/// <summary>
/// Load Tool AutoCalib theo CameraIndex
/// </summary>
/// <param name="CameraIndex"></param>
public void Load(int CameraIndex)
{
string[] writeStrings = new string[10];
string urlTool = Helper.CreatDirectionAutoCalib(CameraIndex);
//
if (File.Exists(urlTool + "\\info.txt"))
{
string[] readString = File.ReadAllLines(urlTool + "\\info.txt");
foreach (string item in readString)
{
if (item.IndexOf("CalNpointOK,") >= 0)
{
CalNpointOK = bool.Parse(item.Split(',')[1]);
}
if (item.IndexOf("CalTTMatrixOK,") >= 0)
{
CalTTMatrixOK = bool.Parse(item.Split(',')[1]);
}
}
}
else
{
CalNpointOK = false;
CalTTMatrixOK = false;
}
//
if (CalNpointOK && CalTTMatrixOK)
{
Matrix4x4[] tempArrMatrix = Helper.LoadAutoCalibMatrix(urlTool);
if (tempArrMatrix != null)
{
TransMatrixPBASE = tempArrMatrix[0];
TransformTT = tempArrMatrix[1];
TransMatrixPOROV = tempArrMatrix[2];
}
}
//
if (File.Exists(urlTool + "\\CalibNPointToolRBCam.vpp"))
{
CalibNPointToolRBCam = (CogCalibNPointToNPoint)Cognex.VisionPro.CogSerializer.LoadObjectFromFile(urlTool + "\\CalibNPointToolRBCam.vpp", typeof(System.Runtime.Serialization.Formatters.Binary.BinaryFormatter), CogSerializationOptionsConstants.All);
}
PointTransformToolFromNPointCalib = CalibNPointToolRBCam.GetComputedUncalibratedFromCalibratedTransform();
}
/// <summary>
/// Tính toán AutoCalib
/// </summary>
/// <returns></returns>
public bool Calculate()
{
// Tính toán ma trận chuyển hệ Robot sang hệ Camera POROV TransformMatrixPOROV
var tempArrMatrix = TransformMatrixCal.CalPBaseAndPOROC(ListAutoCalibPointsRB[9], ListAutoCalibPointsRB[10], ListAutoCalibPointsCam[9], ListAutoCalibPointsCam[10]);
TransMatrixPOROV = tempArrMatrix[1];
TransMatrixPBASE = tempArrMatrix[0];
if (TransMatrixPOROV == null)
{
return(false);
}
// Chuyển đổi sang ma trận Robot trên hệ tọa độ Camera
List <PointWithTheta> ListAutoCalibPointsRB_OCam = Helper.CalTransRobotToOCam(ListAutoCalibPointsRB, TransMatrixPOROV, TransMatrixPBASE);
// Thêm điểm vào Tool Calib N Point, tính toán trả về Tool chuyển đổi điểm qua N Point
if (NumberPoints >= 11)
{
for (int i = 0; i < 9; i++)
{
CalibNPointToolRBCam.AddPointPair(ListAutoCalibPointsRB_OCam[i].X, ListAutoCalibPointsRB_OCam[i].Y, ListAutoCalibPointsCam[i].X, ListAutoCalibPointsCam[i].Y);
}
CalibNPointToolRBCam.Calibrate();
if (!CalibNPointToolRBCam.Calibrated)
{
MessageBox.Show("N Point Calib Fail!");
return(false);
}
else
{
PointTransformToolFromNPointCalib = CalibNPointToolRBCam.GetComputedUncalibratedFromCalibratedTransform();
CalNpointOK = true;
}
}
return(true);
}
