private void InitUV2XYParam()
{
try
{
_station.List_UV2XYResult = new List <HTuple>();
tool_vision = new ToolKits.FunctionModule.Vision();
for (int i = 0; i < _station.Num_Camera; i++)
{
HTuple Item_UV2XYResult = null;
//if (!obj_camera[i].isEnable)
//{
// Item_UV2XYResult = new HTuple(-1);
// _station.List_UV2XYResult.Add(Item_UV2XYResult);
// continue;
//}
if (File.Exists(_station.SystemUV2XYDir + "\\Camera_" + i + "\\" + "UV2XY" + ".dat"))
{
tool_vision.read_hom2d(_station.SystemUV2XYDir + "\\Camera_" + i + "\\" + "UV2XY" + ".dat", out Item_UV2XYResult);
_station.List_UV2XYResult.Add(Item_UV2XYResult);
}
else
{
Item_UV2XYResult = new HTuple(-1);
_station.List_UV2XYResult.Add(Item_UV2XYResult);
}
}
}
catch (Exception ex)
{
HTUi.PopError("无法读取UV-XY结果文件:" + ex.ToString());
}
}
/// <summary>
/// 到指定位置拍照
/// </summary>
/// <param name="x">相机X坐标</param>
/// <param name="y">相机Y坐标</param>
/// <param name="z">相机Z坐标</param>
/// <param name="htWindow">图像视窗</param>
/// <param name="img">拍到的图像</param>
public void SnapPos(double x, double y, double z, HTHalControl.HTWindowControl htWindow, out HObject img)
{
string errMsg = "";
img = null;
if (MultiAxisMove(new string[] { "X", "Y", "Z" }, new double[] { x, y, z }, true, out errMsg) != 0)
{
HTUi.PopError(errMsg);
return;
}
if (_station._RunMode == 1)
{
return;
}
//3. 触发
//if(SWPosTrig(new string[] { "X"},out errMsg)!=0)
//{
// HTUi.PopError(errMsg);
// return;
//}
//4. 取图
if (_station.operation.CaputreOneImage(_station.CamereDev[_station.SelectedIndex], "Halcon", out img, out errMsg) != 0)
{
HTUi.PopError("采集图像失败：" + errMsg);
return;
}
ShowImage(htWindow, img, null);
}
private void btnTool_Click(object sender, EventArgs e)
{
if (HTM.LoadUI() < 0)
{
HTUi.PopError("打开轴调试助手界面失败");
}
}
private void btnSaveUVXY2D_Click(object sender, EventArgs e)
{
this.btnSaveUVXY2D.Focus();
HTuple uvHxy = null;
try
{
GetDGVValue(dgvUVXY2D, new int[] { 0, 1 }, new int[] { 0, 2 }, ref uvHxy);
}
catch (Exception)
{
MessageBox.Show("获取2D相机UV-XY矩阵数据失败！");
return;
}
//保存
string filePath = _station.SystemUV2XYDir + "\\Camera_" + _station.SelectedIndex + "\\" + "UV2XY" + ".dat";
try
{
string dir = Directory.GetParent(filePath).FullName;
if (!Directory.Exists(dir))
{
Directory.CreateDirectory(dir);
}
tool_vision.save_hom2d(filePath, uvHxy);
_station.List_UV2XYResult[_station.SelectedIndex] = uvHxy;
}
catch (Exception ex)
{
HTUi.PopError("2D相机UV-XY矩阵保存失败！\n" + ex.ToString());
return;
}
HTUi.TipHint("2D相机UV-XY矩阵保存成功！");
HTLog.Info("2D相机UV-XY矩阵保存成功！");
}
private async void btnUVXYCalib2D_Click(object sender, EventArgs e)
{
try
{
if (this.aoiModels == null)
{
this.aoiModels = new Model();
string folderPath = _station.SystemUV2XYDir + "\\Camera_" + _station.SelectedIndex;
if (!this.aoiModels.ReadModel(folderPath))
{
HTUi.PopError("未创建2D标定模板！");
return;
}
HOperatorSet.ReadTuple(folderPath + "\\Pos_Uv2Xy.tup", out Pos_Uv2Xy);
}
//设定走位范围
CalibSearchRange csRangeFrm = new CalibSearchRange();
if (csRangeFrm.ShowDialog() != DialogResult.OK)
{
return;
}
double xyRange = csRangeFrm.Range;
//条件：标定板中心在2D相机视野中心位置时的chuck x y的粗略位置已知，即
//料片视野为左下芯片为中心作为初始点位
_station.operation.XUv2xy = Pos_Uv2Xy[0]; //App.obj_Chuck.ref_x + ((App.obj_Pdt.BlockNumber - 1) * App.obj_Pdt.BlockSpace + (App.obj_Pdt.ColumnNumber - 1) * App.obj_Pdt.ColomnSpace)/2 + App.obj_Pdt.RightEdge;
_station.operation.YUv2xy = Pos_Uv2Xy[1]; //App.obj_Chuck.ref_y + App.obj_Pdt.TopEdge + (App.obj_Pdt.RowNumber - 1) * App.obj_Pdt.RowSpace/2;
_station.operation.ZUv2xy = Pos_Uv2Xy[2]; //App.obj_Pdt.ZFocus;
HTuple uvHxy = new HTuple();
bool status = await Task.Run(() =>
{
return(_station.operation.calibUV2XY
(
_station.SelectedIndex,
ref uvHxy,
this.aoiModels,
xyRange, 20
));
});
if (!status)
{
HTUi.PopError("2D相机uvHxy标定失败！");
return;
}
for (int i = 0; i < dgvUVXY2D.RowCount; i++)
{
dgvUVXY2D.Rows[i].Cells[0].Value = uvHxy[i * 3].D;
dgvUVXY2D.Rows[i].Cells[1].Value = uvHxy[i * 3 + 1].D;
dgvUVXY2D.Rows[i].Cells[2].Value = uvHxy[i * 3 + 2].D;
}
HTUi.TipHint("2D相机uvHxy标定成功！");
HTLog.Info("2D相机uvHxy标定成功！");
}
catch (Exception ex)
{
HTUi.PopError("2D相机uvHxy标定失败：" + ex.Message);
btnSnap.Enabled = true;
}
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnSavePara_Click(object sender, EventArgs e)
{
try
{
_station.SaveStationParams();
_station.SaveCfg();
}
catch (Exception ex)
{
HTUi.PopError("保存数据失败！\n" + ex.ToString());
}
}
/// <summary>
/// UV2XY标定时加载光源、点位和视觉参数
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnLoadPara_Click(object sender, EventArgs e)
{
try
{
//App.obj_light.FlashMultiLight(LightUseFor.ScanPoint1st);
HTUi.TipHint("参数加载成功");
}
catch (Exception exp)
{
HTUi.PopError(exp.ToString());
return;
}
}
private void btnCreateCalibModel2D_Click(object sender, EventArgs e)
{
try
{
if (modelForm == null || modelForm.IsDisposed)
{
modelForm = new Form();
if (this.mTmpFrm != null && !this.mTmpFrm.IsDisposed)
{
this.mTmpFrm.Dispose();
}
this.mTmpFrm = new MainTemplateForm(ToolKits.TemplateEdit.MainTemplateForm.TemplateScence.Match,
this.htWindowCalibration, new MainTemplateForm.TemplateParam());
modelForm.Controls.Clear();
this.modelForm.Controls.Add(this.mTmpFrm);
this.mTmpFrm.Dock = DockStyle.Fill;
modelForm.Size = new Size(300, 450);
modelForm.TopMost = true;
modelForm.Show();
int SH = Screen.PrimaryScreen.Bounds.Height;
int SW = Screen.PrimaryScreen.Bounds.Width;
modelForm.Location = new Point(SW - modelForm.Size.Width, SH / 8);
Task.Run(() =>
{
while (!mTmpFrm.WorkOver)
{
Thread.Sleep(200);
}
HTUi.TipHint("创建标定模板完成!");
HTLog.Info("创建标定模板完成!");
modelForm.Close();
});
}
else
{
modelForm.Activate();
}
}
catch (Exception ex)
{
HTUi.PopError("创建标定模板失败：" + ex.Message);
btnSnap.Enabled = true;
}
}
/// <summary>
/// 配置轨道宽度
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnFixTrack_Click(object sender, EventArgs e)
{
switch (HTUi.PopSelect("请在以下选项中选择配置导轨方式。", "直接配置", "轴调试助手", "取消"))
{
case 0:
//保存为选中产品的轨道宽度
break;
case 1:
if (HTM.LoadUI() < 0)
{
HTUi.PopError("打开轴调试助手界面失败");
}
break;
default:
break;
}
}
private void btnSnap_Click(object sender, EventArgs e)
{
try
{
if (_station._RunMode == 1)
{
return;
}
string errStr = "";
string[] TrigChnName = new string[1];
TrigChnName[0] = "TrigX";
//if(_station.operation.SWPosTrig(TrigChnName,out errStr) !=0)
//{
// HTUi.PopError(errStr);
// btnSnap.Enabled = true;
// return;
//}
//4. 取图
HOperatorSet.GenEmptyObj(out Image);
if (_station.operation.CaputreOneImage(_station.CamereDev[_station.SelectedIndex], "Halcon", out Image, out errStr) != 0)
{
HTUi.PopError(errStr);
btnSnap.Enabled = true;
return;
}
ShowImage(htWindowCalibration, Image, null);
if (errStr != "")
{
HTUi.PopError(errStr);
btnSnap.Enabled = true;
}
}
catch (Exception ex)
{
HTUi.PopError("单张采集失败：" + ex.Message);
btnSnap.Enabled = true;
}
}
public void SetupUI()
{
try
{
if (Created)
{
_station.InitStationParams();
dgvUVXY2D.Rows.Clear();
InitUV2XYParam();
dgvUVXY2D.Rows.Add();
if (_station.Num_Camera > _station.SelectedIndex)
{
if (_station.List_UV2XYResult[_station.SelectedIndex].Type != HTupleType.INTEGER)
{
SetDGVValue(ref dgvUVXY2D, _station.List_UV2XYResult[_station.SelectedIndex]);
}
}
}
}
catch (Exception ex)
{
HTUi.PopError("" + ex.ToString());
}
}
/// <summary>
/// 已测试
/// 软触发拍照下，计算相机的uv->xy坐标系变换的操作，如large相机
/// 要求之前设置好相机/光源/触发至“合理”状态
/// [x] = [ H1 H2 H3 ] [u]
/// [y] = [ H4 H5 H6 ] * [v]
/// [1]
/// </summary>
/// <param name="matUV2XY">uv->xy变换矩阵，将2*3的矩阵按照行堆叠的方式存储为1*6的数组, ref传递方式，需要数组有一个初始值</param>
/// <param name="cam">相机控制类，注意曝光时间需要设置合适。软触发拍照建议曝光时间在100ms左右</param>
/// <param name="modelID">匹配的ncc模板</param>
/// <param name="score_thresh">匹配分数，需要大于0.5</param>
/// <param name="axisPara">运动轴信息（xy插补），具体包括轴速，加速度</param>
/// <param name="initPoint">初始点，中间仅适用了xy信息，需要保证走到初始点时室内内包含完整的，可匹配的model</param>
/// <param name="lightInd">软触发拍照对应的光源id，需要事先设置好对应光源合适的时间</param>
/// <param name="axisInd">x，y轴号</param>
/// <param name="xyRange">计算变换时，以初始点为中心，随机走位的范围，单位mm</param>
/// <param name="nPoints">随机走位多少个点</param>
/// <param name="lightDelay">软触发拍照光源的延迟，单位us，典型值10us</param>
/// <param name="timeOut">单次运动的延迟，单位ms</param>
/// <param name="winID">(调试用）显示窗口ID</param>
/// <returns>操作是否成功</returns>
public bool calibUV2XY
(
int camInd,
ref HTuple matUV2XY,
Model model,
double xyRange,
int nPoints = 20
)
{
//if (model.ReadModel(CalibrUV2XYModelPath) == false)
//{
// HTUi.PopError("加载标定模版失败！");
// return false;
//}
string errMsg = "";
if (_station.operation.MultiAxisMove(_station.AxisXYZ, new double[] { _xUv2xy, _yUv2xy, _zUv2xy }, true, out errMsg) != 0)
{
HTUi.PopError("无法移动至标定点位置！");
return(false);
}
Thread.Sleep(200);
// App.obj_light.FlashMultiLight(LightUseFor.ScanPoint1st);
//if(_station.operation.SWPosTrig(_station.AxisX,out errMsg)!=0)
//{
// HTUi.PopError(errMsg);
// return false;
//}
Thread.Sleep(10);
if (image != null)
{
image.Dispose();
}
HOperatorSet.GenEmptyObj(out image);
if (_station.operation.CaputreOneImage(_station.CamereDev[camInd], "Halcon", out image, out errMsg) != 0)
{
HTUi.PopError("采集图像失败：" + errMsg);
return(false);
}
//3. match
HTuple u, v, angle;
bool status = matchModel(camInd, ref image, model, out u, out v, out angle);
HObject showRegion = new HObject();
showRegion.Dispose();
HOperatorSet.GenCrossContourXld(out showRegion, u, v, 512, 0);
_station._rtUi._fm.ShowImage(_station._rtUi._fm.htWindowCalibration, image, showRegion);
//image.Dispose();
if (!status)
{
HTUi.PopError("获取匹配初始位置图像失败");
return(false);
}
HTuple xArr = new HTuple(), yArr = new HTuple(), uArr = new HTuple(), vArr = new HTuple();
Random rand = new Random();
//4. for ... snap , match, add <u,v,x,y>
for (int i = 0; i < nPoints; i++)
{
DateTime t1 = DateTime.Now;
//大于或等于 0.0 且小于 1.0 的双精度浮点数
double x = (rand.NextDouble() - 0.5) * xyRange + _xUv2xy;
double y = (rand.NextDouble() - 0.5) * xyRange + _yUv2xy;
if (_station.operation.MultiAxisMove(new string[] { _station.AxisXYZ[0], _station.AxisXYZ[1], }, new double[] { x, y }, true, out errMsg) != 0)
{
HTUi.PopError("无法移动至标定点位置！");
return(false);
}
Thread.Sleep(200);;
//if (_station.operation.SWPosTrig(_station.AxisX, out errMsg) != 0)
//{
// HTUi.PopError(errMsg);
// return false;
//}
Thread.Sleep(10);
if (image != null)
{
image.Dispose();
}
HOperatorSet.GenEmptyObj(out image);
if (_station.operation.CaputreOneImage(_station.CamereDev[camInd], "Halcon", out image, out errMsg) != 0)
{
HTUi.PopError("采集图像失败：" + errMsg);
return(false);
}
if (matchModel(camInd, ref image, model, out u, out v, out angle)) //found something
{
xArr.Append(x); yArr.Append(y); uArr.Append(u); vArr.Append(v);
}
showRegion.Dispose();
HOperatorSet.GenCrossContourXld(out showRegion, u, v, 512, 0);
_station._rtUi._fm.ShowImage(_station._rtUi._fm.htWindowCalibration, image, showRegion);
//image.Dispose();
}
if (xArr.Length < 10)
{
HTUi.PopError("有效点数不够");
return(false);
}
//5. least square estimation
Matrix <double> In = Matrix <double> .Build.Dense(3, xArr.Length, 1.0); //by default In[2,:] = 1.0
Matrix <double> Out = Matrix <double> .Build.Dense(2, xArr.Length);
Out.SetRow(0, xArr.ToDArr());
Out.SetRow(1, yArr.ToDArr());
In.SetRow(0, uArr.ToDArr());
In.SetRow(1, vArr.ToDArr());
Matrix <double> A = vec2Mat(In, Out);
//6. move to center of uv space
double[] aArr = A.ToRowWiseArray(); //need to be tested
_station._calibrationUV2XYParameter = string.Join(",", aArr.ToArray());
//parse
if (matUV2XY == null)
{
matUV2XY = new HTuple();
}
for (int i = 0; i < 6; i++)
{
matUV2XY.Append(aArr[i]);
}
return(true);
}
/// <summary>
/// 重命名产品
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnRename_Click(object sender, EventArgs e)
{
string souce = (string)lbxProductCategory.SelectedValue;
if (souce == (string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID"))
{
HTUi.PopError("当前产品名称不可修改");
return;
}
String newname = "";
if (!MSG.Inputbox("new", "rename", out newname))
{
return;
}
if (newname == string.Empty)
{
HTUi.PopWarn("命名错误，名字不能为空");
return;
}
var pdtlist = GetProductList();
foreach (var pdt in pdtlist)
{
if (pdt == newname)
{
HTUi.PopWarn("命名冲突，当前产品已存在");
return;
}
}
//重新命名Recipe manager中recipe ID
JFDLAFProductRecipe jFDLAFProductRecipe = JFHubCenter.Instance.RecipeManager.GetRecipe("Product", (string)souce) as JFDLAFProductRecipe;
if (jFDLAFProductRecipe == null)
{
HTUi.PopWarn("Recipe Manager中不存在recipe：" + souce);
return;
}
jFDLAFProductRecipe.Categoty = "Product";
jFDLAFProductRecipe.ID = newname;
JFDLAFBoxRecipe jFDLAFBoxRecipe = JFHubCenter.Instance.RecipeManager.GetRecipe("Box", (string)souce) as JFDLAFBoxRecipe;
if (jFDLAFBoxRecipe == null)
{
HTUi.PopWarn("Recipe Manager中不存在recipe：" + souce);
return;
}
jFDLAFBoxRecipe.Categoty = "Box";
jFDLAFBoxRecipe.ID = newname;
JFHubCenter.Instance.RecipeManager.AddRecipe(jFDLAFProductRecipe.Categoty, jFDLAFProductRecipe.ID, jFDLAFProductRecipe as IJFRecipe);
JFHubCenter.Instance.RecipeManager.AddRecipe(jFDLAFBoxRecipe.Categoty, jFDLAFBoxRecipe.ID, jFDLAFBoxRecipe as IJFRecipe);
JFHubCenter.Instance.RecipeManager.RemoveRecipe("Product", souce);
JFHubCenter.Instance.RecipeManager.RemoveRecipe("Box", souce);
JFHubCenter.Instance.RecipeManager.Save();
ChangeProdcutName(newname, souce);
HTUi.TipHint("重命名成功!");
lbxProductCategory.DataSource = GetProductList();
return;
}
private async void btnSaveCalibModel2D_Click(object sender, EventArgs e)
{
if (!this.mTmpFrm.tmpResult.createTmpOK)
{
HTUi.PopError("创建标定模板失败！");
return;
}
Form_Wait.ShowForm();
bool result = await Task.Run(() =>
{
try
{
this.aoiModels = new Model();
this.aoiModels.Dispose();
this.aoiModels.showContour = this.mTmpFrm.tmpResult.showContour.CopyObj(1, -1);
this.aoiModels.defRows = this.mTmpFrm.tmpResult.defRows;
this.aoiModels.defCols = this.mTmpFrm.tmpResult.defCols;
this.aoiModels.modelType = this.mTmpFrm.tmpResult.modelType;
this.aoiModels.modelID = Vision.CopyModel(this.mTmpFrm.tmpResult.modelID, this.mTmpFrm.tmpResult.modelType);
this.aoiModels.scoreThresh = this.mTmpFrm.mte_TmpPrmValues.Score;
this.aoiModels.angleStart = this.mTmpFrm.mte_TmpPrmValues.AngleStart;
this.aoiModels.angleExtent = this.mTmpFrm.mte_TmpPrmValues.AngleExtent;
//保存至硬盘
string folderPath = _station.SystemUV2XYDir + "\\Camera_" + _station.SelectedIndex;
_station.CalibrUV2XYModelPath = folderPath;
if (!this.aoiModels.WriteModel(folderPath))
{
HTLog.Error("保存标定模板失败！");
HTUi.PopError("保存标定模板失败！");
return(false);
}
string errMsg = "";
Pos_Uv2Xy = new HTuple();
double xUV2xy = 0, yUV2xy = 0, zUV2xy = 0;
if (!_station.GetAxisPosition(_station.AxisXYZ[0], out xUV2xy, out errMsg))
{
HTLog.Error(errMsg + "：保存获取X轴反馈坐标失败！");
HTUi.PopError(errMsg + "：保存获取X轴反馈坐标失败！");
return(false);
}
if (!_station.GetAxisPosition(_station.AxisXYZ[1], out yUV2xy, out errMsg))
{
HTLog.Error(errMsg + "：保存获取Y轴反馈坐标失败！");
HTUi.PopError(errMsg + "：保存获取Y轴反馈坐标失败！");
return(false);
}
if (!_station.GetAxisPosition(_station.AxisXYZ[2], out zUV2xy, out errMsg))
{
HTLog.Error(errMsg + "：保存获取Z轴反馈坐标失败！");
HTUi.PopError(errMsg + "：保存获取Z轴反馈坐标失败！");
return(false);
}
_station.operation.YUv2xy = yUV2xy;
_station.operation.XUv2xy = xUV2xy;
_station.operation.ZUv2xy = zUV2xy;
Pos_Uv2Xy.Append(_station.operation.XUv2xy);
Pos_Uv2Xy.Append(_station.operation.YUv2xy);
Pos_Uv2Xy.Append(_station.operation.ZUv2xy);
HOperatorSet.WriteTuple(Pos_Uv2Xy, folderPath + "\\Pos_Uv2Xy.tup");
HTUi.TipHint("保存标定模板成功！");
HTLog.Info("保存标定模板成功！");
return(true);
}
catch (Exception ex)
{
HTLog.Error(ex.ToString());
HTUi.PopError(ex.ToString());
return(false);
}
});
Form_Wait.CloseForm();
if (!result)
{
HTLog.Error("保存标定模板失败！");
HTUi.PopError("保存标定模板失败！");
return;
}
HTUi.TipHint("保存标定模板成功！");
HTLog.Info("保存标定模板成功！");
}