public bool setTarget(List <HHomMat2D> mat2DsList)
{
if (mat2DsList == null || mat2DsList.Count < 1)
{
return(false);
}
if (GrabXld != null && GrabXld.IsInitialized())
{
GrabXld.Dispose();
}
if (GrabXld == null)
{
GrabXld = new HXLDCont();
GrabXld.GenEmptyObj();
}
GrabRowTarget = new HTuple();
GrabColTarget = new HTuple();
HTuple rowTemp, colTemp;
for (int i = 0; i < mat2DsList.Count; i++)
{
HOperatorSet.AffineTransPoint2d(mat2DsList[i], new HTuple(GrabRowOrg), new HTuple(GrabColOrg), out rowTemp, out colTemp);
GrabRowTarget = GrabRowTarget.TupleConcat(rowTemp);
GrabColTarget = GrabColTarget.TupleConcat(colTemp);
}
return(true);
}
/// <summary>
/// 测试标定
/// </summary>
/// <returns></returns>
public bool ceShiBiaoDing(ICalibrationShuJu Ical_, ref string col_pixel_x, ref string row_pixel_y)
{
bool ok = false;
if (Ical_.HomMat2D == null)
{
return(false);
}
if ((col_pixel_x == "") || (row_pixel_y == ""))
{
return(false);
}
double x = Convert.ToDouble(col_pixel_x);
double y = Convert.ToDouble(row_pixel_y);
HTuple hv_col_x, hv_row_y, hv_x_col_out, hv_y_row_out;
hv_col_x = x;
hv_row_y = y;
//HOperatorSet.AffineTransPixel(Ical_.HomMat2D, hv_col_x, hv_row_y, out hv_x_col_out, out hv_y_row_out);
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, hv_col_x, hv_row_y, out hv_x_col_out, out hv_y_row_out);
col_pixel_x = hv_x_col_out.D.ToString();
row_pixel_y = hv_y_row_out.D.ToString();
ok = true;
return(ok);
}
/// <summary>
/// UserControls under Windows Forms do not support the mouse wheel event.
/// As a solution, the user can set his MouseWheel event in his form to
/// call this method.
/// Please notice that the Visual Studio Designer does not show this event.
/// The reason is that UserControls do not support this type of event.
/// Hence, you need to manually add it to the initialization code of your
/// Windows Form, and set it to call the HSmartWindowControl_MouseWheel
/// method of the HALCON Window Control.
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
public void HSmartWindowControl_MouseWheel(object sender, MouseEventArgs e)
{
HMouseEventArgs e1 = (HMouseEventArgs)null;
try
{
if (this._zooming != HSmartWindowControl.ZoomContent.Off)
{
HTuple homMat2DIdentity;
HOperatorSet.HomMat2dIdentity(out homMat2DIdentity);
Point client = this.PointToClient(Cursor.Position);
double rowImage;
double columnImage;
this._hwindow.ConvertCoordinatesWindowToImage((double)client.Y, (double)client.X, out rowImage, out columnImage);
double num = e.Delta < 0 ? Math.Sqrt(2.0) : 1.0 / Math.Sqrt(2.0);
if (this.HZoomContent == HSmartWindowControl.ZoomContent.WheelBackwardZoomsIn)
{
num = 1.0 / num;
}
for (int index = Math.Abs(e.Delta) / 120; index > 1; --index)
{
num *= e.Delta < 0 ? Math.Sqrt(2.0) : 1.0 / Math.Sqrt(2.0);
}
HTuple homMat2DScale;
HOperatorSet.HomMat2dScale(homMat2DIdentity, (HTuple)num, (HTuple)num, (HTuple)columnImage, (HTuple)rowImage, out homMat2DScale);
double l1;
double c1;
double l2;
double c2;
this.GetFloatPart(this._hwindow, out l1, out c1, out l2, out c2);
HTuple qx1;
HTuple qy1;
HOperatorSet.AffineTransPoint2d(homMat2DScale, (HTuple)c1, (HTuple)l1, out qx1, out qy1);
HTuple qx2;
HTuple qy2;
HOperatorSet.AffineTransPoint2d(homMat2DScale, (HTuple)c2, (HTuple)l2, out qx2, out qy2);
e1 = this.ToHMouse(e);
try
{
this._hwindow.SetPart((HTuple)qy1.D, (HTuple)qx1.D, (HTuple)qy2.D, (HTuple)qx2.D);
}
catch (Exception ex)
{
this._hwindow.SetPart((HTuple)l1, (HTuple)c1, (HTuple)l2, (HTuple)c2);
}
}
}
catch (HalconException ex)
{
if (this.HErrorNotify != null)
{
this.HErrorNotify(ex);
}
}
if (this.HMouseWheel == null)
{
return;
}
this.HMouseWheel((object)this, e1);
}
public void CreateUpDownCameraCoor(double[] ux, double[] uy, double[] dx, double[] dy)
{
try
{
if (ux.Length != uy.Length || ux.Length != dx.Length || ux.Length != dy.Length || ux.Length == 0)
{
return;
}
HTuple Hom2D;
HOperatorSet.VectorToHomMat2d(ux, uy, dx, dy, out Hom2D);
m_Hom2Dutd = Hom2D.Clone();
HOperatorSet.VectorToHomMat2d(dx, dy, ux, uy, out Hom2D);
m_Hom2Ddtu = Hom2D.Clone();
HTuple qx, qy;
HTuple qx1, qy1;
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtu, dx[0], dy[0], out qx, out qy);
HOperatorSet.AffineTransPoint2d(m_Hom2Dutd, qx, qy, out qx1, out qy1);
}
catch (Exception e)
{
String S = e.Message;
}
return;
}
private async void button1_Click_1(object sender, EventArgs e)
{
HObject _image = HardWareManager.Instance.Cmaera.SnapShot();
VisionManager.Instance.ShapeModle.BackImage = _image.Clone();
//DelegateControls.Instance.
ModleFindResult result = VisionManager.Instance.ShapeModle.FindSimple();
// return;
if (result != null)
{
HTuple hommate2d;
HOperatorSet.VectorAngleToRigid(0, 0, 0, result.Row, result.Column, result.Angle, out hommate2d);
HOperatorSet.AffineTransContourXld(result.ModleRegion, out HObject hObject, hommate2d);
RegionX regionX = new RegionX(hObject, "green");
DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", _image, new List <HalWindow.RegionX>()
{
regionX
});
HTuple calibratedata = VisionManager.Instance.Calibrate.CalibrateData;
HTuple _x = new HTuple();
HTuple _y = new HTuple();
HOperatorSet.AffineTransPoint2d(calibratedata, result.Row, result.Column, out HTuple x, out HTuple y);
HOperatorSet.AffineTransPoint2d(calibratedata, 1024, 1536, out _x, out _y);
double ox = -x + _x + VisionManager.Instance.Calibrate.ToolOffsetX;
double oy = -y + _y + VisionManager.Instance.Calibrate.ToolOffsetY;
RobotPos robotPos = await HardWareManager.Instance.YaskawaRobot.GetRobotCPoint();
double x1 = ox + robotPos.Y;
double x2 = oy + robotPos.Z;
}
}
public void GetRobotpoint(HTuple imageX, HTuple imageY, ref HTuple robotoffsetX, ref HTuple robotoffsetY)
{
HOperatorSet.AffineTransPoint2d(calibratedata, imageX, imageY, out HTuple x, out HTuple y);
HOperatorSet.AffineTransPoint2d(calibratedata, 1024, 1536, out HTuple _x, out HTuple _y);
robotoffsetX = _x - x + tooloffsetX;
robotoffsetY = _y - y + tooloffsetY;
}
public void AffineTransPoint()
{
TransLocationCross.Clear();
ShapeMatchResult matchResult = Shape.OutputResult;
for (int i = 0; i < matchResult.Count; i++)
{
HHomMat2D mat2d = new HHomMat2D();
mat2d.VectorAngleToRigid(Shape.ModelImgRow, Shape.ModelImgCol, Shape.ModelimgAng,
matchResult.Row[i].D, matchResult.Col[i].D, matchResult.Angle[i].D);
PointF[] fs = Array.ConvertAll <Cross, PointF>(locationCross.GetAllPointFs(), e => e.Pixel);
HTuple tx, ty;
HOperatorSet.AffineTransPoint2d(mat2d,
Array.ConvertAll <PointF, double>(fs, e => e.Y).ToArray(),
Array.ConvertAll <PointF, double>(fs, e => e.X).ToArray(),
out ty,
out tx);
for (int m = 0; m < locationCross.Count; m++)
{
Cross cross = new Cross();
cross.Pixel = new PointF(tx[m].F, ty[m].F);
cross.Angle = matchResult.Angle[m].D;
cross.Color = "green";
TransLocationCross.Add(cross);
}
}
}
private void simpleButton3_Click(object sender, EventArgs e)
{
try
{
double virx = (double)vir_x.Value;
double viry = (double)vir_y.Value;
if (HomMat2Dxy.Type != HTupleType.EMPTY)
{
HTuple realx = 0, realy = 0, realz = 0;
HOperatorSet.AffineTransPoint2d(HomMat2Dxy, virx, viry, out realx, out realy);
HTuple tx = 0;
HTuple real_x1, real_y1;
if (HomMat2Dxy.Length > 0)
{
HOperatorSet.AffineTransPoint2d(HomMat2Dxy, virx, viry, out real_x1, out real_y1);
}
Realx.Value = (decimal)realx.D;
Realy.Value = (decimal)realy.D;
}
}
catch (Exception)
{
throw;
}
}
public static bool calculateAffineMatrix(HTuple col, HTuple row, HTuple x, HTuple y, out HTuple matrix, out HTuple err)
{
matrix = null;
err = null;
HTuple qx, qy;
HTuple distance, mean, max, min;
try
{
HOperatorSet.VectorToHomMat2d(col, row, x, y, out matrix);
if (null != matrix && 0 < matrix.Length)
{
HOperatorSet.AffineTransPoint2d(matrix, col, row, out qx, out qy);
HOperatorSet.DistancePp(y, x, qy, qx, out distance);
HOperatorSet.TupleAbs(distance, out distance);
HOperatorSet.TupleMean(distance, out mean);
HOperatorSet.TupleMax(distance, out max);
HOperatorSet.TupleMin(distance, out min);
err = new HTuple();
err[0] = mean;
err[1] = max;
err[2] = min;
return(true);
}
}
catch (HalconException ex)
{
string msg = ex.GetErrorMessage();
}
return(false);
}
public void ReverseTransPoint2d(HTuple x, HTuple y, out HTuple tx, out HTuple ty)
{
HHomMat2D mat2D = matrix.HomMat2dInvert();
Debug.Assert((x != null) && (y != null));
Debug.Assert(x.Length == y.Length, string.Format("输入参数长度错误：x={0},Y={1}", x.Length, y.Length));
HOperatorSet.AffineTransPoint2d(mat2D, x, y, out tx, out ty);
}
private void AssignCoordinatePoint(Point point)
{
HTuple xOut, yOut;
HOperatorSet.AffineTransPoint2d(_changeOfBaseInv, point.ImageX, point.ImageY, out xOut, out yOut);
point.CoordinateX = xOut;
point.CoordinateY = yOut;
}
private void SavePho2butt_Click(object sender, EventArgs e)
{
if (camera3.IsCameraOpen())
{
camera3.StopCamera();
//EnbToolBtn(true);
McamStatusLbl.Text = "Idle...";
McamStatusLbl.BackColor = Color.Orange;
}
for (int c = 0; c < 3; c++)
{
if (c == 1)
{
camera3.SetExposure(Para.RobotExposeTime + Convert.ToInt32((Convert.ToDouble(Para.RobotExposeTime) * 0.5)));
}
if (c == 2)
{
camera3.SetExposure(Para.RobotExposeTime + Convert.ToInt32((Convert.ToDouble(Para.RobotExposeTime) * 1)));
}
bool GrabPass = false;
for (int j = 0; j < 3; j++)
{
if (camera3.Grab())
{
GrabPass = true;
break;
}
Application.DoEvents();
}
if (!GrabPass)
{
return;
}
RobotData RDate = hWndCtrl3.RobotInspect(camera3.myImage, RobotClassPath + "\\Mod2");
if (RDate.Found)
{
HTuple hv_ReTuple = new HTuple();
HOperatorSet.ReadTuple(Para.RobotCurrentClass + "\\Mod2" + "\\BiaoDing2.tup", out hv_ReTuple);
HTuple xx, yy;
HOperatorSet.AffineTransPoint2d(hv_ReTuple, RDate.CenterX, RDate.CenterY, out xx, out yy);
hWndCtrl3.RobotMod[1].CenterX = xx;
hWndCtrl3.RobotMod[1].CenterY = yy;
hWndCtrl3.RobotMod[1].CenterAngle = RDate.CenterAngle;
hWndCtrl3.Save(mchSettingsFilePath);
MessageBox.Show("Photo2 Pos Save OK");
return;
}
}
MessageBox.Show("Photo2 Pos Save Error");
}
public override XYUPoint GetObjPonit(XYUPoint objVisoionpoint, XYUPoint SanpMachinePoint)
{
XYUPoint ObjPoint = new XYUPoint();
HTuple qx, qy;
HOperatorSet.AffineTransPoint2d(m_Hom2Dutr, objVisoionpoint.x, objVisoionpoint.y, out qx, out qy);
ObjPoint.x = SanpMachinePoint.x - qx[0].D;
ObjPoint.y = SanpMachinePoint.y - qy[0].D;
return(ObjPoint);
}
public XYUPoint GetDispOrLaserPoint(XYUPoint OldMachineModlePos, XYUPoint NowMachineModlePos, XYUPoint OldPinPos)
{
HOperatorSet.VectorAngleToRigid(OldMachineModlePos.x, OldMachineModlePos.y, 0, NowMachineModlePos.x, NowMachineModlePos.y, NowMachineModlePos.u, out HTuple hom2d);
HTuple qx, qy;
HOperatorSet.AffineTransPoint2d(hom2d, OldPinPos.x, OldPinPos.y, out qx, out qy);
XYUPoint NowPoint = new XYUPoint(qx[0].D, qy[0].D, NowMachineModlePos.u);
return(NowPoint);
}
public override XYUPoint GetObjPonit(XYUPoint objVisoionpoint, XYUPoint SanpMachinePoint)
{
XYUPoint objMachinePos = new XYUPoint();
HTuple hTuplex, hTupley;
HTuple qx, qy;
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, objVisoionpoint.x, objVisoionpoint.y, out qx, out qy);
objMachinePos.x = qx[0].D;
objMachinePos.y = qy[0].D;
return(objMachinePos);
}
/// <summary>
/// 获得点的实际坐标
/// </summary>
/// <param name="markCenter"></param>
/// <returns></returns>
public PointH GetMarkAxis(PointH markCenter)
{
HTuple hv_Tx = null, hv_Ty = null;
try
{
HOperatorSet.AffineTransPoint2d(hv_HomMat2D, markCenter.X, markCenter.Y, out hv_Tx, out hv_Ty);
return(new PointH(hv_Tx[0].D, hv_Ty[0].D));
}
catch { return(new PointH()); }
}
public override XYUPoint GetObjPonit(XYUPoint objVisoionpoint, XYUPoint SanpMachinePoint)
{
HTuple qx, qy;
HOperatorSet.AffineTransPoint2d(m_Hom2Dutr, objVisoionpoint.x, objVisoionpoint.y, out qx, out qy);
XYUPoint dstpoint = new XYUPoint();
dstpoint.x = SanpMachinePoint.x - qx + AidPoint.x;
dstpoint.y = SanpMachinePoint.y - qy + AidPoint.y;
return(dstpoint);
}
public void RotateTrans(double x, double y, double r, out double tx, out double ty)
{
HHomMat2D mat2D = new HHomMat2D();
mat2D = mat2D.HomMat2dRotate((HTuple)r, RotateCircle.Center.X, RotateCircle.Center.Y);
HTuple qx, qy;
HOperatorSet.AffineTransPoint2d(mat2D, x, y, out qx, out qy);
tx = qx[0].D;
ty = qy[0].D;
}
/// <summary>
/// 9点标定
/// </summary>
/// <param name="row">像素坐标</param>
/// <param name="column">像素坐标</param>
/// <param name="x">世界坐标，相对坐标置null</param>
/// <param name="y">世界坐标，相对坐标置null</param>
/// <returns></returns>
public bool CalibNinePoint(double[] row, double[] column, double[] x = null, double[] y = null)
{
try
{
if ((row.Length < 3 || column.Length < 3) || (x == null && row.Length != 9))
{
return(false);
}
IsRelative = false;
if (x == null || y == null)
{
IsRelative = true;
double[] px = new double[9];
double[] py = new double[9];
double[] wx = new double[9];
double[] wy = new double[9];
for (int i = 0; i < 9; i++)
{
px[i] = row[i] - row[4];
py[i] = column[i] - column[4];
wx[i] = (i % 3 - 1) * TranslationStep;
wy[i] = (i / 3 - 1) * TranslationStep;
}
row = px;
column = py;
x = wx;
y = wy;
}
// 获取矩阵
HOperatorSet.VectorToHomMat2d(row, column, x, y, out HomMat2D);
// 获取最大误差
HTuple qx, qy;
HOperatorSet.AffineTransPoint2d(HomMat2D, row, column, out qx, out qy);
double ex = qx.TupleSub(x).TupleAbs().TupleMax();
double ey = qy.TupleSub(y).TupleAbs().TupleMax();
HomMat2DError = ex > ey ? ex : ey;
SaveConfig();
return(true);
}
catch (Exception)
{
return(false);
}
}
/// <summary>
/// 算出标定数据
/// </summary>
/// <param name="homMat2D"></param>
/// <param name="pixel_row_y"></param>
/// <param name="pixel_column_x"></param>
/// <param name="world_row_y"></param>
/// <param name="world_column_x"></param>
/// <returns></returns>
public bool Cal(HTuple homMat2D, ref HTuple pixel_row_y, ref HTuple pixel_column_x /*, out HTuple world_row_y, out HTuple world_column_x*/)
{
bool ok = false;
HTuple world_row_y, world_column_x;
HOperatorSet.AffineTransPoint2d(homMat2D, pixel_column_x, pixel_row_y, out world_column_x, out world_row_y);
// HOperatorSet.AffineTransPixel(homMat2D, pixel_row_y, pixel_row_y, out world_row_y, out world_column_x);
pixel_column_x = world_column_x;
pixel_row_y = world_row_y;
ok = true;
return(ok);
}
/// <summary>
/// 获取机器人U轴中心对准点
/// </summary>
/// <param name="snappos"></param>
/// <param name="Hom2Ddtu"></param>
/// <param name="Hom2Ddtr"></param>
/// <param name="Point2dVisionCoor"></param>
/// <returns></returns>
public Point2d GetPosWhenUpCameraSnap(Point2d snappos, HTuple Hom2Ddtu, HTuple Hom2Ddtr, Point2d Point2dVisionCoor)
{
HTuple qx, qy;
HTuple rqx, rqy;
HOperatorSet.AffineTransPoint2d(Hom2Ddtu, Point2dVisionCoor.x, Point2dVisionCoor.y, out qx, out qy);
HOperatorSet.AffineTransPoint2d(Hom2Ddtr, qx, qy, out rqx, out rqy);
Point2d pos = new Point2d();
pos.x = rqx + snappos.x - CalibPos.x;
pos.y = rqy + snappos.y - CalibPos.y;
return(pos);
}
public ToolResult GetResult()
{
try
{
int imageWidt, imageHeight;
HMetrologyModel metrologyModel = new HMetrologyModel();
HTuple startRow, startCol, endRow, endCol;
HHomMat2D matd = new HHomMat2D();
HHomMat2D matd3 = matd.HomMat2dRotate(info.Rectangle2Angle, 0.0, 0.0);
HHomMat2D matd4 = matd3.HomMat2dTranslate(info.Rectangle2Row, info.Rectangle2Col);
HOperatorSet.AffineTransPoint2d(matd4, new HTuple(0.0), new HTuple(-info.Rectangle2Length1), out startRow, out startCol);
HOperatorSet.AffineTransPoint2d(matd4, new HTuple(0.0), new HTuple(info.Rectangle2Length1), out endRow, out endCol);
//创建找线工具
Image.GetImageSize(out imageWidt, out imageHeight);
int[] value = new int[] { Convert.ToInt32(startRow.D), Convert.ToInt32(startCol.D), Convert.ToInt32(endRow.D), Convert.ToInt32(endCol.D) };
HTuple values = new HTuple(value);
metrologyModel.CreateMetrologyModel();
metrologyModel.SetMetrologyModelImageSize(imageWidt, imageHeight);
int index = metrologyModel.AddMetrologyObjectGeneric("line", values, 20, 5, 1, 30, "min_score", 0.6);
#region 设置参数
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_length1"), new HTuple(Convert.ToInt32(info.measure_length1)));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_length2"), new HTuple(Convert.ToInt32(info.measure_length2)));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_distance"), new HTuple(info.measure_distance));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("num_measures"), new HTuple(info.num_measures));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("num_instances"), new HTuple(info.num_instances));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_sigma"), new HTuple(info.measure_sigma));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_threshold"), new HTuple(info.measure_threshold));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_transition"), new HTuple(info.measure_transition.ToString()));
#endregion
HTuple Row;
HTuple Col;
HXLDCont modelXLD = metrologyModel.GetMetrologyObjectMeasures(index, "all", out Row, out Col);
if (info.IsShowLineMeasureDetail)
{
Window.SetColor("red");
modelXLD.DispXld(Window.Window);
}
return(ApplyMetrology(metrologyModel, index, info.ToolName));
}
catch (Exception e)
{
return(new ToolResult()
{
ResultName = info.ToolName, Errormessage = e.ToString(), GetResultTime = DateTime.Now, IsSuccess = false
});
}
}
public override XYUPoint GetDstPonit(XYUPoint dstVisoionpoint, XYUPoint SanpMachinePoint)
{
XYUPoint dstMachinePos = new XYUPoint();
HTuple hTuplex, hTupley;
HTuple qx, qy;
HOperatorSet.AffineTransPoint2d(m_Hom2Dutd, dstVisoionpoint.x, dstVisoionpoint.y, out hTuplex, out hTupley);
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, hTuplex, hTupley, out qx, out qy);
XYUPoint vec = new XYUPoint();
vec.x = SanpMachinePoint.x - CalibPoint.x;
vec.y = SanpMachinePoint.y - CalibPoint.y;
dstMachinePos.x = qx[0].D + vec.x;
dstMachinePos.y = qy[0].D + vec.y;
return(dstMachinePos);
}
/// <summary>
/// 获取指定旋转中心旋转后的位置
/// </summary>
/// <param name="centerRow">旋转中心Row</param>
/// <param name="centerColumn">旋转中心Column</param>
/// <param name="row">当前位置Row</param>
/// <param name="column">当前位置Column</param>
/// <param name="startAngle">当前角度</param>
/// <param name="endAngle">旋转后的角度</param>
/// <param name="rotatedRow">旋转后的位置Row</param>
/// <param name="rotatedColumn">旋转后的位置Column</param>
public void GetRotatedPose(HTuple centerRow, HTuple centerColumn, HTuple row, HTuple column,
HTuple startAngle, HTuple endAngle, out HTuple rotatedRow, out HTuple rotatedColumn)
{
try
{
HTuple homMat2DIdentity, homMat2DRotate;
HTuple rad = endAngle.TupleRad() - startAngle.TupleRad();
HOperatorSet.HomMat2dIdentity(out homMat2DIdentity);
HOperatorSet.HomMat2dRotate(homMat2DIdentity, rad, centerRow, centerColumn, out homMat2DRotate);
HOperatorSet.AffineTransPoint2d(homMat2DRotate, row, column, out rotatedRow, out rotatedColumn);
}
catch (Exception)
{
rotatedRow = rotatedColumn = null;
}
}
/// <summary>
/// 获取对应Laser点和Pin的 现况下的位置
/// </summary>
/// <param name="OldVisoionModlePos">模板视觉坐标位置</param>
/// <param name="NowVisionModlePos">现在匹配模板视觉坐标位置</param>
/// <param name="OldSnapModlePos">模板拍照机械位置</param>
/// <param name="OldPinMachinePos">开始设置的Pin机械位置</param>
/// <param name=""></param>
/// <returns></returns>
public XYUPoint GetDispOrLaserPoint2(XYUPoint OldVisoionModlePos, XYUPoint NowVisionModlePos, XYUPoint OldSnapModlePos, XYUPoint OldPinMachinePos, XYUPoint NowSnapMchinePos)
{
HOperatorSet.VectorAngleToRigid(OldVisoionModlePos.x, OldVisoionModlePos.y, OldVisoionModlePos.u, NowVisionModlePos.x, NowVisionModlePos.y, NowVisionModlePos.u, out HTuple hom2d);
HTuple vx, vy;
XYUPoint machineXY = new XYUPoint(OldSnapModlePos.x - OldPinMachinePos.x, OldSnapModlePos.y - OldPinMachinePos.y, 0);
HOperatorSet.AffineTransPoint2d(m_Hom2Drtu, machineXY.x, machineXY.y, out vx, out vy);
HTuple qvx, qvy;
HOperatorSet.AffineTransPixel(hom2d, vx, vy, out qvx, out qvy);
XYUPoint NowPinMachinePoint = GetDstPonit(new XYUPoint(qvx, qvy, 0), NowSnapMchinePos);
return(NowPinMachinePoint);
}
public static bool affineTransPoint(HTuple matrix, HTuple x, HTuple y, out HTuple xTrans, out HTuple yTrans)
{
xTrans = null;
yTrans = null;
try
{
HOperatorSet.AffineTransPoint2d(matrix, x, y, out xTrans, out yTrans);
if (null != xTrans && 0 < xTrans.Length)
{
return(true);
}
}
catch (HalconException ex)
{
string msg = ex.GetErrorMessage();
}
return(false);
}
string RunCalibDeviation(double[] Pix_X, double[] Pix_Y, out string Deviation)
{
Deviation = "";
try
{
HTuple real_x = new HTuple();
HTuple real_y = new HTuple();
HTuple real_z = new HTuple();
HTuple tx1 = 0;
HOperatorSet.AffineTransPoint2d(HomMat2Dxy, Pix_X, Pix_Y, out real_x, out real_y);
HTuple subx = AxisX - real_x;
HTuple suby = AxisY - real_y;
subx = subx.TupleAbs();
suby = suby.TupleAbs();
double max_x = subx.TupleMax();
double max_y = suby.TupleMax();
double min_x = subx.TupleMin();
double min_y = suby.TupleMin();
double Meanx = subx.TupleMean();
double Meany = suby.TupleMean();
max_x = Math.Round(max_x, 3);
max_y = Math.Round(max_y, 3);
min_x = Math.Round(min_x, 3);
min_y = Math.Round(min_y, 3);
Meanx = Math.Round(Meanx, 3);
Meany = Math.Round(Meany, 3);
Deviation = string.Format("最大误差x：{0};y: {1};\r\n最小误差x：{2};y: {3};\r\n平均误差x：{4};y: {5};", max_x.ToString(), max_y.ToString(), min_x.ToString(), min_y.ToString(), Meanx.ToString(), Meany.ToString());
return("OK");
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
return(ex.Message);
}
}
public void CreateDownRobotCoor(double[] dx, double[] dy, double[] rx, double[] ry)
{
if (rx.Length != ry.Length || dx.Length != dy.Length || rx.Length != dx.Length || rx.Length == 0)
{
return;
}
HTuple Hom2D;
HTuple Hom2D1;
HOperatorSet.VectorToHomMat2d(dx, dy, rx, ry, out Hom2D);
m_Hom2Ddtr = Hom2D.Clone();
HOperatorSet.VectorToHomMat2d(rx, ry, dx, dy, out Hom2D1);
m_Hom2Drtd = Hom2D1.Clone();
HTuple qx, qy;
HTuple qx1, qy1;
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, dx[0], dy[0], out qx, out qy);
HOperatorSet.AffineTransPoint2d(m_Hom2Drtd, qx, qy, out qx1, out qy1);
return;
}
private void button2_Click(object sender, EventArgs e)
{
HTuple calibratedata = VisionManager.Instance.Calibrate.CalibrateData;
if (calibratedata != null)
{
HObject _image = m_Camera.SnapShot();
m_ShapeModle.BackImage = _image;
ModleFindResult result = m_ShapeModle.FindSimple();
if (result != null)
{
HOperatorSet.AffineTransPoint2d(calibratedata, result.Row, result.Column, out HTuple x, out HTuple y);
HOperatorSet.AffineTransPoint2d(calibratedata, 1024, 1536, out HTuple _x, out HTuple _y);
double ox = _x - x + offx;
double oy = _y - y + offy;
VisionManager.Instance.Calibrate.ToolOffsetX = ox;
VisionManager.Instance.Calibrate.ToolOffsetY = oy;
// Robot.RelativeMove(ox, oy);
}
}
}
private bool calculate_part(
HTuple hv_WindowHandle,
HTuple hv_WindowWidth,
HTuple hv_WindowHeight)
{
HTuple row1 = (HTuple)null;
HTuple column1 = (HTuple)null;
HTuple row2 = (HTuple)null;
HTuple column2 = (HTuple)null;
HTuple row = (HTuple)null;
HTuple column = (HTuple)null;
HTuple width = (HTuple)null;
HTuple height = (HTuple)null;
HTuple homMat2DIdentity = (HTuple)null;
HTuple homMat2DScale = (HTuple)null;
HTuple qx = (HTuple)null;
HTuple qy = (HTuple)null;
bool flag = true;
HOperatorSet.GetPart(hv_WindowHandle, out row1, out column1, out row2, out column2);
try
{
HTuple htuple1 = (column2 - column1 + 1) / (row2 - row1 + 1).TupleReal();
HOperatorSet.GetWindowExtents(hv_WindowHandle, out row, out column, out width, out height);
HTuple sx = width / hv_WindowWidth.TupleReal();
HTuple sy = height / hv_WindowHeight.TupleReal();
HTuple htuple2 = new HTuple().TupleConcat((row1 + row2) * 0.5).TupleConcat((column1 + column2) * 0.5);
HOperatorSet.HomMat2dIdentity(out homMat2DIdentity);
HOperatorSet.HomMat2dScale(homMat2DIdentity, sx, sy, htuple2.TupleSelect((HTuple)1), htuple2.TupleSelect((HTuple)0), out homMat2DScale);
HOperatorSet.AffineTransPoint2d(homMat2DScale, column1.TupleConcat(column2), row1.TupleConcat(row2), out qx, out qy);
HOperatorSet.SetPart(hv_WindowHandle, qy.TupleSelect((HTuple)0), qx.TupleSelect((HTuple)0), qy.TupleSelect((HTuple)1), qx.TupleSelect((HTuple)1));
}
catch (HalconException ex)
{
HOperatorSet.SetPart(hv_WindowHandle, row1, column1, row2, column2);
flag = false;
}
return(flag);
}