
deltaY *= -AMP;
Point2D delta = TransDelta(new Point2D(deltaX, deltaY),
Protocols.ConfPlaceAngle, Protocols.ConfPreciseAngle);
ShowState(string.Format("工位{0}X方向补偿{1},Y方向补偿{2}", index, delta.DblValue1.ToString(ReserveDigits), delta.DblValue2.ToString(ReserveDigits)));
int num = (StationNum - 1) * 2 + index;
Point4D pos = new Point4D
{
DblValue1 = delta.DblValue1
+ StationDataMngr.PlacePos_L[index - 1].DblValue1
+ ParAdjust.Value1("adj" + num),
DblValue2 = delta.DblValue2
+ StationDataMngr.PlacePos_L[index - 1].DblValue2
+ ParAdjust.Value2("adj" + num),
DblValue3 = StationDataMngr.PlacePos_L[index - 1].DblValue3,
DblValue4 = Protocols.ConfPlaceAngle + angle + ParAdjust.Value3("adj" + num)
};
LogicRobot.L_I.WriteRobotCMD(pos, Protocols.BotCmd_StationPos);
ShowState("发送机器人放片坐标：" + pos.DblValue1.ToString("f3") + @"/" + pos.DblValue2.ToString("f3"));
}
}
public static bool GetRcFromPar(string cellName, BaseParComprehensive parComprehensive, out Point2D rc)
{
rc = new Point2D();
try
{
//获取单元格
BaseParCalibrate baseParComprehensive = parComprehensive.GetCellParCalibrate(cellName);
//获取旋转中心算子
ParCalibRotate parCalibRotate = (ParCalibRotate)baseParComprehensive;
//计算旋转之后的mark位置
rc = parCalibRotate.PointRC;
}
catch (Exception ex)
{
Log.L_I.WriteError(ClassName, ex);
return(false);
}
return(true);
}
public bool SetRotateCenter(string cellName, Point2D rc, BaseParComprehensive parComprehensive)
{
//获取旋转中心cell
BaseParCalibrate baseParComprehensive = parComprehensive.GetCellParCalibrate(cellName);
//获取旋转中心算子
ParCalibRotate parCalibRotate = (ParCalibRotate)baseParComprehensive;
//把旋转中心存入算子
parCalibRotate.XRC = rc.DblValue1;
parCalibRotate.YRC = rc.DblValue2;
//讲计算结果写入xml
parComprehensive.WriteXmlDoc(cellName);
//将参数保存到结果类
new FunCalibRotate().SaveParToResult(HtResult_Cam1, parCalibRotate);
//输出计算结果
string info = string.Format("相机{0}旋转中心标定完成，X:{1},Y:{2}", g_NoCamera,
parCalibRotate.XRC.ToString(), parCalibRotate.YRC.ToString());
ShowState(info);
return(true);
}
public void CalibRC()
{
Thread.Sleep(500);
//double curR= ModuleBase.GetCurAngleByY(Protocols.GlassXInPresize, AMP, Pt2Mark1, Pt2MarkRC);
BaseParCalibrate baseParComprehensive = ParComprehensive2.P_I.GetCellParCalibrate(Camera2RC);
ParCalibRotate parCalibRotate = (ParCalibRotate)baseParComprehensive;
Point2D orgPoint = new FunCalibRotate().GetOriginPoint(Protocols.BotRCCalibAngle, Pt2Mark2, Pt2MarkRC);
ShowState("计算旋转中心X:" + orgPoint.DblValue1 + ",Y:" + orgPoint.DblValue2);
Point2D offset = new Point2D(Protocols.GlassXInPresize / 2 / AMP, Protocols.GlassYInPresize / 2 / AMP);
double r = ModuleBase.GetCurAngleByY(Protocols.GlassXInPresize, AMP, Pt2Mark1, Pt2Mark2);
offset = TransDelta(offset, r + 0.5, 0);
Point2D rc = new Point2D(offset.DblValue1 + Pt2Mark2.DblValue1, offset.DblValue2 + Pt2Mark2.DblValue2);
ShowState("理论旋转中心X:" + rc.DblValue1 + ",Y:" + rc.DblValue2);
if (Math.Abs(orgPoint.DblValue1 - rc.DblValue1) < 1000 &&
Math.Abs(orgPoint.DblValue2 - rc.DblValue2) < 1000)
{
ShowState("使用计算旋转中心");
parCalibRotate.XRC = orgPoint.DblValue1;
parCalibRotate.YRC = orgPoint.DblValue2;
}
else
{
ShowState("使用理论旋转中心");
parCalibRotate.XRC = rc.DblValue1; // orgPoint.DblValue1;
parCalibRotate.YRC = rc.DblValue2; // orgPoint.DblValue2;
}
ParComprehensive2.P_I.WriteXmlDoc(Camera2RC);
//将参数保存到结果类
new FunCalibRotate().SaveParToResult(HtResult_Cam2, parCalibRotate);
ShowState(string.Format("旋转中心标定完成,X_{0},Y_{1}", parCalibRotate.XRC.ToString(), parCalibRotate.YRC.ToString()));
LogicRobot.L_I.WriteRobotCMD(Protocols.BotCmd_CalibRC);
}
/// <summary>
/// 自动校准旋转中心,1401表示位置1第一次拍照，
/// </summary>
/// <param name="pos">算子序号，不表示拍照位置</param>
/// <param name="index"></param>
/// <param name="htResult">哈希表结果</param>
/// <returns></returns>
bool CalibRotate(int pos, int index, out Hashtable htResult)
{
htResult = null;
Stopwatch sw = new Stopwatch();
try
{
//获取该算子所有的单元格
List <string> nameCell_L = g_BaseParComprehensive.GetAllNameCellByType("旋转中心变换");
if (nameCell_L.Count < pos)
{
WinMsgBox.ShowMsgBox("算子个数小于序号!");
return(false);
}
string nameCell = nameCell_L[pos - 1];//单元格名称
ParCalibRotate par = g_BaseParComprehensive.GetCellParCalibrate(nameCell) as ParCalibRotate;
int indexCell = int.Parse(nameCell.Replace("C", ""));//单元格索引
ParCellExeReference parCellExeReference = par.g_ParCellExecuteReference;
ParGetResultFromCell parGetResultFromCell = par.g_ParGetResultFromCellForRC;//用来计算旋转中心
//调用执行
g_BaseDealComprehensive.DealComprehensivePosCell_ForTestRun(g_UCDisplayCamera, parCellExeReference, par.g_ParCellExecuteReference.g_CellExecute_L, out htResult);//执行算法且显示
string cellError = "";
if (!GetErrorCell(htResult, pos, out cellError))
{
WinMsgBox.ShowMsgBox(string.Format("相机{0}位置{1}，单元格{2}校准计算错误", g_NoCamera.ToString(), pos.ToString(), par.NameCell));
return(false);
}
FunCellDataReferenc fun = new FunCellDataReferenc();
fun.GetResultValue(htResult, parGetResultFromCell, index - 1);
string info = string.Format("相机{0}位置{1}，单元格{2}", g_NoCamera.ToString(), pos.ToString(), par.NameCell);
if (index == 1)
{
info += "旋转中心校准第一次拍照";
ShowState(info);
SaveStdImage(par, "旋转中心位置1");
}
else if (index == 2)
{
info += "旋转中心校准第二次拍照";
ShowState(info);
SaveStdImage(par, "旋转中心位置2");
FunCalibRotate funCalibRotate = new FunCalibRotate();
Point2D point = funCalibRotate.GetOriginPoint(par);
par.XRC = point.DblValue1;
par.YRC = point.DblValue2;
//显示求取的旋转中心
info = string.Format("旋转中心:X{0},Y{1}", par.XRC.ToString(), par.YRC.ToString());
ShowState(info);
//保存此单元格
bool blSave = g_BaseParComprehensive.WriteXmlDoc(par.NameCell);
if (blSave)
{
ShowState(string.Format("将参数旋转中心校准{0}保存到本地成功", par.NameCell));
}
else
{
ShowAlarm(string.Format("将参数旋转中心校准{0}保存到本地失败", par.NameCell));
return(false);
}
//将参数保存到结果中
bool blSaveResult = g_BaseDealComprehensive.InitCalibRotate(indexCell);
if (blSaveResult)
{
ShowState(string.Format("将参数旋转中心校准{0}保存到结果成功", par.NameCell));
}
else
{
ShowAlarm(string.Format("将参数旋转中心校准{0}保存到结果失败", par.NameCell));
return(false);
}
}
return(true);
}
catch (Exception ex)
{
ShowAlarm(string.Format("相机{0}旋转中心计算进入Catch", g_NoCamera.ToString()));
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
