private void TryDebugBtn_Click(object sender, EventArgs e)
{
txtFindTime.Clear();
Stopwatch sw = new Stopwatch();
sw.Start();
TeachLoclPara.Blobs = TeachBlobLocaltPara;
LocalManager LocalCtrl = new LocalManager();
LocalCtrl.SetLocalModel(TeachLoclPara.localSetting.localModel);
LocalCtrl.SetParam(GrabedImg, TeachLoclPara);
LocalCtrl.doLocal();
sw.Stop();
LocalResult MyRlt = new LocalResult();
MyRlt = LocalCtrl.GetResult();
BlobLocalRlt BlobRlt = (BlobLocalRlt)MyRlt;
if (GrabedImg != null && GrabedImg.IsInitialized())
{
view1.ResetView();
view1.AddViewImage(GrabedImg);
view1.SetDraw("blue");
view1.AddViewObject(MyRlt.ShowContour);
view1.Repaint();
}
if (BlobRlt.ListWid != null && BlobRlt.ListWid.Count > 0)
{
double X = BlobRlt.ListCol[0] * TeachLoclPara.Blobs.PixelSize;
double H = BlobRlt.ListRow[0] * TeachLoclPara.Blobs.PixelSize;
view1.SetString(100, 150, "red", "坐标X（mm）：" + X.ToString() + " Y（mm）：" + H.ToString());
if (BlobRlt.ListWid.Count > 1)
{
X = BlobRlt.ListWid[1] * TeachLoclPara.Blobs.PixelSize;
H = BlobRlt.ListHei[1] * TeachLoclPara.Blobs.PixelSize;
view1.SetString(100, 750, "blue", "高度（mm）：" + H.ToString());
}
}
txtFindTime.Text = sw.ElapsedMilliseconds.ToString();
}
private void RectTeachBtn_Click(object sender, EventArgs e)
{
int SelectIndex = CaliPtModelCbx.SelectedIndex;
if (GrabedImg == null || !GrabedImg.IsInitialized())
{
MessageBox.Show("标定前，请先采集图片");
return;
}
System.Threading.Tasks.Task.Factory.StartNew(new Action(() => {
try{
int row1 = 0, col1 = 0, row2, col2;
if (SelectIndex == 0)
{
TeachCaliPara.ListRectRegion = new List <RectangleF>();
for (int i = 0; i < 4; i++)
{
view1.SetString(100, 100, "red", "左击拖动绘制矩形，右击释放");
view1.SetString(100, 150, "red", "绘制第" + i.ToString() + "矩形");
view1.DrawRect1(out row1, out col1, out row2, out col2);
HObject Rect, RectContour;
HOperatorSet.GenRectangle1(out Rect, row1, col1, row2, col2);
HOperatorSet.GenContourRegionXld(Rect, out RectContour, "border");
view1.Refresh();
view1.AddViewImage(GrabedImg);
view1.AddViewObject(RectContour);
view1.Repaint();
RectangleF rect = new RectangleF(col1, row1, col2 - col1, row2 - row1);
TeachCaliPara.ListRectRegion.Add(rect);
}
}
}
catch
{ }
}));
}
public void GetFocusValueProcess()
{
HTuple Value = new HTuple();
HObject Rect = new HObject();
HObject ReduceImg = new HObject();
HObject CropImg = new HObject();
HObject RectContour = new HObject();
HTuple Width, Hei;
while (IsContinue)
{
try
{
#region
if (Img != null && Img.IsInitialized())
{
Img.Dispose();
}
//if (RectContour != null && RectContour.IsInitialized()) RectContour.Dispose();
Camera.Instance.GrabImg(CcdName, out Img);
HOperatorSet.GenRectangle1(out Rect, row1, col1, row2, col2);
HOperatorSet.GenContourRegionXld(Rect, out RectContour, "border");
HOperatorSet.ReduceDomain(Img, Rect, out ReduceImg);
Rect.Dispose();
HOperatorSet.CropDomain(ReduceImg, out CropImg);
ReduceImg.Dispose();
MyVisionBase.evaluate_definition(CropImg, out Value);
CropImg.Dispose();
view.ResetView();
view.AddViewImage(Img);
view.AddViewObject(RectContour);
HOperatorSet.GetImageSize(Img, out Width, out Hei);
view.Repaint();
view.SetString(Width.D / 2, Hei.D / 2, "red", Value.ToString());
System.Threading.Thread.Sleep(100);
//Img.Dispose();
//RectContour.Dispose();
#endregion
}
catch { }
}
}
/// <summary>
/// 扎针定位
/// </summary>
/// <param name="PlcItem"></param>
/// <param name="Obj"></param>
public void DoProject(LD.Config.PlcDataItem PlcItem, Object Obj)
{
LD.Common.PlcDevice plcDevice = PlcItem.PlcDevice;
if (plcDevice == LD.Common.PlcDevice.V_01_TriggerGrab) //
{
NowVisionProcess = new DoVisionProcess();
//起始信号清零
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_01_TriggerGrab, 0);
FileLib.Logger.Pop("接受到PLC信号，开始扎针对位", false, "运行日志");
short ClearValue = 1;
object obj = new object();
while (true)
{
obj = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.V_01_TriggerGrab);
ClearValue = (short)obj;
if (ClearValue == 0)
{
break;
}
else
{
System.Threading.Thread.Sleep(10);
}
}
System.Threading.Thread.Sleep(1);
//读取机台编号
int StageNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestStageNumRead);
FileLib.Logger.Pop(" 读取机台编号：" + StageNum.ToString(), false, "运行日志");
System.Threading.Thread.Sleep(1);
//读取拍照位编号
short GrabNum = (short)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestGrabNum);
System.Threading.Thread.Sleep(1);
//获取视觉示教的定位参数
NowProjectPara = ProjectParaManager.Instance.GetProjectPara(StageNum);
//获取当前拍照点的视觉坐标
NowVisionPara = NowProjectPara.GetVisionPara(GrabNum);
NowVisionProcess.SetVisionPara(NowVisionPara);
NowVisionProcess.Do();
if (GrabNum == 0)
{
FirstLocalResult = NowVisionProcess.MyLocalResult;
FileLib.Logger.Pop(" 左边拍照定位完成，开始右边拍照定位：", false, "运行日志");
}
else
{
SecondLocalResult = NowVisionProcess.MyLocalResult;
//示教点到旋转中心的坐标
Point2Db TeachPt2d1 = new Point2Db(FirstLocalResult.TeachPosToRot.Col, FirstLocalResult.TeachPosToRot.Row);
Point2Db TeachPt2d2 = new Point2Db(SecondLocalResult.TeachPosToRot.Col, SecondLocalResult.TeachPosToRot.Row);
FileLib.Logger.Pop(" 示教产品到旋转中心的坐标(左右两点)：" + TeachPt2d1.Col.ToString("f3") + " " + TeachPt2d1.Row.ToString("f3") + " "
+ TeachPt2d2.Col.ToString("f3") + " " + TeachPt2d2.Row.ToString("f3"), false, "运行日志");
//当前产品到旋转中心的坐标
Point2Db NowPosPt2d1 = new Point2Db(FirstLocalResult.PosToRot.Col, FirstLocalResult.PosToRot.Row);
Point2Db NowPosPt2d2 = new Point2Db(SecondLocalResult.PosToRot.Col, SecondLocalResult.PosToRot.Row);
FileLib.Logger.Pop(" 当前产品到旋转中心的坐标(左右两点)：" + NowPosPt2d1.Col.ToString("f3") + " " + NowPosPt2d1.Row.ToString("f3") + " "
+ NowPosPt2d2.Col.ToString("f3") + " " + NowPosPt2d2.Row.ToString("f3"), false, "运行日志");
List <Point2Db> TeachPtList = new List <Point2Db>();
List <Point2Db> NowPtList = new List <Point2Db>();
//当前产品移动到产品示教时的位置，先计算出偏移矩阵
TeachPtList.Add(TeachPt2d1);
TeachPtList.Add(TeachPt2d2);
NowPtList.Add(NowPosPt2d1);
NowPtList.Add(NowPosPt2d2);
MyHomMat2D NowHomat = new MyHomMat2D();
bool IsTrue = false;
MyVisionBase.VectorToRigidHomMat(NowPtList, TeachPtList, out NowHomat, out IsTrue);
double AddX = 0, AddY = 0, AddTheta = 0;
MyVisionBase.CalculateThreeTapePos(NowPosPt2d1, NowPosPt2d2, TeachPt2d1, TeachPt2d2, out AddX, out AddY, out AddTheta);
FileLib.Logger.Pop(" 计算出的偏移补偿量：" + AddX.ToString("f3") + " " + AddY.ToString("f3") + " " + AddTheta.ToString("f3"), false, "运行日志");
///再根据偏移矩阵计算出偏移量
double AddX1 = 0, AddY1 = 0, AddTheta1 = 0;
MyVisionBase.HomMat2dToAffinePara(NowHomat, out AddTheta1, out AddY1, out AddX1);
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
view1.SetString(500, 500, "red", " AddX： " + AddX.ToString("f4") + " mm ");
view1.SetString(500, 600, "red", " AddY： " + AddY.ToString("f4") + " mm ");
view1.SetString(500, 700, "red", " AddTheta： " + AddTheta.ToString("f4") + " 度 ");
///
double addx0 = -AddX * 1000;
double addy0 = AddY * 1000;
double addtheta0 = AddTheta * 1000;
int addx = (int)addx0;
int addy = (int)addy0;
int addtheta = (int)addtheta0;
NowVisionPara = NowProjectPara.GetVisionPara(0);
int offsetx = (int)(NowVisionPara.localPara.localSetting.Offset_x * 1000);
int offsety = (int)(NowVisionPara.localPara.localSetting.Offset_y * 1000);
int offsettheta = (int)(NowVisionPara.localPara.localSetting.Offset_theta * 1000);
int newAddX = addx + offsetx;
int NewAddY = addy + offsety;
int NewAddTheta = -addtheta + offsettheta;
if (StageNum == 0 || StageNum == 2)//左边两个平台X轴为正常方向，后面两个平台为反方向
{
newAddX = addx + offsetx;
}
else
{
newAddX = -addx + offsetx;
}
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddX, newAddX);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddY, NewAddY);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddTheta, NewAddTheta);//图像坐标系为逆时针，机械坐标系为顺时针
System.Threading.Thread.Sleep(5);
int ReadAddX = 0;
int ReadAddY = 0;
int ReadAddTheta = 0;
object ObjRead = 0;
int WriteCount = 0;
while (true)
{
ObjRead = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestAddX);
System.Threading.Thread.Sleep(5);
ReadAddX = (int)ObjRead;
ObjRead = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestAddY);
System.Threading.Thread.Sleep(5);
ReadAddY = (int)ObjRead;
ObjRead = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestAddTheta);
System.Threading.Thread.Sleep(5);
ReadAddTheta = (int)ObjRead;
if (ReadAddX == newAddX && ReadAddY == NewAddY && ReadAddTheta == NewAddTheta)
{
FileLib.Logger.Pop(" 补偿值成功写入", false, "运行日志");
break;
}
else
{
WriteCount++;
if (WriteCount % 10 == 0)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddX, newAddX);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddY, NewAddY);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddTheta, NewAddTheta);//图像坐标系为逆时针，机械坐标系为顺时针
System.Threading.Thread.Sleep(5);
}
if (WriteCount > 300)
{
break;
}
}
}
if (SecondLocalResult.IsLocalOk)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 1); //告诉PLC定位结果OK
FileLib.Logger.Pop(" 告诉PLC补偿量已经发给PLC：", false, "运行日志");
}
}
}
}
public void DoFOFProject1(LD.Config.PlcDataItem PlcItem, Object Obj)
{
LD.Common.PlcDevice plcDevice = PlcItem.PlcDevice;
if (plcDevice == LD.Common.PlcDevice.V_02_TriggerGrab)
{
FileLib.Logger.Pop("接受到PLC信号，偏移检测", false, "FOF运行日志");
NowUpVisionProcess = new DoUpDnVisionProcess();
NowUpLocalRlt = new LocalResult();
NowDnLocalRlt = new LocalResult();
//起始信号清零
FileLib.Logger.Pop("启动信号清零", false, "FOF运行日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_02_TriggerGrab, 0);
System.Threading.Thread.Sleep(1);
short ClearValue = 1;
object obj = new object();
FileLib.Logger.Pop("启动地址清零成功", false, "FOF运行日志");
//读取机台编号 4 代表FOF左侧FOF偏移检测 ，5代表FOF右侧偏移检测
int StageNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestStageNumRead);
FileLib.Logger.Pop(" 读取机台编号：" + StageNum.ToString(), false, "FOF运行日志");
System.Threading.Thread.Sleep(1);
//获取视觉示教的定位参数
NowProjectPara = ProjectParaManager.Instance.GetProjectPara(StageNum);
//获取当前拍照点的视觉坐标
double OffsetX = 0;
double OffsetY = 0;
try {
FileLib.Logger.Pop("开始FOF偏移检测上相机定位", false, "FOF运行日志");
NowVisionPara = NowProjectPara.GetVisionPara(0);
NowUpVisionProcess.SetVisionPara(NowVisionPara);
NowUpVisionProcess.Do();
NowUpLocalRlt = NowUpVisionProcess.MyLocalResult;
BlobLocalRlt FofRlt = (BlobLocalRlt)NowUpLocalRlt;
double x = FofRlt.ListWid[0] * NowVisionPara.localPara.Blobs.PixelSize;
double y = FofRlt.ListHei[1] * NowVisionPara.localPara.Blobs.PixelSize;
OffsetX = x + NowVisionPara.localPara.localSetting.Offset_x;
OffsetY = y + NowVisionPara.localPara.localSetting.Offset_y;
FileLib.Logger.Pop("偏移量： " + "OffsetX: " + OffsetX.ToString("f4") + " " + "OffsetY: "
+ OffsetY.ToString("f4"), false, "FOF运行日志");
}
catch (Exception e0) {
Logger.PopError1(e0, false, "视觉错误日志");
OffsetX = 999999;
OffsetY = 999999;
}
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
view1.SetString(500, 500, "red", "OffsetX: " + OffsetX.ToString("f4") + " mm");
view1.SetString(500, 600, "red", "OffsetY: " + OffsetY.ToString("f4") + " mm");
if (Math.Abs(OffsetX) < NowVisionPara.localPara.localSetting.Offset_x_range && Math.Abs(OffsetY)
< NowVisionPara.localPara.localSetting.Offset_y_range)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_inspect_result, 1); //检测结果Ok
FileLib.Logger.Pop("检测结果写给Plc(FOF_inspect_result)：OK", false, "FOF运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_inspect_result, 2); //检测结果NG
FileLib.Logger.Pop("检测结果写给Plc(FOF_inspect_result)：NG", false, "FOF运行日志");
}
FileLib.Logger.Pop("循环读取启动地址，保证清零成功", false, "FOF运行日志");
int ReadCount = 1;
while (true)
{
obj = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.V_02_TriggerGrab);
ClearValue = (short)obj;
if (ClearValue == 0)
{
break;
}
else
{
System.Threading.Thread.Sleep(10);
if (ReadCount % 10 == 0)
{
FileLib.Logger.Pop("重新执行一次清零", false, "FOF运行日志");
ReadCount = 1;
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_02_TriggerGrab, 0);
}
if (ReadCount > 100)
{
FileLib.Logger.Pop("清零次数超过10，清零失败", false, "FOF运行日志");
}
}
ReadCount++;
}
FileLib.Logger.Pop("将偏移量写给PLC", false, "FOF运行日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_offset_x, (int)(OffsetX * 1000));
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_offset_y, (int)(OffsetY * 1000));
FileLib.Logger.Pop("偏移量写给PLC完成", false, "FOF运行日志");
FileLib.Logger.Pop("。", false, "FOF运行日志");
FileLib.Logger.Pop("。", false, "FOF运行日志");
FileLib.Logger.Pop("。", false, "FOF运行日志");
}
}
public virtual void Do()
{
//1.打开光源
FileLib.Logger.Pop(" 打开光源：", false, "运行日志");
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
if (GrabImg != null)
{
GrabImg.Dispose();
}
FileLib.Logger.Pop(" 开始采图：", false, "运行日志");
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
//10.获取当前的机械坐标
double X = 0, Y = 0, Z = 0, Theta = 0;
if (CaliParaManager.Instance.GetCaliMode(MyVisionPara.localPara.localSetting.CoordiCam) == CaliModelEnum.HandEyeCali)
{
MotionManager.Instance.SetCoordi(MyVisionPara.localPara.localSetting.TeachCoordi);
FileLib.Logger.Pop("当前的坐标系为：" + MyVisionPara.localPara.localSetting.TeachCoordi.ToString(), false, "运行日志");
MotionManager.Instance.GetCoordiPos(out X, out Y, out Z, out Theta);
FileLib.Logger.Pop("当前的机械坐标", false, "运行日志");
FileLib.Logger.Pop("X：" + X.ToString("f4") + " Y：" + Y.ToString("f4") +
" Z：" + Z.ToString("f4") + " Theta：" + Theta.ToString("f4"), false, "运行日志");
}
if (CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg))
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCameraGrabed, 1); //拍照OK
FileLib.Logger.Pop(" 采图OK：", false, "运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCameraGrabed, 2); //拍照NG
FileLib.Logger.Pop(" 采图NG：", false, "运行日志");
}
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam0)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
}
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam1)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
}
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam3);
}
view1.ResetView();
view1.Refresh();
view1.AddViewImage(GrabImg);
view1.Repaint();
MyVisionBase.SaveImg(GrabImg, "扎针对位图片");
//3.关闭光源
LightCtrlManager.Instance.SetAllLightTo0();
FileLib.Logger.Pop(" 关闭光源：", false, "运行日志");
//4.0设置定位模式
MyLocal.SetLocalModel(MyVisionPara.localPara.localSetting.localModel);
//5.0设置定位参数
MyLocal.SetParam(GrabImg, MyVisionPara.localPara);
//6.执行定位
try
{
MyLocal.doLocal();
//7.告诉PLC定位结果完成
if (MyVisionPara.ProjectVisionItem == ProjectVisionEnum.ProjectVision1)
{
FileLib.Logger.Pop(" 扎针右侧视觉定位完成，先不发给PLC信号，等计算出偏移量后，将信号发给PLC：", false, "运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 1); //告诉PLC定位结果OK
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果OK）：", false, "运行日志");
}
}
catch (Exception e0)
{
Logger.PopError1(e0, false, "视觉错误日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 2); //告诉PLC定位结果NG
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果NG）：", false, "运行日志");
MyLocalResult.IsLocalOk = false;
}
MyLocalResult = MyLocal.GetResult();
view1.AddViewObject(MyLocalResult.ShowContour);
//结合标定坐标计算出产品的实际位置
//8.获取标定矩阵
MyHomMat2D HomMat = new MyHomMat2D();
HomMat = CaliParaManager.Instance.GetHomMAT(MyVisionPara.localPara.localSetting.CoordiCam); //获取示教的标定矩阵
FileLib.Logger.Pop(" 获取示教的标定矩阵：" + MyVisionPara.localPara.localSetting.CoordiCam.ToString(), false, "运行日志");
FileLib.Logger.Pop(HomMat.ToString(), false, "运行日志");
HalconDotNet.HTuple HHomMat = new HalconDotNet.HTuple();
//标定矩阵的转换
MyVisionBase.MyHomMatToHalcon(HomMat, out HHomMat);
//9.图像坐标系的原点由左上角变到左下角
MyVisionBase.AdjImgRow(GrabImg, ref MyLocalResult.row);
St_VectorAngle PixelVector = new St_VectorAngle(MyLocalResult.row, MyLocalResult.col, MyLocalResult.angle);
FileLib.Logger.Pop("当前的像素坐标", false, "运行日志");
FileLib.Logger.Pop("Col：" + MyLocalResult.col.ToString("f4") + " Row：" + MyLocalResult.row.ToString("f4") +
" Theta：" + MyLocalResult.angle.ToString("f4"), false, "运行日志");
CaliValue CaliPara = CaliParaManager.Instance.GetCaliValue(MyVisionPara.localPara.localSetting.CoordiCam);
VectorAngle GrabPos = new VectorAngle(X, Y, Theta);
//9 计算出当前产品距离旋转中心的坐标
EyeToHandPos.TransEyeToHandPos(PixelVector, CaliPara, GrabPos, out PosToRot);
//10计算出示教产品到旋转中心的坐标
St_VectorAngle TeachPixelPos = new St_VectorAngle(MyLocalResult.TeachRow, MyLocalResult.TeachCol, MyLocalResult.TeachAngle);
VectorAngle TeachGrabPos = new VectorAngle(MyLocalResult.TeachX, MyLocalResult.TeachY, MyLocalResult.TeachTheta);
MyVisionBase.AdjImgRow(GrabImg, ref TeachPixelPos.Row);
EyeToHandPos.TransEyeToHandPos(TeachPixelPos, CaliPara, TeachGrabPos, out TeachPosToRot);
view1.Repaint();
view1.SetString(100, 100, "red", "PosToRot: " + " X： " + PosToRot.Col.ToString("f3") + " Y： " +
PosToRot.Row.ToString("f3") + " Theta： " + PosToRot.Angle.ToString("f3"));
MyLocalResult.PosToRot = PosToRot;
MyLocalResult.TeachPosToRot = TeachPosToRot;
FileLib.Logger.Pop("示教的产品相对旋转中心的偏移量", false, "运行日志");
FileLib.Logger.Pop("PosToRot: " + " X： " + PosToRot.Col.ToString("f3") + " Y： " +
PosToRot.Row.ToString("f3") + " Theta： " + PosToRot.Angle.ToString("f3"), false, "运行日志");
FileLib.Logger.Pop("当前的产品相对旋转中心的偏移量", false, "运行日志");
FileLib.Logger.Pop("PosToRot: " + " X： " + TeachPosToRot.Col.ToString("f3") + " Y： " +
TeachPosToRot.Row.ToString("f3") + " Theta： " + TeachPosToRot.Angle.ToString("f3"), false, "运行日志");
//11.计算出X Y Theta的补偿量，
////图像坐标转到机械坐标系
//MyVisionBase.AffineTransPt(MyLocalResult.col, MyLocalResult.row, HHomMat, out MyLocalResult.x, out MyLocalResult.y);
////
//MyVisionBase.AffineTransPt(MyLocalResult.TeachCol, MyLocalResult.TeachRow, HHomMat, out MyLocalResult.TeachX, out MyLocalResult.TeachY);
}
private void btnCreateTemplate_Click(object sender, EventArgs e)
{
if (btnCreateTemplate.Text == "新建")
{
btnCreateTemplate.Enabled = true;
panelOperator.Enabled = true;
groupBox1.Enabled = true;
this.Enabled = true;
btnCreateTemplate.Text = "保存";
view1.roiController.reset();
view1.roiController.NotifyRCObserver += UpdateViewData;
view1.roiController.setROISign(ViewROI.ROIController.MODE_ROI_POS);
if (CurrentImage == null)
{
Logger.PopError("请先采集图片！", true);
return;
}
view1.SetDraw("red", "margin");
//1.0界面去使能
this.BeginInvoke(new Action(() => { ActionIsDrawingRoi(true); }));
view1.Refresh();
view1.AddImage(CurrentImage);
if (RoiStr.Equals("Rect1"))
{
view1.SetString(12, 12, "red", "绘制矩形区域作为模板区域");
Thread.Sleep(10);
view1.roiController.setROIShape(new ViewROI.ROIRectangle1(200));
}
#region
//else if (RoiStr.Equals("Rect2"))
//{
// HOperatorSet.ClearWindow(ShowWindow);
// MyVisionBase.hDispObj(ShowWindow, CurrentImage);
// MyVisionBase.disp_message(ShowWindow, "绘制矩形区域作为模板区域", "window", 12, 12, "red", "false");
// HTuple CenterRow, CenterCol, Rect2Phi, RectL1, RectL2;
// HOperatorSet.DrawRectangle2(ShowWindow, out CenterRow, out CenterCol, out Rect2Phi, out RectL1, out RectL2);
// ModelRoi = new HRegion();
// ModelRoi.GenRectangle2(CenterRow, CenterCol, Rect2Phi, RectL1, RectL2);
//}
//else if (RoiStr.Equals("Circle"))
//{
// MyVisionBase.disp_message(ShowWindow, "绘制圆形区域作为模板区域", "window", 12, 12, "red", "false");
// HTuple CircleRow, CircleCol, CircleR;
// HOperatorSet.DrawCircle(ShowWindow, out CircleRow, out CircleCol, out CircleR);
// ModelRoi = new HRegion();
// ModelRoi.GenCircle(CircleRow, CircleCol, CircleR);
//}
//else if (RoiStr.Equals("CircleMod"))
//{
// HTuple CircleRowIn, CircleColIn, CircleRIn, CircleRow, CircleCol, CircleR;
// MyVisionBase.disp_message(ShowWindow, "绘制外圆区域作为圆环模板区域的外圆", "window", 12, 12, "red", "false");
// HOperatorSet.DrawCircle(ShowWindow, out CircleRowIn, out CircleColIn, out CircleRIn);
// HOperatorSet.ClearWindow(ShowWindow);
// MyVisionBase.hDispObj(ShowWindow, CurrentImage);
// MyVisionBase.disp_message(ShowWindow, "绘制内圆区域作为圆环模板区域的内圆", "window", 12, 12, "red", "false");
// HOperatorSet.DrawCircleMod(ShowWindow, CircleRowIn, CircleColIn, CircleRIn, out CircleRow, out CircleCol, out CircleR);
// HRegion InnerCirRegion = new HRegion();
// ModelRoi = new HRegion();
// InnerCirRegion.GenCircle(CircleRowIn, CircleColIn, CircleRIn);
// ModelRoi.GenCircle(CircleRow, CircleCol, CircleR);
// ModelRoi.Difference(InnerCirRegion);
//}
//else if (RoiStr.Equals("Rect2+Rect2"))
//{
// HTuple CenterRow, CenterCol, Rect2Phi, RectL1, RectL2;
// HRegion Rect2ROI = new HRegion();
// MyVisionBase.disp_message(ShowWindow, "绘制矩形1作为矩形联合区域的第一个矩形区域", "window", 12, 12, "red", "false");
// HOperatorSet.DrawRectangle2(ShowWindow, out CenterRow, out CenterCol, out Rect2Phi, out RectL1, out RectL2);
// ModelRoi = new HRegion();
// ModelRoi.GenRectangle2(CenterRow, CenterCol, Rect2Phi, RectL1, RectL2);
// HOperatorSet.ClearWindow(ShowWindow);
// MyVisionBase.hDispObj(ShowWindow, CurrentImage);
// MyVisionBase.disp_message(ShowWindow, "绘制矩形2作为矩形联合区域的第二个矩形区域", "window", 12, 12, "red", "false");
// HOperatorSet.DrawRectangle2(ShowWindow, out CenterRow, out CenterCol, out Rect2Phi, out RectL1, out RectL2);
// Rect2ROI.GenRectangle2(CenterRow, CenterCol, Rect2Phi, RectL1, RectL2);
// ModelRoi = ModelRoi.Union2(Rect2ROI);
//}
//else
//{
// HOperatorSet.DrawRectangle1(ShowWindow, out row1, out column1, out row2, out column2);
// ModelRoi = new HRegion(row1, column1, row2, column2);
//}
#endregion
}
else if (btnCreateTemplate.Text == "保存")
{
btnCreateTemplate.Text = "新建";
view1.roiController.NotifyRCObserver -= UpdateViewData;
view1.roiController.reset();
this.BeginInvoke(new Action(() => { ActionIsDrawingRoi(false); }));
string files = TemplateParam.TemplatePath;
if (false)
{
SaveFileDialog saveFileDialog1 = new SaveFileDialog();
if (saveFileDialog1.ShowDialog() == DialogResult.OK)
{
files = saveFileDialog1.FileName;
TemplateParam.Save(files);
}
}
else
{
TemplateParam.Save(files);
TemplateParam.Load(files);
}
}
}
