// =================================================================================
// BuildMachineCoordinateData_m():
private bool BuildMachineCoordinateData_m()
{
double X_nom = 0;
double Y_nom = 0;
if (Properties.Settings.Default.Placement_SkipMeasurements)
{
foreach (DataGridViewRow Row in CadData_GridView.Rows)
{
// Cad data is validated.
double.TryParse(Row.Cells["X_nominal"].Value.ToString(), out X_nom);
double.TryParse(Row.Cells["Y_nominal"].Value.ToString(), out Y_nom);
X_nom += Properties.Settings.Default.General_JigOffsetX;
Y_nom += Properties.Settings.Default.General_JigOffsetY;
Row.Cells["X_machine"].Value = X_nom.ToString("0.000", CultureInfo.InvariantCulture);
Row.Cells["Y_machine"].Value = Y_nom.ToString("0.000", CultureInfo.InvariantCulture);
Row.Cells["Rotation_machine"].Value = Row.Cells["Rotation"].Value;
}
// Refresh UI:
Update_GridView(CadData_GridView);
return true;
};
if (ValidMeasurement_checkBox.Checked)
{
return true;
}
// Check, that our data is good:
if (!ValidateCADdata_m())
return false;
// Find the fiducials form CAD data:
int FiducialsRow = 0;
if (!FindFiducials_m(out FiducialsRow))
{
return false;
}
// OriginalFiducials are at JobData_GridView.Rows[FiducialsRow]
string[] FiducialDesignators = JobData_GridView.Rows[FiducialsRow].Cells["ComponentList"].Value.ToString().Split(',');
// Are there at least two?
if (FiducialDesignators.Length < 2)
{
ShowMessageBox(
"Only one fiducial found.",
"Too few fiducials",
MessageBoxButtons.OK);
return false;
}
// Get ready for position measurements
DisplayText("SetFiducialsMeasurement");
SetFiducialsMeasurement();
// Move them to our array, checking the data:
PhysicalComponent[] Fiducials = new PhysicalComponent[FiducialDesignators.Length]; // store the data here
// double X_nom = 0;
// double Y_nom = 0;
for (int i = 0; i < FiducialDesignators.Length; i++) // for each fiducial in our OriginalFiducials array,
{
Fiducials[i] = new PhysicalComponent();
Fiducials[i].Designator = FiducialDesignators[i];
// find the fiducial in CAD data.
foreach (DataGridViewRow Row in CadData_GridView.Rows)
{
if (Row.Cells["Component"].Value.ToString() == FiducialDesignators[i]) // If this is the fiducial we want,
{
// Get its nominal position (value already checked).
double.TryParse(Row.Cells["X_nominal"].Value.ToString(), out X_nom);
double.TryParse(Row.Cells["Y_nominal"].Value.ToString(), out Y_nom);
break;
}
}
Fiducials[i].X_nominal = X_nom;
Fiducials[i].Y_nominal = Y_nom;
// And measure it's true location:
if (!MeasureFiducial_m(ref Fiducials[i]))
{
return false;
}
// We could put the machine data in place at this point. However,
// we don't, as if the algorithms below are correct, the data will not change more than measurement error.
// During development, that is a good checkpoint.
}
// Find the homographic tranformation from CAD data (fiducials.nominal) to measured machine coordinates
// (fiducials.machine):
Transform transform = new Transform();
HomographyEstimation.Point[] nominals = new HomographyEstimation.Point[Fiducials.Length];
HomographyEstimation.Point[] measured = new HomographyEstimation.Point[Fiducials.Length];
// build point data arrays:
for (int i = 0; i < Fiducials.Length; i++)
{
nominals[i].X = Fiducials[i].X_nominal;
nominals[i].Y = Fiducials[i].Y_nominal;
nominals[i].W = 1.0;
measured[i].X = Fiducials[i].X_machine;
measured[i].Y = Fiducials[i].Y_machine;
measured[i].W = 1.0;
}
// find the tranformation
bool res = transform.Estimate(nominals, measured, ErrorMetric.Transfer, 450, 450); // the PCBs are smaller than 450mm
if (!res)
{
ShowMessageBox(
"Transform estimation failed.",
"Data error",
MessageBoxButtons.OK);
return false;
}
// Analyze the transform: Displacement is for debug. We could also calculate X & Y stretch and shear, but why bother.
// Find out the displacement in the transform (where nominal origin ends up):
HomographyEstimation.Point Loc, Loc2;
Loc.X = 0.0;
Loc.Y = 0.0;
Loc.W = 1.0;
Loc = transform.TransformPoint(Loc);
Loc = Loc.NormalizeHomogeneous();
DisplayText("Transform:");
DisplayText("dX= " + (Loc.X).ToString());
DisplayText("dY= " + Loc.Y.ToString());
// We do need rotation. Find out by rotatíng a unit vector:
Loc2.X = 1.0;
Loc2.Y = 0.0;
Loc2.W = 1.0;
Loc2 = transform.TransformPoint(Loc2);
Loc2 = Loc2.NormalizeHomogeneous();
DisplayText("dX= " + Loc2.X.ToString());
DisplayText("dY= " + Loc2.Y.ToString());
double angle = Math.Asin(Loc2.Y - Loc.Y) * 180.0 / Math.PI; // in degrees
DisplayText("angle= " + angle.ToString());
// Calculate machine coordinates of all components:
foreach (DataGridViewRow Row in CadData_GridView.Rows)
{
// build a point from CAD data values
double.TryParse(Row.Cells["X_nominal"].Value.ToString(), out Loc.X);
double.TryParse(Row.Cells["Y_nominal"].Value.ToString(), out Loc.Y);
Loc.W = 1;
// transform it
Loc = transform.TransformPoint(Loc);
Loc = Loc.NormalizeHomogeneous();
// store calculated location values
Row.Cells["X_machine"].Value = Loc.X.ToString("0.000", CultureInfo.InvariantCulture);
Row.Cells["Y_machine"].Value = Loc.Y.ToString("0.000", CultureInfo.InvariantCulture);
// handle rotation
double rot;
double.TryParse(Row.Cells["Rotation"].Value.ToString(), out rot);
rot += angle;
while (rot > 360.0)
{
rot -= 360.0;
}
while (rot < 0.0)
{
rot += 360.0;
}
Row.Cells["Rotation_machine"].Value = rot.ToString("0.0000", CultureInfo.InvariantCulture);
}
// Refresh UI:
Update_GridView(CadData_GridView);
// For debug, compare fiducials true measured locations and the locations.
// Also, if a fiducials moves more than 0.5mm, something is off (maybe there
// was a via too close to a fid, and we picked that for a measurement). Warn the user!
bool DataOk = true;
double dx, dy;
for (int i = 0; i < Fiducials.Length; i++)
{
Loc.X = Fiducials[i].X_nominal;
Loc.Y = Fiducials[i].Y_nominal;
Loc.W = 1.0;
Loc = transform.TransformPoint(Loc);
Loc = Loc.NormalizeHomogeneous();
dx = Math.Abs(Loc.X - Fiducials[i].X_machine);
dy = Math.Abs(Loc.Y - Fiducials[i].Y_machine);
DisplayText(Fiducials[i].Designator +
": x_meas= " + Fiducials[i].X_machine.ToString("0.000", CultureInfo.InvariantCulture) +
", x_calc= " + Loc.X.ToString("0.000", CultureInfo.InvariantCulture) +
", dx= " + dx.ToString("0.000", CultureInfo.InvariantCulture) +
": y_meas= " + Fiducials[i].Y_machine.ToString("0.000", CultureInfo.InvariantCulture) +
", y_calc= " + Loc.Y.ToString("0.000", CultureInfo.InvariantCulture) +
", dy= " + dy.ToString("0.000", CultureInfo.InvariantCulture));
if ((Math.Abs(dx) > 0.4) || (Math.Abs(dy) > 0.4))
{
DataOk = false;
}
};
if (!DataOk)
{
DisplayText(" ** A fiducial moved more than 0.4mm from its measured location");
DisplayText(" ** when applied the same calculations than regular componets.");
DisplayText(" ** (Maybe the camera picked a via instead of a fiducial?)");
DisplayText(" ** Placement data is likely not good.");
DialogResult dialogResult = ShowMessageBox(
"Nominal to machine trasnformation seems to be off. (See log window)",
"Cancel operation?",
MessageBoxButtons.OKCancel
);
if (dialogResult == DialogResult.Cancel)
{
return false;
}
}
// Done!
ValidMeasurement_checkBox.Checked = true;
return true;
}// end BuildMachineCoordinateData_m
