/// <summary>
/// 像素坐标转换到机械坐标或者世界坐标系,当标定模式为CaliModelEnum.HandEyeCali时，算出的坐标为相对于旋转中心的坐标，
/// 物体相对于机械坐标原点的坐标：计算出的坐标+当前拍照的坐标。
/// </summary>
/// <param name="PixelVector">图像处理定位出来的像素坐标 </param>
/// <param name="CaliValueIn">标定参数，包含标定的起点，标定的终点，标定矩阵，相机是否挂在XY轴上</param>
/// <param name="GrabImgPosPt3d">采集图像时的机械坐标</param>
/// <param name="WorldVector"></param>
public static void TransEyeToHandPos(St_VectorAngle PixelVector, CaliValue CaliValueIn,
VectorAngle GrabImgPosPt3d, out St_VectorAngle WorldVector)
{
WorldVector = new St_VectorAngle();
double X = 0, Y = 0;
HTuple HomMat = new HTuple();
MyVisionBase.MyHomMatToHalcon(CaliValueIn.HomMat, out HomMat); //
VectorAngle CaliMidPt = new VectorAngle(); //标定起始点到标定终点的中点
CaliMidPt.X = 0.5 * (CaliValueIn.StartCaliPt.x + CaliValueIn.EndCaliPt.x);
CaliMidPt.Y = 0.5 * (CaliValueIn.StartCaliPt.y + CaliValueIn.EndCaliPt.y);
double AddX = 0, AddY = 0; //拍照坐标不和标定中心坐标重合时，带来的偏移量
if (CaliValueIn.IsMoveX && !CaliValueIn.IsMoveY) //相机随着X轴移动
{
AddX = GrabImgPosPt3d.X - CaliMidPt.X;
AddY = -(GrabImgPosPt3d.Y - CaliMidPt.Y);
}
else if (!CaliValueIn.IsMoveX && CaliValueIn.IsMoveY) //相机随着Y轴移动
{
AddX = -(GrabImgPosPt3d.X - CaliMidPt.X);
AddY = (GrabImgPosPt3d.Y - CaliMidPt.Y);
}
else if (!CaliValueIn.IsMoveX && !CaliValueIn.IsMoveY) //相机静止
{
AddX = -(GrabImgPosPt3d.X - CaliMidPt.X);
AddY = -(GrabImgPosPt3d.Y - CaliMidPt.Y);
}
else if (CaliValueIn.IsMoveX && CaliValueIn.IsMoveY) //相机随着XY轴移动
{
AddX = (GrabImgPosPt3d.X - CaliMidPt.X);
AddY = (GrabImgPosPt3d.Y - CaliMidPt.Y);
}
//像素坐标转换成当前的世界坐标，
MyVisionBase.AffineTransPt(PixelVector.Col, PixelVector.Row, HomMat, out X, out Y);
switch (CaliValueIn.caliModel)
{
case CaliModelEnum.HandEyeCali:
X = X + AddX;
Y = Y + AddY;
break;
case CaliModelEnum.Cali9PtCali:
X = X + AddX;
Y = Y + AddY;
break;
default:
X = X + AddX;
Y = Y + AddY;
break;
}
WorldVector.Angle = PixelVector.Angle;
WorldVector.Col = X;
WorldVector.Row = Y;
}
/// <summary>
/// 通过标定描述获取对应的标定矩阵
/// </summary>
/// <param name="CaliDescribe"></param>
/// <returns></returns>
public CaliValue GetCaliValue(string CaliDescribe)
{
CaliValue value = new CaliValue();
foreach (var item in this.CaliParaList)
{
if (item.describe == CaliDescribe)
{
return(value = item.GetCaliValue());
}
}
return(value);
}
/// <summary>
/// 通过坐标系枚举获取标定参数，这个方法存在的问题是，可能一个坐标有两个相机需要标定
/// </summary>
/// <param name="CoordiCamIn"></param>
/// <returns></returns>
public CaliValue GetCaliValue(CoordiCamHandEyeMatEnum CoordiCamIn)
{
CaliValue value = new CaliValue();
foreach (CaliParam item in CaliParaList)
{
if (item.CoordiCam == CoordiCamIn)
{
return(value = item.GetCaliValue());
}
}
return(value);
}
public CaliValue GetCaliValue()
{
CaliValue myCaliValue = new CaliValue();
myCaliValue.StartCaliPt = this.StartCaliPt;
myCaliValue.EndCaliPt = this.EndCaliPt;
myCaliValue.IsMoveX = this.IsMoveX;
myCaliValue.IsMoveY = this.IsMoveY;
myCaliValue.caliModel = this.caliModel;
myCaliValue.HomMat = this.HomMat;
myCaliValue.Coordi = this.coordi;
myCaliValue.cam = this.cam;
myCaliValue.describe = this.describe;
return(myCaliValue);
}
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);
}