private void AcqFifoTool_Ran(object sender, System.EventArgs e)
{
cogRecordDisplay1.InteractiveGraphics.Clear();
cogRecordDisplay1.StaticGraphics.Clear();
calbCheckerBoard = cogToolBlockEditV21.Subject.Tools["CogCalibCheckerboardTool1"] as CogCalibCheckerboardTool;
calbCheckerBoard.InputImage = AcqFifoTool.OutputImage;
calbCheckerBoard.Run();
CalibNPointTool = cogToolBlockEditV21.Subject.Tools["CogCalibNPointToNPointTool1"] as CogCalibNPointToNPointTool;
CalibNPointTool.InputImage = calbCheckerBoard.OutputImage;
CalibNPointTool.Run();
if (flagDisplayResult) //add on 25/11/14
{
cogRecordDisplay1.Image = cogPMAlignTool.InputImage;
}
cogPMAlignTool.InputImage = CalibNPointTool.OutputImage as CogImage8Grey;
PatMaxTool.InputImage = AcqFifoTool.OutputImage as CogImage8Grey;
PatMaxTool.InputImage = CalibNPointTool.OutputImage as CogImage8Grey;
ImageFileTool.InputImage = AcqFifoTool.OutputImage;
static_AcqFifoTool_Ran_numacqs += 1;
if (static_AcqFifoTool_Ran_numacqs > 4)
{
GC.Collect();
static_AcqFifoTool_Ran_numacqs = 0;
}
}
/// <summary>
/// 开启vpp编辑画面
/// </summary>
/// <param name="cogCalibCheckerboard">棋盘格矫正工具</param>
/// <param name="cogCalibNPointToNPoint">坐标系标定工具</param>
/// <param name="enableCheckerboard">启用棋盘格工具</param>
/// <param name="enableCalibNPointToNPoint">启用坐标系工具</param>
/// <param name="cogToolBlock">编辑vpp</param>
/// <param name="backupToolBlock">备份vpp</param>
/// <param name="toolBlockId">工具id</param>
/// <param name="titleText">vpp名称</param>
public void ShowEdit(CogCalibCheckerboardTool cogCalibCheckerboard, CogCalibNPointToNPointTool cogCalibNPointToNPoint, bool enableCheckerboard, bool enableCalibNPointToNPoint, CogToolBlock cogToolBlock, CogToolBlock backupToolBlock, int toolBlockId, string titleText)
{
//mod 20200918 by wangsizhe start
////_save = false;
//if (cogToolBlock == null)
//{
// cogToolBlock = new CogToolBlock();
//}
//if (cogCalibCheckerboard == null)
//{
// cogCalibCheckerboard = new CogCalibCheckerboardTool();
//}
//if (cogCalibNPointToNPoint == null)
//{
// cogCalibNPointToNPoint = new CogCalibNPointToNPointTool();
//}
//_enableCheckerboard = enableCheckerboard;
//_enableCalibNPointToNPoint = enableCalibNPointToNPoint;
//_cogCalibCheckerboard = cogCalibCheckerboard;
//_cogCalibNPointToNPoint = cogCalibNPointToNPoint;
//Text = titleText;
//_backupToolBlock = backupToolBlock;
//_cogToolBlock = cogToolBlock;
//_toolBlockId = toolBlockId;
//cogToolBlockEditV21.Subject = _cogToolBlock;
//Show();
cogToolBlockEditV21.Invoke(new Action(delegate
{
if (cogToolBlock == null)
{
cogToolBlock = new CogToolBlock();
}
if (cogCalibCheckerboard == null)
{
cogCalibCheckerboard = new CogCalibCheckerboardTool();
}
if (cogCalibNPointToNPoint == null)
{
cogCalibNPointToNPoint = new CogCalibNPointToNPointTool();
}
_enableCheckerboard = enableCheckerboard;
_enableCalibNPointToNPoint = enableCalibNPointToNPoint;
_cogCalibCheckerboard = cogCalibCheckerboard;
_cogCalibNPointToNPoint = cogCalibNPointToNPoint;
Text = titleText;
_backupToolBlock = backupToolBlock;
_cogToolBlock = cogToolBlock;
_toolBlockId = toolBlockId;
cogToolBlockEditV21.Subject = _cogToolBlock;
Show();
}));
//mod 20200918 by wangsizhe end
}
private void button2_Click(object sender, EventArgs e)
{
// CogSerializer.SaveObjectToFile(toolBlock,@"C:\PROJECTS\Stahli.Net\Bin\Debug\CognexStahli\Camera1.vpp");
CogSerializer.SaveObjectToFile(toolBlock, System.IO.Directory.GetCurrentDirectory() + "\\CognexStahli\\Camera1.vpp");
cogAcqTool = cogToolBlockEditV21.Subject.Tools["CogAcqFifoTool1"] as CogAcqFifoTool;
calbCheckerBoard = cogToolBlockEditV21.Subject.Tools["CogCalibCheckerboardTool1"] as CogCalibCheckerboardTool;
CalibNPointTool = cogToolBlockEditV21.Subject.Tools["CogCalibNPointToNPointTool1"] as CogCalibNPointToNPointTool;
cogPMAlignTool = cogToolBlockEditV21.Subject.Tools["CogPMAlignTool1"] as CogPMAlignTool;
cogPMAlignTool.InputImage = CalibNPointTool.OutputImage as CogImage8Grey;
}
public FrmLoadTray()
{
visionActionDelegate = new VisionActionDelegate(VisionActionDelegateFunc);
InitializeComponent();
//Add any initialization after the InitializeComponent() call
cogToolBlockEditV21.LocalDisplayVisible = false;
mIFTool = new CogImageFileTool();
//mIFTool.Operator.Open(Environment.GetEnvironmentVariable("VPRO_ROOT") + @"\images\coins.idb", CogImageFileModeConstants.Read);
mAcqTool = new CogAcqFifoTool();
toolBlock = cogToolBlockEditV21.Subject;
try
{
// toolBlock = CogSerializer.LoadObjectFromFile(@"C:\PROJECTS\Stahli.Net\Bin\Debug\CognexStahli\Camera1.vpp") as CogToolBlock; //Need to upload insernt name as given by asaf
toolBlock = CogSerializer.LoadObjectFromFile(System.IO.Directory.GetCurrentDirectory() + "\\CognexStahli\\Camera1.vpp") as CogToolBlock; //Need to upload insernt name as given by asaf
//if it is new insert, upload a defult
}
catch (Exception ex)
{
MessageBox.Show("Tool block is error");
}
cogToolBlockEditV21.Subject = toolBlock;
cogToolBlockEditV21.Subject.Ran += new EventHandler(Subject_Ran);
cogToolBlockEditV21.SubjectChanged += new EventHandler(cogToolBlockEditV21_SubjectChanged);
foreach (ICogTool tool in toolBlock.Tools)
{
calbCheckerBoard = tool as CogCalibCheckerboardTool;
if (calbCheckerBoard != null)
{
break;
}
}
foreach (ICogTool tool in toolBlock.Tools)
{
CalibNPointTool = tool as CogCalibNPointToNPointTool;
if (CalibNPointTool != null)
{
break;
}
}
foreach (ICogTool tool in toolBlock.Tools)
{
cogPMAlignTool = tool as CogPMAlignTool;
if (cogPMAlignTool != null)
{
break;
}
}
loadOrderDataDelegate = new LoadOrderDataDelegate(LoadOrderDataDelegateFunc);
// LoadPatternFromFile(); //13.07.15 (Ziv)
}
public void Subject_Ran(object sender, EventArgs e) //Run tool
{
cogAcqTool = cogToolBlockEditV21.Subject.Tools["CogAcqFifoTool1"] as CogAcqFifoTool;
calbCheckerBoard.InputImage = cogToolBlockEditV21.Subject.Inputs["Image"].Value as CogImage8Grey;
calbCheckerBoard = cogToolBlockEditV21.Subject.Tools["CogCalibCheckerboardTool1"] as CogCalibCheckerboardTool;
calbCheckerBoard.Run();
CalibNPointTool = cogToolBlockEditV21.Subject.Tools["CogCalibNPointToNPointTool1"] as CogCalibNPointToNPointTool;
CalibNPointTool.InputImage = calbCheckerBoard.OutputImage;
cogPMAlignTool = cogToolBlockEditV21.Subject.Tools["CogPMAlignTool1"] as CogPMAlignTool;
cogPMAlignTool.InputImage = CalibNPointTool.OutputImage as CogImage8Grey;
cogRecordDisplay1.Image = cogPMAlignTool.InputImage;
cogPMAlignTool.Run();
cogRecordDisplay1.Record = cogPMAlignTool.CreateLastRunRecord();
cogRecordDisplay1.Fit(true);
if (dataGridView1.Visible == false)
{
dataGridView1.Visible = true;
}
dataGridView1.Rows.Clear();
TrayIndexData TIS;
AppGen.Inst.UnLoadCarrier.CurrIndex = 0;
AppGen.Inst.UnLoadCarrier.IndexList.Clear();
try
{
for (int i = 0; i < cogPMAlignTool.Results.Count; i++)
{
TIS = new TrayIndexData();
dataGridView1.Rows.Add();
dataGridView1[0, i].Value = cogPMAlignTool.Results[i].ID.ToString();
dataGridView1[1, i].Value = cogPMAlignTool.Results[i].Score.ToString();
dataGridView1[2, i].Value = cogPMAlignTool.Results[i].GetPose().Rotation *(180 / Math.PI);
dataGridView1[3, i].Value = cogPMAlignTool.Results[i].GetPose().TranslationX;
dataGridView1[4, i].Value = cogPMAlignTool.Results[i].GetPose().TranslationY;
TIS.X_VisRes = cogPMAlignTool.Results[i].GetPose().TranslationX;
TIS.Y_VisRes = cogPMAlignTool.Results[i].GetPose().TranslationY;
TIS.Angle_VisRes = cogPMAlignTool.Results[i].GetPose().Rotation *(180 / Math.PI);
AppGen.Inst.UnLoadCarrier.IndexList.Add(TIS);
}
txtPatMaxScoreValue.Text = cogPMAlignTool.Results.Count.ToString();
}
catch (Exception)
{
MessageBox.Show("No Input Image available for setup.", "PatMax Setup Error");
}
}
private void button1_Click(object sender, EventArgs e) //Teach
{
if (!SettingUp)
{
if ((!AppGen.Inst.MDImain.frmVisionMain.FrmUnloadCarrier.flagFullTray))
{
MessageBox.Show("Please acquire full frame");
return;
}
cogPMAlignTool.Pattern.TrainImage = CalibNPointTool.OutputImage as CogImage8Grey;
//While setting up PMAlign, disable other GUI controls.
SettingUp = true;
DisableAll(settingUpPatMax);
//Add TrainRegion to display's interactive graphics
//Add SearchRegion to display's static graphics for display only.
cogRecordDisplay1.InteractiveGraphics.Clear();
cogRecordDisplay1.StaticGraphics.Clear();
cogRecordDisplay1.InteractiveGraphics.Add(cogPMAlignTool.Pattern.TrainRegion as ICogGraphicInteractive, "test", false);
//Now
axes = new CogCoordinateAxes();
axes.Transform = cogPMAlignTool.Pattern.Origin;
axes.GraphicDOFEnable = CogCoordinateAxesDOFConstants.All &
~CogCoordinateAxesDOFConstants.Skew;
axes.Interactive = true;
// Add a standard VisionPro "manipulable" mouse cursor.
axes.MouseCursor = CogStandardCursorConstants.ManipulableGraphic;
axes.XAxisLabel.MouseCursor = CogStandardCursorConstants.ManipulableGraphic;
axes.YAxisLabel.MouseCursor = CogStandardCursorConstants.ManipulableGraphic;
cogRecordDisplay1.InteractiveGraphics.Add((ICogGraphicInteractive)axes, "test", false);
//if ((cogPMAlignTool.SearchRegion != null))
//{
// //cogPMAlignTool.SearchRegion.FitToImage(cogRecordDisplay1.Image, 0.990,0.999);
// cogRecordDisplay1.StaticGraphics.Add(cogPMAlignTool.SearchRegion as ICogGraphic, "test");
// cogToolBlockEditV21.Subject.Inputs["Image"].Value = cogRecordDisplay1.Image;
//}
//OK has been pressed, completing Setup.
}
else
{
SettingUp = false;
cogRecordDisplay1.InteractiveGraphics.Clear();
cogRecordDisplay1.StaticGraphics.Clear();
//Make sure we catch errors from Train, since they are likely. For example,
//No InputImage, No Pattern Features, etc.
try
{
CalibNPointTool = cogToolBlockEditV21.Subject.Tools["CogCalibNPointToNPointTool1"] as CogCalibNPointToNPointTool;
CalibNPointTool.Run();
cogPMAlignTool.Pattern.Train();
//SavePatternToFile();
//save the teach pattern according to order name (ziv)
AppGen.Inst.MDImain.frmVisionMain.savePattern("Camera3", AppGen.Inst.OrderParams.InsertCode, cogPMAlignTool.Pattern);
}
catch (CogException cogex)
{
MessageBox.Show("Following Specific Cognex Error Occured:" + cogex.Message);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "PatMax Setup Error");
}
EnableAll(settingUpPatMax);
}
}
public void Subject_Ran(object sender, EventArgs e)
{
if (RunAgainFlag)
{
PatMaxTool.RunParams.AcceptThreshold = Convert.ToDouble(numericUpDown1.Value * Convert.ToDecimal(0.9));
cogPMAlignTool.RunParams.AcceptThreshold = Convert.ToDouble(numericUpDown1.Value * Convert.ToDecimal(0.9));
}
cogAcqTool = cogToolBlockEditV21.Subject.Tools["CogAcqFifoTool1"] as CogAcqFifoTool;
calbCheckerBoard.InputImage = cogToolBlockEditV21.Subject.Inputs["Image"].Value as CogImage8Grey;
calbCheckerBoard = cogToolBlockEditV21.Subject.Tools["CogCalibCheckerboardTool1"] as CogCalibCheckerboardTool;
calbCheckerBoard.Run();
CalibNPointTool = cogToolBlockEditV21.Subject.Tools["CogCalibNPointToNPointTool1"] as CogCalibNPointToNPointTool;
CalibNPointTool.InputImage = calbCheckerBoard.OutputImage;
cogPMAlignTool = cogToolBlockEditV21.Subject.Tools["CogPMAlignTool1"] as CogPMAlignTool;
cogPMAlignTool.InputImage = CalibNPointTool.OutputImage as CogImage8Grey;
//cogRecordDisplay1.Image = cogPMAlignTool.InputImage;
cogPMAlignTool.Run();
if (flagDisplayResult) //add on 25/11/14
{
cogRecordDisplay1.Image = cogPMAlignTool.InputImage;
cogRecordDisplay1.Record = cogPMAlignTool.CreateLastRunRecord();
cogRecordDisplay1.Fit(true);
}
dataGridView1.Rows.Clear();
try
{
if ((cogPMAlignTool.Results.Count == 0) && (!AppGen.Inst.MDImain.frmVisionMain.FrmLoadtray.flagFullTray)) //no insert founded
{
AppGen.Inst.LoadTray.IndexList[AppGen.Inst.LoadTray.CurrIndex].IsFound = false;
UnfoundInsertList.Add(AppGen.Inst.LoadTray.IndexList[AppGen.Inst.LoadTray.CurrIndex]); //not in use!!
}
else //insert founded
{
AppGen.Inst.LoadTray.IndexList[AppGen.Inst.LoadTray.CurrIndex].X_VisRes = cogPMAlignTool.Results[0].GetPose().TranslationX;
AppGen.Inst.LoadTray.IndexList[AppGen.Inst.LoadTray.CurrIndex].Y_VisRes = cogPMAlignTool.Results[0].GetPose().TranslationY;
AppGen.Inst.LoadTray.IndexList[AppGen.Inst.LoadTray.CurrIndex].Angle_VisRes = cogPMAlignTool.Results[0].GetPose().Rotation *(180 / Math.PI); //converted to degree
}
for (int i = 0; i < cogPMAlignTool.Results.Count; i++)
{
dataGridView1.Rows.Add();
dataGridView1[0, i].Value = cogPMAlignTool.Results[i].ID.ToString();
dataGridView1[1, i].Value = cogPMAlignTool.Results[i].Score.ToString();
dataGridView1[2, i].Value = cogPMAlignTool.Results[i].GetPose().Rotation *(180 / Math.PI);
dataGridView1[3, i].Value = cogPMAlignTool.Results[i].GetPose().TranslationX;
dataGridView1[4, i].Value = cogPMAlignTool.Results[i].GetPose().TranslationY;
}
txtPatMaxScoreValue.Text = cogPMAlignTool.Results.Count.ToString();
if ((cogPMAlignTool.SearchRegion != null))
{
//cogPMAlignTool.SearchRegion.FitToImage(cogRecordDisplay1.Image, 0.990,0.999);
cogRecordDisplay1.StaticGraphics.Add(cogPMAlignTool.SearchRegion as ICogGraphic, "test");
cogToolBlockEditV21.Subject.Inputs["Image"].Value = cogRecordDisplay1.Image;
}
}
catch (Exception)
{
MessageBox.Show("Insert wasn't found", "Run tool Error");
}
}
//初始化函数2
private void initToolEdit()
{
//JobManagerEdit.Subject = m_JobManager;
//一级视觉
CogToolGroup m_ToolGroup_1 = (CogToolGroup)m_Job_1.VisionTool;
cogToolGroupEditV21.Subject = m_ToolGroup_1;
if (m_ToolGroup_1 == null)
{
MessageBox.Show("toolgroup1工具读取失败，窗口将自动关闭");
this.Close();
return;
}
blobTool_1 = (CogBlobTool)m_ToolGroup_1.Tools["CogBlobTool1"];
if (blobTool_1 == null)
{
MessageBox.Show("blob1工具读取失败,请退出软件");
}
pmaTool_1 = (CogPMAlignTool)m_ToolGroup_1.Tools["caliPMATool"];
if (pmaTool_1 == null)
{
MessageBox.Show("pma1工具读取失败,请退出软件");
}
calibTool_1 = (CogCalibNPointToNPointTool)m_ToolGroup_1.Tools["CogCalibNPointToNPointTool1"];
if (calibTool_1 == null)
{
MessageBox.Show("calib1工具读取失败，请退出软件");
}
acqFifoTool_1 = (CogAcqFifoTool)m_ToolGroup_1.Tools["CogAcqFifoTool1"];
if (acqFifoTool_1 == null)
{
MessageBox.Show("acqfifo1工具读取失败，窗口将自动关闭");
this.Close();
return;
}
mAcqFifo_1 = acqFifoTool_1.Operator;
if (mAcqFifo_1 == null)
{
MessageBox.Show("macqfifo1为 null，窗口将自动关闭");
this.Close();
return;
}
mAcqFifo_1.Timeout = 1000;
//二级视觉
CogToolGroup m_ToolGroup_2 = (CogToolGroup)m_Job_2.VisionTool;
cogToolGroupEditV22.Subject = m_ToolGroup_2;
if (m_ToolGroup_2 == null)
{
MessageBox.Show("toolgroup2工具读取失败，窗口将自动关闭");
this.Close();
return;
}
blobTool_2 = (CogBlobTool)m_ToolGroup_2.Tools["CogBlobTool1"];
if (blobTool_2 == null)
{
MessageBox.Show("blob2工具读取失败，请退出软件");
}
pmaTool_2 = (CogPMAlignTool)m_ToolGroup_2.Tools["caliPMATool"];
if (pmaTool_2 == null)
{
MessageBox.Show("pma2工具读取失败，请退出软件");
}
calibTool_2 = (CogCalibNPointToNPointTool)m_ToolGroup_2.Tools["CogCalibNPointToNPointTool1"];
if (calibTool_2 == null)
{
MessageBox.Show("calib2工具读取失败，请退出软件");
}
acqFifoTool_2 = (CogAcqFifoTool)m_ToolGroup_2.Tools["CogAcqFifoTool1"];
if (acqFifoTool_2 == null)
{
MessageBox.Show("acqfifo2工具读取失败，窗口将自动关闭");
this.Close();
return;
}
mAcqFifo_2 = acqFifoTool_2.Operator;
if (mAcqFifo_2 == null)
{
MessageBox.Show("macqfifo2为 null，窗口将自动关闭");
this.Close();
return;
}
mAcqFifo_2.Timeout = 1000;
////对比度Test
//ICogAcqContrast mContrast = mAcqFifo_2.OwnedContrastParams;
//double val = mContrast.Contrast;
//Console.WriteLine(val);
//三级视觉
CogToolGroup m_ToolGroup_3 = (CogToolGroup)m_Job_3.VisionTool;
cogToolGroupEditV23.Subject = m_ToolGroup_3;
if (m_ToolGroup_3 == null)
{
MessageBox.Show("toolgroup3工具读取失败，窗口将自动关闭");
this.Close();
return;
}
blobTool_3 = (CogBlobTool)m_ToolGroup_3.Tools["CogBlobTool1"];
if (blobTool_3 == null)
{
MessageBox.Show("blob3工具读取失败,请退出软件");
}
pmaTool_3 = (CogPMAlignTool)m_ToolGroup_3.Tools["caliPMATool"];
if (pmaTool_3 == null)
{
MessageBox.Show("pma3工具读取失败，请退出软件");
}
calibTool_3 = (CogCalibNPointToNPointTool)m_ToolGroup_3.Tools["CogCalibNPointToNPointTool1"];
if (calibTool_3 == null)
{
MessageBox.Show("calib3工具读取失败，请退出软件");
}
acqFifoTool_3 = (CogAcqFifoTool)m_ToolGroup_3.Tools["CogAcqFifoTool1"];
if (acqFifoTool_3 == null)
{
MessageBox.Show("acqfifo3工具读取失败，窗口将自动关闭");
this.Close();
return;
}
mAcqFifo_3 = acqFifoTool_3.Operator;
if (mAcqFifo_3 == null)
{
MessageBox.Show("macqfifo3为 null，窗口将自动关闭");
this.Close();
return;
}
mAcqFifo_3.Timeout = 1000;
}
public ACalibNPointToNPoint(Object objTool)
{
m_cogCalibNPointToNPointTool = objTool as CogCalibNPointToNPointTool;
Init();
}
public ACalibNPointToNPoint()
{
m_cogCalibNPointToNPointTool = new CogCalibNPointToNPointTool();
Init();
}
