private void GetProductPixelPosBtn_Click(object sender, EventArgs e) //计算示教产品的像素的坐标，并保存到配置文件
{
this.GetProductPixelPosBtn.Enabled = false;
this.ProductPixelPosTeachBtn.Enabled = true;
try
{
LocalResult localResult = new LocalResult();
LocalManager myLocal = new LocalManager();
//1.0设置定位模式
myLocal.SetLocalModel(LocalPara0.localSetting.localModel);
//2.0设置定位参数
myLocal.SetParam(CurImg, LocalPara0);
//3.执行定位
myLocal.doLocal();
localResult = myLocal.GetResult();
this.LocalPara0.localSetting.TeachImgLocal = new St_VectorAngle(localResult.row, localResult.col, localResult.angle);
view1.ResetWindow();
view1.AddImage(CurImg.CopyObj(1, -1));
view1.SetDraw("blue", "margin");
view1.AddViewObject(localResult.ShowContour.CopyObj(1, -1));
view1.Repaint();
this.ProductPixelPosTbx.Text = "Col:" + localResult.col.ToString("f2") + " Row:" + localResult.row.ToString("f2") +
" Angle:" + localResult.angle.ToString("f2");
}
catch
{ }
}
private void StartCaliBtn_Click(object sender, EventArgs e)
{
System.Threading.Tasks.Task.Factory.StartNew(new Action(() => {
try {
#region
List <Point2Db> PixelPtList = new List <Point2Db>();//像素点的坐标集合
LocalPara NowLocalPara = TeachCaliPara.localPara;
RectangleF RectFi = new RectangleF();
LocalManager MyLocal = new LocalManager(); //定位类初始化
LocalResult MyResult = new LocalResult();
Point2Db Pt = new Point2Db();
HObject CaliContour = new HObject();
HOperatorSet.GenEmptyObj(out CaliContour);
if (GrabedImg == null)
{
MessageBox.Show(" 请先加载一张图片");
return;
}
for (int i = 0; i < TeachCaliPara.ListRectRegion.Count; i++)
{
RectFi = TeachCaliPara.ListRectRegion[i];
TeachCaliPara.localPara.localSetting.SearchAreaX = (int)RectFi.X;
TeachCaliPara.localPara.localSetting.SearchAreaY = (int)RectFi.Y;
TeachCaliPara.localPara.localSetting.SearchWidth = (int)RectFi.Width;
TeachCaliPara.localPara.localSetting.SearchHeight = (int)RectFi.Height;
MyLocal.SetLocalModel(TeachCaliPara.localPara.localSetting.localModel);
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara);
MyLocal.doLocal();
MyResult = MyLocal.GetResult();
CaliContour = CaliContour.ConcatObj(MyResult.ShowContour);
//GetCaliMarkPts1(GrabedImg, MinGray, MaxGray, MarkR, out ContourU, out ListMarkCenterI); //找出Mark点
HObject CenterContour = new HObject();
HOperatorSet.GenCrossContourXld(out CenterContour, MyResult.row, MyResult.col, 50, 0); //生成找到的圆心轮廓
HOperatorSet.ConcatObj(CaliContour, CenterContour, out CaliContour);
Pt.Col = MyResult.col;
MyVisionBase.AdjImgRow(GrabedImg, ref MyResult.row);
Pt.Row = MyResult.row;
PixelPtList.Add(Pt);
view1.Refresh();
view1.AddViewImage(GrabedImg);
view1.AddViewObject(CaliContour);
view1.Repaint();
}
#endregion
bool IsTrue = true;
MyVisionBase.VectorToHomMat(PixelPtList, TeachCaliPara.ListPt2D, out TeachCaliPara.HomMat, out IsTrue);
}
catch
{ }
}));
}
private void btnRecheckTest_Click(object sender, EventArgs e)
{
btnRecheckTest.Enabled = false;
if (!GrabedImg.IsInitialized())
{
MessageBox.Show("请先加载图片");
return;
}
Task.Factory.StartNew(new Action(() => {
HObject DetectContours = new HObject(), BadRegions = new HObject();
bool IsOK = true;
St_InspectImageSetting tmpInspectParam = new St_InspectImageSetting(true);
tmpInspectParam = InspectImageSetting;
LocalManager MyLocalCtrl = new LocalManager();
MyLocalCtrl.SetLocalModel(TeachLocalPara.localSetting.localModel);
this.TeachLocalPara.LineCirRectInspParam = InspectImageSetting;
MyLocalCtrl.SetParam(GrabedImg, TeachLocalPara);
MyLocalCtrl.doLocal();
LineCircRectRlt MyLineCircRectInspRlt = new LineCircRectRlt();
MyLineCircRectInspRlt = (LineCircRectRlt)MyLocalCtrl.GetResult();
this.myView.roiController.reset();
this.myView.ResetWindow();
this.myView.AddImage(GrabedImg);
Thread.Sleep(200);
this.myView.SetDraw("green");
this.myView.AddViewObject(MyLineCircRectInspRlt.DetectContour);
this.myView.AddViewObject(MyLineCircRectInspRlt.ShowContour);
this.myView.SetDraw("red");
this.myView.AddViewObject(MyLineCircRectInspRlt.NgContour);
this.myView.Repaint();
if (MyLineCircRectInspRlt.IsOk)
{
this.myView.SetString(20, 50, "green", "复检OK");
}
else
{
this.myView.SetString(100, 100, "Red", "复检NG");
}
}));
Thread.Sleep(500);
btnRecheckTest.Enabled = true;
}
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();
}
/// <summary>
/// 获取九点标定的九个世界坐标点，九个像素坐标点
/// </summary>
/// <param name="StartPt">示教起始点</param>
/// <param name="EndPt">示教终点</param>
/// <param name="IsCameraMovingWithAxisX"></param>
/// <param name="IsCameraMovingWithAxisY"></param>
/// <param name="PixelPosP"></param>
/// <param name="MotionPosW"></param>
/// <returns></returns>
public bool GetHandEyeCaliPt(Point2Db StartPt, Point2Db EndPt, bool IsCameraMovingWithAxisX, bool IsCameraMovingWithAxisY,
out List <Point2Db> PixelPosP, out List <Point2Db> MotionPosW)
{
int StepCount = 3;
PixelPosP = new List <Point2Db>();
MotionPosW = new List <Point2Db>();
Point2Db startPt = new Point2Db(Math.Min(StartPt.Col, EndPt.Col), Math.Min(StartPt.Row, EndPt.Row));
Point2Db endPt = new Point2Db(Math.Max(StartPt.Col, EndPt.Col), Math.Max(StartPt.Row, EndPt.Row));
double recWidth = endPt.Col - startPt.Col;
double recHeight = endPt.Row - startPt.Row;
double stepX = recWidth / (StepCount - 1);
double stepY = recHeight / (StepCount - 1);
List <double> supposeX = new List <double>(), supposeY = new List <double>();
List <double> currentX = new List <double>(), currentY = new List <double>();
LocalManager MyLocal = new LocalManager(); //定位类初始化
LocalResult MyResult = new LocalResult();
MyLocal.SetLocalModel(TeachCaliPara.localPara.localSetting.localModel);
HOperatorSet.GenEmptyObj(out CaliContour);
for (int row = 0; row <= StepCount - 1; row += 1)
{
for (int col = 0; col <= StepCount - 1; col += 1)
{
Point2Db movePt = new Point2Db(); //九点标定时，相机移动到一个点，然后开始拍照
Point2Db CaliMovePt = new Point2Db(); //九点标定时的点，坐下角为第一个点，右上角为第九个点
if (IsCameraMovingWithAxisX && IsCameraMovingWithAxisY) //相机跟随XY周移动
{
movePt = new Point2Db(startPt.Col + (StepCount - 1 - col) * stepX, startPt.Row + (StepCount - 1 - row) * stepY);
}
else if ((IsCameraMovingWithAxisX) && (!IsCameraMovingWithAxisY)) //相机跟随X轴移动
{
movePt = new Point2Db(startPt.Col + (StepCount - 1 - col) * stepX, startPt.Row + row * stepY);
}
else if ((!IsCameraMovingWithAxisX) && IsCameraMovingWithAxisY) //相机跟随Y轴移动
{
movePt = new Point2Db(startPt.Col + col * stepX, startPt.Row + (StepCount - 1 - row) * stepY);
}
else if ((!IsCameraMovingWithAxisX) && (!IsCameraMovingWithAxisY)) //相机固定
{
movePt = new Point2Db(startPt.Col + col * stepX, startPt.Row + row * stepY);
}
CaliMovePt = new Point2Db(startPt.Col + col * stepX, startPt.Row + row * stepY);
// 控制平台移动到目标位置
if (!MotionManager.Instance.SetCoordiPos(movePt.Col, movePt.Row, TeachCaliPara.EndCaliPt.angle))
{
MessageBox.Show("X Y轴运动失败!");
return(false);
}
Thread.Sleep(2000);
GrabedImg = new HObject();
CameraCtrl.Instance.GrabImg(TeachCaliPara.cam, out GrabedImg); //相机拍照抓取图片
Point2Db Pt = new Point2Db();
if (GrabedImg.IsInitialized())
{
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara); //设置定位参数
MyLocal.doLocal(); //执行定位算法
MyResult = MyLocal.GetResult(); //获取定位结果
view1.ResetView();
CaliContour = CaliContour.ConcatObj(MyResult.ShowContour);
view1.AddViewImage(GrabedImg);
view1.AddViewObject(MyResult.ShowContour);
//GetCaliMarkPts1(GrabedImg, MinGray, MaxGray, MarkR, out ContourU, out ListMarkCenterI); //找出Mark点
HObject CenterContour = new HObject();
HOperatorSet.GenCrossContourXld(out CenterContour, MyResult.row, MyResult.col, 50, 0); //生成找到的圆心轮廓
HOperatorSet.ConcatObj(CaliContour, CenterContour, out CaliContour);
view1.AddViewObject(CaliContour);
view1.Repaint();
Pt.Col = MyResult.col;
Pt.Row = MyResult.row;
PixelPosP.Add(Pt);
MotionPosW.Add(CaliMovePt);
}
else
{
MessageBox.Show("采集图片失败");
return(false);
}
}
}
return(true);
}
private void CaliRotCenterBtn_Click(object sender, EventArgs e)
{
DialogResult dr = MessageBox.Show("是否示开始旋转中心标定？", "提示", MessageBoxButtons.YesNo);
if (dr == DialogResult.No)
{
return;
}
System.Threading.Tasks.Task.Factory.StartNew(new Action(() => {
ListMarkCenterU = new List <Point2Db>();
HObject GrabedImg = new HObject();
LocalManager MyLocal = new LocalManager(); //定位类初始化
LocalResult MyResult = new LocalResult();
MyLocal.SetLocalModel(TeachCaliPara.localPara.localSetting.localModel);
HOperatorSet.GenEmptyObj(out FindCenterCont);
//旋转一个角度拍一次照片，用定位的点拟合圆，计算出0度时标定点到旋转中心的偏移量
for (int i = 0; i < TeachCaliPara.AngleStep; i++)
{
if (MotionManager.Instance.SetCoordiPos(TeachCaliPara.StartRotPt.x, TeachCaliPara.StartRotPt.y, TeachCaliPara.StartRotPt.angle
+ TeachCaliPara.AngleRange / TeachCaliPara.AngleStep * i))
{
if (GrabedImg != null)
{
GrabedImg.Dispose();
}
CameraCtrl.Instance.GrabImg(TeachCaliPara.cam, out GrabedImg); //采集图像
MyResult = new LocalResult();
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara);
MyLocal.doLocal();
MyResult = MyLocal.GetResult();
if (!MyResult.IsLocalOk)
{
MessageBox.Show("定位失败");
return;
}
view1.ResetView();
view1.Refresh();
view1.AddViewImage(GrabedImg);
view1.AddViewObject(MyResult.ShowContour);
view1.Repaint();
//view1.Refresh();
//this.Refresh();
Thread.Sleep(50);
Point2Db NowPt = new Point2Db();
NowPt.Col = MyResult.col;
NowPt.Row = MyResult.row;
ListMarkCenterU.Add(NowPt);
FindCenterCont = FindCenterCont.ConcatObj(MyResult.ShowContour);
}
else
{
MessageBox.Show("移动失败");
return;
}
}
#region 零度时候的定位坐标
Point2Db ZeoroDegreePos = new Point2Db();
if (MotionManager.Instance.SetCoordiPos(TeachCaliPara.StartRotPt.x, TeachCaliPara.StartRotPt.y, 0.0))
{
if (GrabedImg != null)
{
GrabedImg.Dispose();
}
CameraCtrl.Instance.GrabImg(TeachCaliPara.cam, out GrabedImg); //采集图像
MyResult = new LocalResult();
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara);
MyLocal.doLocal();
MyResult = MyLocal.GetResult();
if (!MyResult.IsLocalOk)
{
MessageBox.Show("定位失败");
return;
}
ZeoroDegreePos = new Point2Db(MyResult.col, MyResult.row);
}
#endregion
//通过找到的标定mark中心点集合，拟合出旋转中心
HTuple CircleRows = new HTuple();
HTuple CircleCols = new HTuple();
MyVisionBase.ListPt2dToHTuple(ListMarkCenterU, out CircleRows, out CircleCols);
HObject CircleContourU = new HObject();
HTuple CenterRow = new HTuple(), CenterCol = new HTuple();
HTuple RotRadius = new HTuple(), StartPhi = new HTuple(), EndPhi = new HTuple(), FitFlag = new HTuple();
if (FindCirCenterCbx.SelectedValue.ToString() == "拟合圆")
{
MyVisionBase.PtsToBestCircle1(out CircleContourU, CircleRows, CircleCols, 4, "arc", out CenterRow, out CenterCol,
out RotRadius, out StartPhi, out EndPhi, out FitFlag);//通过边界点拟合圆
RotR = RotRadius.D;
RotCenterRow = CenterRow.D;
RotCenterCol = CenterCol.D;
}
else if (FindCirCenterCbx.SelectedValue.ToString() == "中垂线找圆心")
{
FindCircleCenter(ListMarkCenterU, out RotCenterRow, out RotCenterCol, out RotR);
HOperatorSet.GenCircleContourXld(out CircleContourU, RotCenterRow, RotCenterCol, RotR, 0, Math.PI, "positive", 1);
}
HObject PtContour = new HObject();
HOperatorSet.GenCrossContourXld(out PtContour, CircleRows, CircleCols, 20, 0.6);
HOperatorSet.ConcatObj(PtContour, CircleContourU, out CircleContourU);
// MyVisionBase.hDispObj(hWindowControl1.HalconWindow, CircleContourU);
view1.AddViewObject(CircleContourU);
view1.Repaint();
MyVisionBase.HTupleToListPt2d(CircleRows, CircleCols, out ListMarkCenterU);
//计算0度标定Mark中心到旋转中心的偏移量
VectorCaliMarkToRot.Row = (CenterRow - ZeoroDegreePos.Row);
VectorCaliMarkToRot.Col = (CenterCol - ZeoroDegreePos.Col);
HObject MarkToRotArrow = new HObject();
MyVisionBase.GenArrowContourXld(out MarkToRotArrow, ZeoroDegreePos.Row, ZeoroDegreePos.Col, CenterRow, CenterCol, 30, 30);
view1.AddViewObject(MarkToRotArrow);
view1.Repaint();
}));
}
