/// <summary>
/// 单目相机偏差计算
/// </summary>
/// <param name="index">基准值的索引，计算结果与该基准值进行计算，需要与标定时的index一致</param>
/// <param name="baseParComprehensive">拍照相机的算子参数，用于索引旋转中心的算子</param>
/// <param name="result"></param>
/// <returns></returns>
public bool MonoCalc(int index, BaseParComprehensive baseParComprehensive, out double[] result)
{
result = new double[3] {
0, 0, 0
};
try
{
//TODO 根据产品两角，以及旋转中心和基准值计算偏差
if (!Calc(pt2MarkArray[(int)PtType_Mono.AutoMark1],
pt2MarkArray[(int)PtType_Mono.AutoMark2], index, baseParComprehensive, out result))
{
ShowState(string.Format("相机{0}偏差计算出错", g_NoCamera));
return(false);
}
FinishPhotoPLC(CameraResult.OK);
ShowState(string.Format("单目相机偏差：X:{0},Y:{1},R{2}", result[0], result[1], result[2]));
return(true);
}
catch (Exception ex)
{
FinishPhotoPLC(CameraResult.NG);
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
/// <summary>
/// 保存多目校准的系数
/// </summary>
/// <param name="noCamera_e">相机序号</param>
/// <param name="index">算子序号，不是拍照位置</param>
/// <param name="calib"></param>
/// <returns></returns>
public static bool SaveCalibMultCo(NoCamera_enum noCamera_e, int index, double[] calib)
{
try
{
BaseParComprehensive par = GetParComphensive(noCamera_e);
//index 获取对应算子的所有单元格名称
List <string> nameCell_L = par.GetAllNameCellByType("多目校准");
if (nameCell_L.Count < index)
{
return(false);
}
string nameCell = nameCell_L[index - 1];
ParCalibMult parCalibMult = par.GetCellParCalibrate(nameCell) as ParCalibMult;
for (int i = 0; i < calib.Length; i++)
{
parCalibMult.CoCalib[i] = calib[i];
}
bool blSave = par.WriteXmlDoc(nameCell);
if (blSave)
{
ShowState(string.Format("将多目校准{0}参数保存到本地成功", nameCell));
}
else
{
ShowAlarm(string.Format("将多目校准{0}参数保存到本地失败", nameCell));
return(false);
}
return(true);
}
catch (Exception ex)
{
Log.L_I.WriteError("BaseDealComprehensiveResult", ex);
return(false);
}
}
public bool CalibRotateCenter(string cellName, Point2D pt2Mark1, Point2D pt2Mark2,
double rotateAngle, BaseParComprehensive parComprehensive)
{
try
{
//获取旋转中心cell
BaseParCalibrate baseParComprehensive = parComprehensive.GetCellParCalibrate(cellName);
//获取旋转中心算子
ParCalibRotate parCalibRotate = (ParCalibRotate)baseParComprehensive;
//根据参数求旋转中心
Point2D rc = new FunCalibRotate().GetOriginPoint(rotateAngle, pt2Mark1, pt2Mark2);
//把旋转中心存入算子
parCalibRotate.XRC = rc.DblValue1;
parCalibRotate.YRC = rc.DblValue2;
//讲计算结果写入xml
parComprehensive.WriteXmlDoc(cellName);
//将参数保存到结果类
new FunCalibRotate().SaveParToResult(HtResult_Cam1, parCalibRotate);
//输出计算结果
string info = string.Format("相机{0}旋转中心标定完成，X:{1},Y:{2}", g_NoCamera,
parCalibRotate.XRC.ToString(), parCalibRotate.YRC.ToString());
ShowState(info);
return(true);
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
/// <summary>
/// 偏差计算，取deltaX进行角度计算
/// </summary>
/// <param name="mark1">旋转起始点</param>
/// <param name="mark2">旋转终止点</param>
/// <param name="ratio">相机系数</param>
/// <param name="disMark">mark间距</param>
/// <param name="cellName">算子序号</param>
/// <param name="index">对应的基准值索引</param>
/// <param name="baseParComprehensive">相机综合设置算子序列</param>
/// <param name="pt3Result">计算结果</param>
/// <returns></returns>
public static bool CalcDeviationY(Point2D mark1, Point2D mark2, double ratio,
double disMark, string cellName, int index,
BaseParComprehensive baseParComprehensive, out double[] pt3Result)
{
pt3Result = new double[3];
try
{
//用于计算结果的工具类
FunCalibRotate funCalibRotate = new FunCalibRotate();
//计算当前位置与标定位的角度
double deltar = GetCurAngleByY(disMark, ratio, mark1, mark2);
//算上基准值的角度，本机只用到pos0/1
Point4D calibPos = CalibDataMngr.instance.CalibPos_L[index];
deltar -= calibPos.DblValue4;
//计算旋转之后的mark位置，此处用第二点计算
if (!GetPtAfterRotate(mark2, -deltar, cellName, baseParComprehensive, out Point2D result))
{
return(false);
}
pt3Result = new double[] { Math.Round((calibPos.DblValue1 - result.DblValue1) * ratio, 4),
Math.Round((calibPos.DblValue2 - result.DblValue2) * ratio, 4),
Math.Round(deltar, 4) };
}
catch (Exception ex)
{
Log.L_I.WriteError(ClassName, ex);
return(false);
}
return(true);
}
//获取错误单元
string GetErrorCell(Hashtable hashtable)
{
try
{
if (hashtable == null)
{
return("");
}
if (hashtable.Keys == null)
{
return("");
}
foreach (string key in hashtable.Keys)
{
if (hashtable[key] == null)
{
string str = "相机" + g_NoCamera.ToString() + "处理异常:";
BaseParComprehensive baseParComprehensive = g_BaseParComprehensive.GetCellClass(key);
string annotation = baseParComprehensive.Annotation;
g_UCAlarm.AddInfo(str + key + ":" + annotation);
g_UCStateWork.AddInfo(str + key + ":" + annotation);
}
}
return("");
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
return("");
}
}
/// <summary>
/// 计算相机的映射系数
/// </summary>
/// <param name="par1">基准相机参数</param>
/// <param name="index1">算子索引号</param>
/// <param name="par2"></param>
/// <param name="index2">算子索引号</param>
/// <returns></returns>
bool CalibMult_Co(BaseParComprehensive par1, int index1, BaseParComprehensive par2, int index2)
{
try
{
//第一个相机
List <string> name1_L = par1.GetAllNameCellByType("多目校准");
if (name1_L.Count < index1)
{
WinMsgBox.ShowMsgBox("算子个数小于序号!");
return(false);
}
string name1 = name1_L[index1 - 1];
ParCalibMult parCalibMult1 = par1.GetCellParCalibrate(name1) as ParCalibMult;
//第二个相机
List <string> name2_L = par2.GetAllNameCellByType("多目校准");
if (name2_L.Count < index1)
{
WinMsgBox.ShowMsgBox("算子个数小于序号!");
return(false);
}
string name2 = name2_L[index1 - 1];
ParCalibMult parCalibMult2 = par2.GetCellParCalibrate(name2) as ParCalibMult;
//计算系数
FunCalibMult fun = new FunCalibMult();
fun.CalCalibMult(parCalibMult1, parCalibMult2);
//保存此单元格
bool blSave = par1.WriteXmlDoc(par1.NameCell);
if (blSave)
{
ShowState(string.Format("将相机{0}参数{1}保存到本地成功", par1.NoCamera.ToString(), par1.NameCell));
}
else
{
ShowAlarm(string.Format("将相机{0}参数{1}保存到本地失败", par1.NoCamera.ToString(), par1.NameCell));
return(false);
}
blSave = par2.WriteXmlDoc(par2.NameCell);
if (blSave)
{
ShowState(string.Format("将相机{0}参数{1}保存到本地成功", par2.NoCamera.ToString(), par2.NameCell));
}
else
{
ShowAlarm(string.Format("将相机{0}参数{1}保存到本地失败", par2.NoCamera.ToString(), par2.NameCell));
return(false);
}
return(true);
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
/// <summary>
/// 判断指定单元格结果
/// </summary>
/// <param name="htResult">哈希表结果</param>
/// <param name="cell_L">单元格名称</param>
/// <param name="name">错误单元格名称</param>
/// <returns></returns>
protected bool GetErrorCell(Hashtable htResult, List <string> cell_L, out string name)
{
int numError = 0;
name = "";
try
{
if (htResult == null)
{
return(false);
}
if (htResult.Keys == null)
{
return(false);
}
foreach (string key in cell_L)
{
if (htResult[key] == null)
{
string str = "相机" + g_NoCamera.ToString() + "处理异常:";
BaseParComprehensive baseParComprehensive = g_BaseParComprehensive.GetCellClass(key);
string annotation = baseParComprehensive.Annotation;
ShowAlarm(str + key + ":" + annotation);
numError++;
name += key + ",";
}
else
{
if (htResult[key] is BaseResult)
{
BaseResult result = htResult[key] as BaseResult;
if (result.LevelError_e == LevelError_enum.Error &&//单元格错误，并且位置相同
!result.Type.Contains("模板"))
{
numError++;
string str = string.Format("相机{0}{1}处理异常:{2}", g_NoCamera.ToString(), result.NameCell + result.Type, result.Annotation);
ShowAlarm(str);
}
}
name += key + ",";
}
}
if (numError > 0)
{
return(false);
}
return(true);
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
/// <summary>
/// 获取相机综合设置参数顶层类
/// </summary>
/// <param name="noCamera_e"></param>
/// <returns></returns>
public static BaseParComprehensive GetParComphensive(NoCamera_enum noCamera_e)
{
try
{
BaseParComprehensive par = ParComprehensive1.P_I;
switch (noCamera_e)
{
case NoCamera_enum.Camera1:
par = ParComprehensive1.P_I;
break;
case NoCamera_enum.Camera2:
par = ParComprehensive2.P_I;
break;
case NoCamera_enum.Camera3:
par = ParComprehensive3.P_I;
break;
case NoCamera_enum.Camera4:
par = ParComprehensive4.P_I;
break;
case NoCamera_enum.Camera5:
par = ParComprehensive5.P_I;
break;
case NoCamera_enum.Camera6:
par = ParComprehensive6.P_I;
break;
case NoCamera_enum.Camera7:
par = ParComprehensive7.P_I;
break;
case NoCamera_enum.Camera8:
par = ParComprehensive8.P_I;
break;
}
return(par);
}
catch (Exception ex)
{
return(null);
}
}
/// <summary>
/// 计算偏差
/// </summary>
/// <param name="mark1">单目定位中的角1</param>
/// <param name="mark2">单目定位中的角2，即用于标定以及计算偏差的角</param>
/// <param name="index">基准值索引</param>
/// <param name="baseParComprehensive"></param>
/// <param name="pt3Result"></param>
/// <returns></returns>
public bool Calc(Point2D mark1, Point2D mark2, int index, BaseParComprehensive baseParComprehensive, out double[] pt3Result)
{
//return MonocularLation.CalcDeviationY(mark1, mark2, AMP,
// ModelParams.MonoGlassX, strCamera5RC, index, baseParComprehensive, out pt3Result);
double r;
if (!ModelParams.IfMirrior)
{
r = ModuleBase.GetCurAngleByY(ModelParams.MonoGlassX, AMP, mark1, mark2);
}
else
{
r = ModuleBase.GetCurAngleByY(ModelParams.MonoGlassX, AMP, mark2, mark1);
}
return(MonocularLation.CalcDeviationY(mark2, r, AMP,
strCamera5RC, index, baseParComprehensive, out pt3Result));
}
public static bool GetPtAfterRotate(Point2D pt, double r, string cellName, BaseParComprehensive parComprehensive, out Point2D result)
{
result = new Point2D();
try
{
if (!GetRcFromPar(cellName, parComprehensive, out Point2D rc))
{
return(false);
}
result = new FunCalibRotate().GetPoint_AfterRotation(-r / 180 * Math.PI, rc, pt);
}
catch (Exception ex)
{
Log.L_I.WriteError(ClassName, ex);
return(false);
}
return(true);
}
/// <summary>
/// 判断是否存在额料
/// </summary>
/// <param name="pos1"></param>
/// <param name="pos2"></param>
/// <param name="parComprehensive"></param>
/// <returns></returns>
public bool Judge(Point2D pos1, Point2D pos2, BaseParComprehensive parComprehensive)
{
Point2D dblMark1After = new Point2D();
Point2D dblMark2After = new Point2D();
Point2D result;
try
{
//计算当前位置与标定位置的角度差，
//此处有一个问题，当存在额料的时候，相当于mark实际距离边长，这导致计算出的角度其实有偏差，理论上额料越大，导致偏差越大
double deltar = GetCurAngle(ModelParams.confGlassY, ParCalibWorld.V_I[g_NoCamera], pos1, pos2);
//计算旋转之后的mark1位置
if (!ModuleBase.GetPtAfterRotate(pos1, deltar, strRotateCalibCell1, parComprehensive, out result))
{
return(false);
}
dblMark1After = result;
//计算旋转之后的mark2位置
if (!ModuleBase.GetPtAfterRotate(pos2, deltar, strRotateCalibCell1, parComprehensive, out result))
{
return(false);
}
dblMark2After = result;
//求出旋转后两个点的实际偏差
double deltaX = (dblMark1After.DblValue1 - dblMark2After.DblValue1) * AMP;
double deltaY = (dblMark1After.DblValue2 - dblMark2After.DblValue2) * AMP;
//把判断标准和一次拍照统一，共用阈值
double ratioX = (Math.Abs(deltaX) + ModelParams.GlassXInPrecise) / ModelParams.GlassXInPrecise;
double ratioY = (Math.Abs(deltaY) + ModelParams.GlassYInPrecise) / ModelParams.GlassYInPrecise;
//判断是否有额料，是否要做额料位置的区分？
if (ratioX > ModelParams.AreaMax || ratioY > ModelParams.AreaMax)
{
ShowState("有额料");
return(false);
}
return(true);
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
public static bool GetRcFromPar(string cellName, BaseParComprehensive parComprehensive, out Point2D rc)
{
rc = new Point2D();
try
{
//获取单元格
BaseParCalibrate baseParComprehensive = parComprehensive.GetCellParCalibrate(cellName);
//获取旋转中心算子
ParCalibRotate parCalibRotate = (ParCalibRotate)baseParComprehensive;
//计算旋转之后的mark位置
rc = parCalibRotate.PointRC;
}
catch (Exception ex)
{
Log.L_I.WriteError(ClassName, ex);
return(false);
}
return(true);
}
/// <summary>
/// 标定旋转中心
/// </summary>
/// <param name="cellName"></param>
/// <param name="baseParComprehensive"></param>
/// <returns></returns>
public bool CalibRC(string cellName, BaseParComprehensive baseParComprehensive)
{
ShowState(string.Format("开始计算旋转中心"));
if (ModelParams.IfUseRealRC && !CalibRotateCenter(cellName, pt2MarkArray[(int)PtType_Mono.R180Mark2],
pt2MarkArray[(int)PtType_Mono.RcMark2], -ModelParams.RCCalibAngle, baseParComprehensive))
{
ShowState("旋转中心计算失败");
return(false);
}
//验证计算旋转中心时PLC控制玻璃旋转的角度是否与设定的计算角度一致
if (!VerifyRotateCenter(pt2MarkArray[(int)PtType_Mono.R180Mark1],
pt2MarkArray[(int)PtType_Mono.R180Mark2],
pt2MarkArray[(int)PtType_Mono.RcMark1],
pt2MarkArray[(int)PtType_Mono.RcMark2], -ModelParams.RCCalibAngle, 0.2))
{
ShowAlarm("旋转中心角度校验失败，标定结果可能存在偏差，请人工确认");
}
ShowState(string.Format("相机{0}标定结束", g_NoCamera));
return(true);
}
public bool SetRotateCenter(string cellName, Point2D rc, BaseParComprehensive parComprehensive)
{
//获取旋转中心cell
BaseParCalibrate baseParComprehensive = parComprehensive.GetCellParCalibrate(cellName);
//获取旋转中心算子
ParCalibRotate parCalibRotate = (ParCalibRotate)baseParComprehensive;
//把旋转中心存入算子
parCalibRotate.XRC = rc.DblValue1;
parCalibRotate.YRC = rc.DblValue2;
//讲计算结果写入xml
parComprehensive.WriteXmlDoc(cellName);
//将参数保存到结果类
new FunCalibRotate().SaveParToResult(HtResult_Cam1, parCalibRotate);
//输出计算结果
string info = string.Format("相机{0}旋转中心标定完成，X:{1},Y:{2}", g_NoCamera,
parCalibRotate.XRC.ToString(), parCalibRotate.YRC.ToString());
ShowState(info);
return(true);
}
/// <summary>
/// 获取指定相机中校准算子的引用值列表，
/// </summary>
/// <param name="noCamera_e">相机序号</param>
/// <param name="pos">算子序号</param>
/// <param name="nameType">算子名称</param>
/// <returns></returns>
public static List <Point2D> GetCalibCellRefValue2(NoCamera_enum noCamera_e, int pos, string nameType)
{
List <Point2D> p_L = new List <Point2D>();
try
{
BaseParComprehensive par = GetParComphensive(noCamera_e);
//获取对应算子的所有单元格名称
List <string> nameCell_L = par.GetAllNameCellByType(nameType);
if (nameCell_L.Count < pos)
{
return(null);
}
string nameCell = nameCell_L[pos - 1];
//校准基类
BaseParCalibrate baseParCalibrate = par.GetCellParCalibrate(nameCell);
List <ResultforCalib> resultforCalib_L = baseParCalibrate.g_ParGetResultFromCell.ResultforCalib_L;
if (nameType == "旋转中心变换")
{
resultforCalib_L = ((ParCalibRotate)baseParCalibrate).g_ParGetResultFromCellForRC.ResultforCalib_L;
}
for (int i = 0; i < resultforCalib_L.Count; i++)
{
if (resultforCalib_L[i].XResult * resultforCalib_L[i].YResult != 0)
{
p_L.Add(new Point2D(resultforCalib_L[i].XResult, resultforCalib_L[i].YResult));
}
}
return(p_L);
}
catch (Exception ex)
{
Log.L_I.WriteError("Main_EX", ex);
return(null);
}
}