public bool StartGrabImg()
{
//1.打开光源
FileLib.Logger.Pop(" 打开光源：", false, "FOF运行日志");
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
FileLib.Logger.Pop(" 开始采图：", false, "FOF运行日志");
if (GrabImg != null)
{
GrabImg.Dispose();
}
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg);
ViewControl view0 = new ViewControl();
view0 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
view0 = DisplaySystem.GetViewControl(CameraTest.UpCam3);
}
view0.ResetView();
view0.Refresh();
//3.关闭光源
LightCtrlManager.Instance.SetAllLightTo0();
FileLib.Logger.Pop(" 关闭光源：", false, "FOF运行日志");
return(true);
}
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 { }
}
}
private void ContinueGrabBtn_Click(object sender, EventArgs e)
{
ContinueGrabBtn.Enabled = false;
IsContinnueGrab = true;
System.Threading.Tasks.Task.Factory.StartNew(new Action(() => {
while (IsContinnueGrab)
{
if (GrabedImg != null)
{
GrabedImg.Dispose();
}
if (CameraCtrl.Instance.GrabImg(TeachCaliPara.camLightPara.CamName, out GrabedImg))
{
view1.ResetView();
view1.Refresh();
view1.AddViewImage(GrabedImg);
view1.Repaint();
}
System.Threading.Thread.Sleep(100);
}
}));
}
private void CamParaDgv_CellContentClick(object sender, DataGridViewCellEventArgs e)
{
try{
if (e.RowIndex >= 0)
{
//当前行对应的相机参数
CameraPara CurCamPara = (CameraPara)this.CamParaDgv.CurrentRow.DataBoundItem;
if (CurCamPara == null)
{
return;
}
switch (CamParaDgv.Columns[e.ColumnIndex].Name)
{
case "DeleteBtnDgvCol":
if (MessageBox.Show("是否删除该项设备？ ", "删除提示", MessageBoxButtons.YesNo,
MessageBoxIcon.Question) != DialogResult.Yes)
{
return;
}
CameraParaManager.Instance.CameraParaList.Remove(CurCamPara);
break;
case "OpenCamBtnDgvCol":
CameraPara camParaI;
for (int i = 0; i < CameraParaManager.Instance.CameraParaList.Count() - 1; i++)
{
camParaI = CameraParaManager.Instance.CameraParaList[i];
if (CurCamPara.CameraName == camParaI.CameraName)
{
MessageBox.Show("相机已经示教，请重新选择相机");
break;
}
}
CameraCtrl.Instance.Init();
break;
case "GrabImgDgvCol":
ImgOut.Dispose();
CameraCtrl.Instance.GrabImg(CurCamPara.CameraName, out ImgOut);
view.ResetView();
view.AddViewImage(ImgOut);
//view.Refresh();
view.Repaint();
break;
}
this.CamParaDgv.Refresh();
}
}
catch
{ }
}
private void btnLoadLocalImage_Click(object sender, EventArgs e)
{
try {
string fileName;
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "All files (*.*)|*.*|bmp files (*.bmp)|*.bmp";
openFileDialog1.Multiselect = false;
openFileDialog1.FilterIndex = 1;
openFileDialog1.Title = "打开图片文件";
openFileDialog1.RestoreDirectory = false;
openFileDialog1.InitialDirectory = @"D:\Image\";
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
fileName = openFileDialog1.FileName;
HObject img;
HTuple wid, hei;
HOperatorSet.GenEmptyObj(out img);
HOperatorSet.ReadImage(out img, fileName);
HOperatorSet.GetImageSize(img, out wid, out hei);
//hWindowControl1.ImagePart = new Rectangle(0, 0, wid, hei);
OrgImageWid = wid;
OrgImageHei = hei;
TeachLocalPara.Template.SetTrainImage(fileName);
if (CurrentImage != null)
{
CurrentImage.Dispose();
}
if (TempSrcImage != null)
{
TempSrcImage.Dispose();
}
HOperatorSet.CopyImage(img, out CurrentImage);
HOperatorSet.CopyImage(img, out TempSrcImage);
view1.Refresh();
view1.ResetView();
view1.AddViewImage(CurrentImage);
view1.Repaint();
UpdateImageToSubForm();
if (img != null)
{
img.Dispose();
}
}
openFileDialog1.Dispose();
}
catch (Exception ex) {
MessageBox.Show(ex.Message.ToString());
}
}
private void FindLineBtn_Click(object sender, EventArgs e)
{
txtFindTime.Clear();
Stopwatch sw = new Stopwatch();
HObject RoiContour = new HObject();
view1.ResetView();
view1.AddViewImage(GrabedImg);
HTuple ResultRows = new HTuple(), ResultCols = new HTuple();
if ((TeachLinesPara.Row1s[0] == 0 || TeachLinesPara.Col1s[0] == 0))
{
MessageBox.Show("示教未完成，请重新示教。");
return;
}
int lineCount = TeachLinesPara.Col1s.Count;
sw.Start();
for (int i = 0; i < lineCount; i++)
{
if (TeachLinesPara.Row1s[i] == 0 || TeachLinesPara.Row1s[i] == 0)
{
MessageBox.Show("示教未完成，请重新示教。");
return;
}
//1.0显示直线的检测ROI
MyVisionBase.gen_rake_ROI(GrabedImg, out RoiContour, TeachLinesPara.Elements[i], TeachLinesPara.DetectHeights[i], 2,
TeachLinesPara.Row1s[i], TeachLinesPara.Col1s[i], TeachLinesPara.Row2s[i], TeachLinesPara.Col2s[i]);
view1.SetDraw("blue", "margin");
view1.AddViewObject(RoiContour);
//2.0利用卡尺工具找出边界点
MyVisionBase.Rake(GrabedImg, out RoiContour, TeachLinesPara.Elements[i], TeachLinesPara.DetectHeights[i], 2, 2,
TeachLinesPara.Thresholds[i], "all", "first", TeachLinesPara.Row1s[i], TeachLinesPara.Col1s[i],
TeachLinesPara.Row2s[i], TeachLinesPara.Col2s[i], out ResultRows, out ResultCols);
MyVisionBase.ClipCenterElement(ResultRows, TeachLinesPara.CenterClips[i], out ResultRows);
MyVisionBase.ClipCenterElement(ResultCols, TeachLinesPara.CenterClips[i], out ResultCols);
HObject LinePtCross = new HObject();
//3.显示拟合的点
HOperatorSet.GenCrossContourXld(out LinePtCross, ResultRows, ResultCols, 12, 0.7);
view1.SetDraw("green", "margin");
view1.AddViewObject(LinePtCross);
}
sw.Stop();
this.view1.Repaint();
txtFindTime.Text = sw.ElapsedMilliseconds.ToString();
}
private void GenVirtualBtn_Click(object sender, EventArgs e)
{
TryDebugBtn_Click(null, new EventArgs());
if (FindCircleRow.Length >= 2 && FindCircleCol.Length >= 2)
{
HTuple OutLineRow1 = new HTuple(), OutLineCol1 = new HTuple(), OutLineRow2 = new HTuple(), OutLineCol2 = new HTuple();
view1.ResetView();
view1.AddImage(GrabedImg);
//1.0找线
TryDebugBtn_Click(null, new EventArgs());
HTuple LineAngle = new HTuple();
HObject LineArrow = new HObject();
HObject LitCirCross = new HObject();
//2.0计算圆心连线与相机X轴的夹角
OutLineRow1 = FindCircleRow[0].D;
OutLineCol1 = FindCircleCol[0].D;
OutLineRow2 = FindCircleRow[1].D;
OutLineCol2 = FindCircleCol[1].D;
LineTypePos.CalculateLineAng(OutLineRow1, OutLineCol1, OutLineRow2, OutLineCol2, out LineAngle, out LineArrow);
LineAngle = LineAngle.D / Math.PI * 180.0;
HTuple LitCirRow = new HTuple(), LitCircol = new HTuple();
HTuple DistRr = (7.78 / 2.0) / 2.8 * FindCircleR[0].D;
//3.0生成虚拟圆的圆心
CircleTypePos.GenCirCenter(FindCircleRow[0].D, FindCircleCol[0].D, DistRr, out LitCirRow, out LitCircol);
HOperatorSet.GenCrossContourXld(out LitCirCross, LitCirRow, LitCircol, 60, 0);
view1.SetDraw("blue", "margin");
view1.AddViewObject(LineArrow);
view1.AddViewObject(LitCirCross);
HHomMat2D MyHomMat = new HHomMat2D();
MyHomMat = MyHomMat.HomMat2dRotate((TeachCirclePara.OffSetPixelTh + LineAngle) / 180.0 * Math.PI, FindCircleRow[0], FindCircleCol[0]);
//4.0旋转生成圆的圆心
MyHomMat.AffineTransPixel(LitCirRow, LitCircol, out LitCirRow, out LitCircol);
HOperatorSet.GenCrossContourXld(out LitCirCross, LitCirRow, LitCircol, 60, 0);
HObject FirstCirCont = new HObject(), SecondCirCont = new HObject();
HOperatorSet.GenCircleContourXld(out FirstCirCont, LitCirRow[0].D, LitCircol[0].D, 60, 0, 2 * Math.PI, "positive", 0.1);
HOperatorSet.GenCircleContourXld(out SecondCirCont, LitCirRow[1].D, LitCircol[1].D, 40, 0, 2 * Math.PI, "positive", 0.1);
HOperatorSet.ConcatObj(LitCirCross, FirstCirCont, out LitCirCross);
HOperatorSet.ConcatObj(LitCirCross, SecondCirCont, out LitCirCross);
view1.SetDraw("red", "margin");
view1.AddViewObject(LitCirCross);
}
}
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 LoadImgBtn_Click(object sender, EventArgs e)
{
try{
string fileName;
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "All files (*.*)|*.*|bmp files (*.bmp)|*.bmp";
openFileDialog1.Multiselect = false;
openFileDialog1.FilterIndex = 1;
openFileDialog1.Title = "打开图片文件";
openFileDialog1.RestoreDirectory = false;
openFileDialog1.InitialDirectory = @"D:\Image\";
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
fileName = openFileDialog1.FileName;
HOperatorSet.ReadImage(out GrabedImg, fileName);
view1.ResetView();
view1.AddViewImage(GrabedImg);
view1.Repaint();
}
}
catch (Exception ex) {
MessageBox.Show(ex.Message.ToString());
}
}
public override void Do()
{
//1.打开光源
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
if (GrabImg != null)
{
GrabImg.Dispose();
}
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
if (CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg))
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 1); //拍照OK
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 2); //拍照NG
}
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();
//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();
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 1); //告诉PLC定位结果OK
}
catch (Exception e0)
{
Logger.PopError1(e0, false, "视觉日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 2); //告诉PLC定位结果OK
}
//7.告诉PLC定位结果完成
MyLocalResult = MyLocal.GetResult();
view1.AddViewObject(MyLocalResult.ShowContour);
//结合标定坐标计算出产品的实际位置
MyHomMat2D HomMat = new MyHomMat2D();
HomMat = CaliParaManager.Instance.GetHomMAT(MyVisionPara.localPara.localSetting.CoordiCam); //获取示教的标定矩阵
HalconDotNet.HTuple HHomMat = new HalconDotNet.HTuple();
//标定矩阵的转换
MyVisionBase.MyHomMatToHalcon(HomMat, out HHomMat);
//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);
CaliValue CaliPara = CaliParaManager.Instance.GetCaliValue(MyVisionPara.localPara.localSetting.CoordiCam);
//将像素坐标转换到标定坐标
//MyLocalResult.AffineTransResult()
HalconDotNet.HTuple HomMatCali = new HalconDotNet.HTuple();
MyVisionBase.MyHomMatToHalcon(CaliPara.HomMat, out HomMatCali);
MyVisionBase.AffineTransPt(MyLocalResult.col, MyLocalResult.row, HomMatCali, out MyLocalResult.x, out MyLocalResult.y);
//MyVisionBase.AffineTransPt()
//获取当前坐标
//double X = 0, Y = 0, Z = 0, Theta = 0;
//if (CaliParaManager.Instance.GetCaliMode(MyVisionPara.localPara.localSetting.TeachCoordi) == CaliModelEnum.HandEyeCali)
//{
// MotionManager.Instance.SetCoordi(MyVisionPara.localPara.localSetting.TeachCoordi);
// MotionManager.Instance.GetCoordiPos(out X, out Y, out Z, out Theta);
//}
//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;
}
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);
}
public override void Do()
{
//1.打开光源
FileLib.Logger.Pop(" 打开光源：", false, "FOF运行日志");
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
FileLib.Logger.Pop(" 开始采图：", false, "FOF运行日志");
if (GrabImg != null)
{
GrabImg.Dispose();
}
if (FilterImg != null)
{
FilterImg.Dispose();
}
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
if (CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg))
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 1); //拍照OK
}
FileLib.Logger.Pop(" 采图OK：", false, "FOF运行日志");
}
else
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 2); //拍照NG
}
FileLib.Logger.Pop(" 采图NG：", false, "FOF运行日志");
}
ViewControl view1 = new ViewControl();
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam3);
}
view1.ResetView();
view1.Refresh();
//3.关闭光源
//LightCtrlManager.Instance.SetAllLightTo0();
//FileLib.Logger.Pop(" 关闭光源：", false, "FOF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
FileLib.Logger.Pop(" 开始偏移检测：", false, "FOF运行日志");
MyVisionBase.SaveImg(GrabImg, "FOF偏移检测图片");
if (MyVisionPara.camLightPara.IsFilter)
{
FileLib.Logger.Pop(" 开始频域滤波，FilterC：" + MyVisionPara.camLightPara.FilterC.ToString(), false, "FOF运行日志");
MyVisionBase.FilterImg(GrabImg, out FilterImg, MyVisionPara.camLightPara.FilterC);
view1.AddViewImage(FilterImg);
MyVisionBase.SaveImg(FilterImg, "FOF偏移检测图片");
MyLocal.SetParam(FilterImg, MyVisionPara.localPara);
}
else
{
view1.AddViewImage(GrabImg);
MyLocal.SetParam(GrabImg, MyVisionPara.localPara);
}
view1.Repaint();
//6.执行定位
try
{
FileLib.Logger.Pop(" 开始定位：", false, "FOF运行日志");
MyLocal.doLocal();
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 1);
}
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果OK）：", false, "FOF运行日志");
}
catch (Exception e0)
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 2);
}
Logger.PopError1(e0, false, "视觉错误日志");
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果NG）：", false, "FOF运行日志");
}
MyLocalResult = MyLocal.GetResult();
view1.AddViewObject(MyLocalResult.ShowContour);
view1.Repaint();
//8.结合标定坐标计算出产品的实际位置
MyHomMat2D HomMat = new MyHomMat2D();
HomMat = CaliParaManager.Instance.GetHomMAT(MyVisionPara.localPara.localSetting.CoordiCam); //获取示教的标定矩阵
FileLib.Logger.Pop(" 获取标定矩阵(CoordiEnumItem)：" + MyVisionPara.localPara.localSetting.CoordiCam.ToString()
, false, "FOF运行日志");
FileLib.Logger.Pop(HomMat.ToString(), false, "FOF运行日志");
HalconDotNet.HTuple HHomMat = new HalconDotNet.HTuple();
//9.标定矩阵的转换
MyVisionBase.MyHomMatToHalcon(HomMat, out HHomMat);
//10.图像坐标系的原点由左上角变到左下角
MyVisionBase.AdjImgRow(GrabImg, ref MyLocalResult.row);
MyVisionBase.AffineTransPt(MyLocalResult.col, MyLocalResult.row, HHomMat, out MyLocalResult.x, out MyLocalResult.y);
FileLib.Logger.Pop("col: " + MyLocalResult.col.ToString("f3") + " row: " + MyLocalResult.row.ToString("f3"), false, "FOF运行日志");
FileLib.Logger.Pop("X: " + MyLocalResult.x.ToString("f3") + " Y: " + MyLocalResult.y.ToString("f3"), false, "FOF运行日志");
MyLocalResult.Theta = MyLocalResult.angle;
if (FilterImg != null)
{
FilterImg.Dispose();
}
if (GrabImg != null)
{
GrabImg.Dispose();
}
}
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();
}));
}