public void UpdateViewData(int val)
{
switch (val)
{
case ViewROI.ROIController.EVENT_CHANGED_ROI_SIGN:
case ViewROI.ROIController.EVENT_DELETED_ACTROI:
case ViewROI.ROIController.EVENT_UPDATE_ROI:
bool genROI = view1.roiController.defineModelROI();
ModelRoi = view1.roiController.getModelRegion();
if (ModelRoi == null)
{
return;
}
if (!TemplateParam.CreateShapeModel(CurrentImage, ModelRoi))
{
Logger.PopError("模板创建失败！", true);
return;
}
view1.ResetWindow();
view1.AddViewObject(CurrentImage);
view1.SetDraw("blue", "margin");
view1.AddViewObject(ModelRoi);
HXLD ModelContour = new HXLD();
TemplateParam.GetShapeModelContour(out ModelContour);
view1.SetDraw("green", "margin");
view1.AddViewObject(ModelContour);
view1.Repaint();
break;
}
}
/// <summary>
/// 拟合参数的示教函数
/// </summary>
public void TeachProcess()
{
ShowRoiFlag = true;
HObject RoiContour = new HObject();
HObject Roi = new HObject();
HObject RectContour = new HObject();
HObject ReduceImg = new HObject();
HObject ThresholdRegion = new HObject();
HObject ConnectRegion = new HObject();
HObject SelectRegion = new HObject();
HTuple Area = new HTuple(), Row = new HTuple(), Col = new HTuple();
HObject RegionContour = new HObject();
HTuple RectRow1 = new HTuple(), RectRow2 = new HTuple(), RectCol1 = new HTuple(), RectCol2 = new HTuple();
HObject MinRectContour = new HObject();
while (ShowRoiFlag)
{
try
{
#region
view1.AddImage(GrabedImg);
Thread.Sleep(50);
HOperatorSet.GenRectangle1(out Roi, RectF.Y, RectF.X, RectF.Y + RectF.Height, RectF.X + RectF.Width);//生成检测区域
HOperatorSet.GenContourRegionXld(Roi, out RectContour, "border");
view1.SetDraw("green");
view1.AddViewObject(RectContour);
view1.Repaint();
System.Threading.Thread.Sleep(100);
HOperatorSet.ReduceDomain(GrabedImg, Roi, out ReduceImg); //裁剪图像
Roi.Dispose();
HOperatorSet.Threshold(ReduceImg, out ThresholdRegion, MinGray, MaxGray); //阈值分割
ReduceImg.Dispose();
HOperatorSet.Connection(ThresholdRegion, out ConnectRegion); //区域连接
ThresholdRegion.Dispose();
HOperatorSet.SelectShape(ConnectRegion, out SelectRegion, "area", "and", AreaMin, AreaMax);
ConnectRegion.Dispose();
HOperatorSet.AreaCenter(SelectRegion, out Area, out Row, out Col);
HOperatorSet.GenContourRegionXld(SelectRegion, out RegionContour, "border");
view1.SetDraw("red");
view1.AddViewObject(RegionContour);
// HOperatorSet.SmallestRectangle2(SelectRegion,out Row ,out Col,out P)
HOperatorSet.SmallestRectangle1(SelectRegion, out RectRow1, out RectCol1, out RectRow2, out RectCol2);
HObject RectRegion = new HObject();
HOperatorSet.GenRectangle1(out RectRegion, RectRow1, RectCol1, RectRow2, RectCol2);
HOperatorSet.GenContourRegionXld(RectRegion, out MinRectContour, "border");
view1.AddViewObject(MinRectContour);
view1.Repaint();
System.Threading.Thread.Sleep(500);
#endregion
}
catch
{ }
}
Thread.Sleep(500);
}
private void GetProductPixelPosBtn_Click(object sender, EventArgs e) //计算示教产品的像素的坐标，并保存到配置文件
{
this.GetProductPixelPosBtn.Enabled = false;
this.ProductPixelPosTeachBtn.Enabled = true;
try
{
LocalResult localResult = new LocalResult();
LocalManager myLocal = new LocalManager();
//1.0设置定位模式
myLocal.SetLocalModel(LocalPara0.localSetting.localModel);
//2.0设置定位参数
myLocal.SetParam(CurImg, LocalPara0);
//3.执行定位
myLocal.doLocal();
localResult = myLocal.GetResult();
this.LocalPara0.localSetting.TeachImgLocal = new St_VectorAngle(localResult.row, localResult.col, localResult.angle);
view1.ResetWindow();
view1.AddImage(CurImg.CopyObj(1, -1));
view1.SetDraw("blue", "margin");
view1.AddViewObject(localResult.ShowContour.CopyObj(1, -1));
view1.Repaint();
this.ProductPixelPosTbx.Text = "Col:" + localResult.col.ToString("f2") + " Row:" + localResult.row.ToString("f2") +
" Angle:" + localResult.angle.ToString("f2");
}
catch
{ }
}
private void DrawRectBtn_Click(object sender, EventArgs e)
{
if (Img == null)
{
MessageBox.Show("请先加载一张图片");
return;
}
DrawRectBtn.Enabled = false;
view.DrawRect1(out row1, out col1, out row2, out col2);
txtSearchX.Text = col1.ToString();
txtSearchY.Text = row1.ToString();
txtSearchWidth.Text = (col2 - col1).ToString();
txtSearchHeight.Text = (row2 - row1).ToString();
DrawRectBtn.Enabled = true;
HObject Rect, RectContour;
HOperatorSet.GenRectangle1(out Rect, row1, col1, row2, col2);
HOperatorSet.GenContourRegionXld(Rect, out RectContour, "border");
view.Refresh();
view.AddViewImage(Img);
view.AddViewObject(RectContour);
view.Repaint();
}
private void RectTeachBtn_Click(object sender, EventArgs e)
{
int SelectIndex = CaliPtModelCbx.SelectedIndex;
if (GrabedImg == null || !GrabedImg.IsInitialized())
{
MessageBox.Show("标定前，请先采集图片");
return;
}
System.Threading.Tasks.Task.Factory.StartNew(new Action(() => {
try{
int row1 = 0, col1 = 0, row2, col2;
if (SelectIndex == 0)
{
TeachCaliPara.ListRectRegion = new List <RectangleF>();
for (int i = 0; i < 4; i++)
{
view1.SetString(100, 100, "red", "左击拖动绘制矩形，右击释放");
view1.SetString(100, 150, "red", "绘制第" + i.ToString() + "矩形");
view1.DrawRect1(out row1, out col1, out row2, out col2);
HObject Rect, RectContour;
HOperatorSet.GenRectangle1(out Rect, row1, col1, row2, col2);
HOperatorSet.GenContourRegionXld(Rect, out RectContour, "border");
view1.Refresh();
view1.AddViewImage(GrabedImg);
view1.AddViewObject(RectContour);
view1.Repaint();
RectangleF rect = new RectangleF(col1, row1, col2 - col1, row2 - row1);
TeachCaliPara.ListRectRegion.Add(rect);
}
}
}
catch
{ }
}));
}
private void DrawLinesProcess()
{
ShowRoiFlag = true;
HObject RoiContour = new HObject();
HObject DetectRegions = new HObject();
HTuple ResultRows = new HTuple(), ResultCols = new HTuple();
#region //直线参数示教
//2.1画出直线的检测区域
bool CurIsOk = true;
this.myView.AddViewImage(GrabedImg);
while (ShowRoiFlag)
{
try {
//2.2显示直线的检测ROI,调整ROI的参数
Thread.Sleep(10);
myView.ResetWindow();
myView.AddImage(GrabedImg);
CurIsOk = MyVisionBase.gen_rake_ROI1(GrabedImg, out DetectRegions, out RoiContour,
Element, DetectHeight, Threshold, LineRow1, LineCol1, LineRow2, LineCol2);
myView.Repaint();
Thread.Sleep(100);
myView.SetDraw("blue", "margin");
myView.AddViewObject(RoiContour);
myView.Repaint();
Thread.Sleep(300);
//2.5显示测量出每个示教小ROI的平均灰度，并保存到ListGrays变量中
HTuple MeanGrays = new HTuple(), GrayDivs = new HTuple();
HOperatorSet.Intensity(DetectRegions, GrabedImg, out MeanGrays, out GrayDivs);
MyVisionBase.HTupleToList(MeanGrays, out ListGrays);
}
catch (Exception e0) {
MessageBox.Show(e0.Message + e0.Source);
StartTeachBtn1.Enabled = true;
break;
}
}
#endregion
}
/// <summary>
/// 获取九点标定的九个世界坐标点，九个像素坐标点
/// </summary>
/// <param name="StartPt">示教起始点</param>
/// <param name="EndPt">示教终点</param>
/// <param name="IsCameraMovingWithAxisX"></param>
/// <param name="IsCameraMovingWithAxisY"></param>
/// <param name="PixelPosP"></param>
/// <param name="MotionPosW"></param>
/// <returns></returns>
public bool GetHandEyeCaliPt(Point2Db StartPt, Point2Db EndPt, bool IsCameraMovingWithAxisX, bool IsCameraMovingWithAxisY,
out List <Point2Db> PixelPosP, out List <Point2Db> MotionPosW)
{
int StepCount = 3;
PixelPosP = new List <Point2Db>();
MotionPosW = new List <Point2Db>();
Point2Db startPt = new Point2Db(Math.Min(StartPt.Col, EndPt.Col), Math.Min(StartPt.Row, EndPt.Row));
Point2Db endPt = new Point2Db(Math.Max(StartPt.Col, EndPt.Col), Math.Max(StartPt.Row, EndPt.Row));
double recWidth = endPt.Col - startPt.Col;
double recHeight = endPt.Row - startPt.Row;
double stepX = recWidth / (StepCount - 1);
double stepY = recHeight / (StepCount - 1);
List <double> supposeX = new List <double>(), supposeY = new List <double>();
List <double> currentX = new List <double>(), currentY = new List <double>();
LocalManager MyLocal = new LocalManager(); //定位类初始化
LocalResult MyResult = new LocalResult();
MyLocal.SetLocalModel(TeachCaliPara.localPara.localSetting.localModel);
HOperatorSet.GenEmptyObj(out CaliContour);
for (int row = 0; row <= StepCount - 1; row += 1)
{
for (int col = 0; col <= StepCount - 1; col += 1)
{
Point2Db movePt = new Point2Db(); //九点标定时，相机移动到一个点，然后开始拍照
Point2Db CaliMovePt = new Point2Db(); //九点标定时的点，坐下角为第一个点，右上角为第九个点
if (IsCameraMovingWithAxisX && IsCameraMovingWithAxisY) //相机跟随XY周移动
{
movePt = new Point2Db(startPt.Col + (StepCount - 1 - col) * stepX, startPt.Row + (StepCount - 1 - row) * stepY);
}
else if ((IsCameraMovingWithAxisX) && (!IsCameraMovingWithAxisY)) //相机跟随X轴移动
{
movePt = new Point2Db(startPt.Col + (StepCount - 1 - col) * stepX, startPt.Row + row * stepY);
}
else if ((!IsCameraMovingWithAxisX) && IsCameraMovingWithAxisY) //相机跟随Y轴移动
{
movePt = new Point2Db(startPt.Col + col * stepX, startPt.Row + (StepCount - 1 - row) * stepY);
}
else if ((!IsCameraMovingWithAxisX) && (!IsCameraMovingWithAxisY)) //相机固定
{
movePt = new Point2Db(startPt.Col + col * stepX, startPt.Row + row * stepY);
}
CaliMovePt = new Point2Db(startPt.Col + col * stepX, startPt.Row + row * stepY);
// 控制平台移动到目标位置
if (!MotionManager.Instance.SetCoordiPos(movePt.Col, movePt.Row, TeachCaliPara.EndCaliPt.angle))
{
MessageBox.Show("X Y轴运动失败!");
return(false);
}
Thread.Sleep(2000);
GrabedImg = new HObject();
CameraCtrl.Instance.GrabImg(TeachCaliPara.cam, out GrabedImg); //相机拍照抓取图片
Point2Db Pt = new Point2Db();
if (GrabedImg.IsInitialized())
{
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara); //设置定位参数
MyLocal.doLocal(); //执行定位算法
MyResult = MyLocal.GetResult(); //获取定位结果
view1.ResetView();
CaliContour = CaliContour.ConcatObj(MyResult.ShowContour);
view1.AddViewImage(GrabedImg);
view1.AddViewObject(MyResult.ShowContour);
//GetCaliMarkPts1(GrabedImg, MinGray, MaxGray, MarkR, out ContourU, out ListMarkCenterI); //找出Mark点
HObject CenterContour = new HObject();
HOperatorSet.GenCrossContourXld(out CenterContour, MyResult.row, MyResult.col, 50, 0); //生成找到的圆心轮廓
HOperatorSet.ConcatObj(CaliContour, CenterContour, out CaliContour);
view1.AddViewObject(CaliContour);
view1.Repaint();
Pt.Col = MyResult.col;
Pt.Row = MyResult.row;
PixelPosP.Add(Pt);
MotionPosW.Add(CaliMovePt);
}
else
{
MessageBox.Show("采集图片失败");
return(false);
}
}
}
return(true);
}
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 void TeachProcess()
{
ShowRoiFlag = true;
HObject GrabImge = new HObject();
HObject RoiContour = new HObject();
HTuple ResultRows = new HTuple();
HTuple ResultCols = new HTuple();
#region //圆参数示教
HTuple ArcType = new HTuple();
HTuple DrawRows = new HTuple(), DrawCols = new HTuple();
while (ShowRoiFlag)
{
Thread.Sleep(50);
//2.2显示圆的拟合ROI，条正边界检测参数
bool CurIsOk = true;
this.view1.Refresh();
this.view1.AddImage(this.GrabedImg);
CurIsOk = MyVisionBase.GenCirclePts2(TeachCenterRow, TeachCenterCol, TeachCircleR, TeachStartPhi,
TeachEndPhi, TeachPointOrderStr, out DrawRows, out DrawCols);
if (!CurIsOk)
{
StartTeachBtn1.Enabled = true;
break;
}
CurIsOk = MyVisionBase.gen_spoke_ROI(GrabedImg, out RoiContour, Element, DetectHeight, 2, DrawRows, DrawCols, Direct);
if (!CurIsOk)
{
StartTeachBtn1.Enabled = true;
break;
}
view1.SetDraw("blue", "margin");
view1.AddViewObject(RoiContour);
//2.3利用卡尺工具找出拟合边界点
CurIsOk = MyVisionBase.spoke(GrabedImg, out RoiContour, view1, Element, DetectHeight, 2, 2, Threshold, "all", "first",
DrawRows, DrawCols, Direct, out ResultRows, out ResultCols, out ArcType);
if (!CurIsOk)
{
break;
}
//2.4
HObject CirclePtCross = new HObject();
//2.5显示拟合的点
HOperatorSet.GenCrossContourXld(out CirclePtCross, ResultRows, ResultCols, 12, 0.7);
view1.SetDraw("green", "margin");
view1.AddViewObject(CirclePtCross);
//2.6圆拟合
HTuple CenterRow = new HTuple(), CenterCol = new HTuple(), hv_Radius = new HTuple(), hv_StartPhi = new HTuple(), hv_EndPhi = new HTuple(),
hv_PointOrder = new HTuple(), hv_Flag = new HTuple();
HObject FitCircleContour = new HObject();
CurIsOk = MyVisionBase.PtsToBestCircle(out FitCircleContour, view1, ResultRows, ResultCols, 4, TeachArcType, out CenterRow, out CenterCol,
out hv_Radius, out hv_StartPhi, out hv_EndPhi, out hv_PointOrder, out hv_Flag);
if (!CurIsOk)
{
break;
}
//2.7显示拟合圆
view1.SetDraw("red", "margin");
view1.AddViewObject(FitCircleContour);
view1.Repaint();
Thread.Sleep(1000);
}
#endregion
}
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);
}
public override void Do()
{
//1.打开光源
FileLib.Logger.Pop(" 打开光源：", false, "FOF运行日志");
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
FileLib.Logger.Pop(" 开始采图：", false, "FOF运行日志");
if (GrabImg != null)
{
GrabImg.Dispose();
}
if (FilterImg != null)
{
FilterImg.Dispose();
}
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
if (CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg))
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 1); //拍照OK
}
FileLib.Logger.Pop(" 采图OK：", false, "FOF运行日志");
}
else
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 2); //拍照NG
}
FileLib.Logger.Pop(" 采图NG：", false, "FOF运行日志");
}
ViewControl view1 = new ViewControl();
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam3);
}
view1.ResetView();
view1.Refresh();
//3.关闭光源
//LightCtrlManager.Instance.SetAllLightTo0();
//FileLib.Logger.Pop(" 关闭光源：", false, "FOF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
FileLib.Logger.Pop(" 开始偏移检测：", false, "FOF运行日志");
MyVisionBase.SaveImg(GrabImg, "FOF偏移检测图片");
if (MyVisionPara.camLightPara.IsFilter)
{
FileLib.Logger.Pop(" 开始频域滤波，FilterC：" + MyVisionPara.camLightPara.FilterC.ToString(), false, "FOF运行日志");
MyVisionBase.FilterImg(GrabImg, out FilterImg, MyVisionPara.camLightPara.FilterC);
view1.AddViewImage(FilterImg);
MyVisionBase.SaveImg(FilterImg, "FOF偏移检测图片");
MyLocal.SetParam(FilterImg, MyVisionPara.localPara);
}
else
{
view1.AddViewImage(GrabImg);
MyLocal.SetParam(GrabImg, MyVisionPara.localPara);
}
view1.Repaint();
//6.执行定位
try
{
FileLib.Logger.Pop(" 开始定位：", false, "FOF运行日志");
MyLocal.doLocal();
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 1);
}
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果OK）：", false, "FOF运行日志");
}
catch (Exception e0)
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 2);
}
Logger.PopError1(e0, false, "视觉错误日志");
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果NG）：", false, "FOF运行日志");
}
MyLocalResult = MyLocal.GetResult();
view1.AddViewObject(MyLocalResult.ShowContour);
view1.Repaint();
//8.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
FileLib.Logger.Pop(" 获取标定矩阵(CoordiEnumItem)：" + MyVisionPara.localPara.localSetting.CoordiCam.ToString()
, false, "FOF运行日志");
FileLib.Logger.Pop(HomMat.ToString(), false, "FOF运行日志");
HalconDotNet.HTuple HHomMat = new HalconDotNet.HTuple();
//9.标定矩阵的转换
MyVisionBase.MyHomMatToHalcon(HomMat, out HHomMat);
//10.图像坐标系的原点由左上角变到左下角
MyVisionBase.AdjImgRow(GrabImg, ref MyLocalResult.row);
MyVisionBase.AffineTransPt(MyLocalResult.col, MyLocalResult.row, HHomMat, out MyLocalResult.x, out MyLocalResult.y);
FileLib.Logger.Pop("col: " + MyLocalResult.col.ToString("f3") + " row: " + MyLocalResult.row.ToString("f3"), false, "FOF运行日志");
FileLib.Logger.Pop("X: " + MyLocalResult.x.ToString("f3") + " Y: " + MyLocalResult.y.ToString("f3"), false, "FOF运行日志");
MyLocalResult.Theta = MyLocalResult.angle;
if (FilterImg != null)
{
FilterImg.Dispose();
}
if (GrabImg != null)
{
GrabImg.Dispose();
}
}
private void CaliRotCenterBtn_Click(object sender, EventArgs e)
{
DialogResult dr = MessageBox.Show("是否示开始旋转中心标定？", "提示", MessageBoxButtons.YesNo);
if (dr == DialogResult.No)
{
return;
}
System.Threading.Tasks.Task.Factory.StartNew(new Action(() => {
ListMarkCenterU = new List <Point2Db>();
HObject GrabedImg = new HObject();
LocalManager MyLocal = new LocalManager(); //定位类初始化
LocalResult MyResult = new LocalResult();
MyLocal.SetLocalModel(TeachCaliPara.localPara.localSetting.localModel);
HOperatorSet.GenEmptyObj(out FindCenterCont);
//旋转一个角度拍一次照片，用定位的点拟合圆，计算出0度时标定点到旋转中心的偏移量
for (int i = 0; i < TeachCaliPara.AngleStep; i++)
{
if (MotionManager.Instance.SetCoordiPos(TeachCaliPara.StartRotPt.x, TeachCaliPara.StartRotPt.y, TeachCaliPara.StartRotPt.angle
+ TeachCaliPara.AngleRange / TeachCaliPara.AngleStep * i))
{
if (GrabedImg != null)
{
GrabedImg.Dispose();
}
CameraCtrl.Instance.GrabImg(TeachCaliPara.cam, out GrabedImg); //采集图像
MyResult = new LocalResult();
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara);
MyLocal.doLocal();
MyResult = MyLocal.GetResult();
if (!MyResult.IsLocalOk)
{
MessageBox.Show("定位失败");
return;
}
view1.ResetView();
view1.Refresh();
view1.AddViewImage(GrabedImg);
view1.AddViewObject(MyResult.ShowContour);
view1.Repaint();
//view1.Refresh();
//this.Refresh();
Thread.Sleep(50);
Point2Db NowPt = new Point2Db();
NowPt.Col = MyResult.col;
NowPt.Row = MyResult.row;
ListMarkCenterU.Add(NowPt);
FindCenterCont = FindCenterCont.ConcatObj(MyResult.ShowContour);
}
else
{
MessageBox.Show("移动失败");
return;
}
}
#region 零度时候的定位坐标
Point2Db ZeoroDegreePos = new Point2Db();
if (MotionManager.Instance.SetCoordiPos(TeachCaliPara.StartRotPt.x, TeachCaliPara.StartRotPt.y, 0.0))
{
if (GrabedImg != null)
{
GrabedImg.Dispose();
}
CameraCtrl.Instance.GrabImg(TeachCaliPara.cam, out GrabedImg); //采集图像
MyResult = new LocalResult();
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara);
MyLocal.doLocal();
MyResult = MyLocal.GetResult();
if (!MyResult.IsLocalOk)
{
MessageBox.Show("定位失败");
return;
}
ZeoroDegreePos = new Point2Db(MyResult.col, MyResult.row);
}
#endregion
//通过找到的标定mark中心点集合，拟合出旋转中心
HTuple CircleRows = new HTuple();
HTuple CircleCols = new HTuple();
MyVisionBase.ListPt2dToHTuple(ListMarkCenterU, out CircleRows, out CircleCols);
HObject CircleContourU = new HObject();
HTuple CenterRow = new HTuple(), CenterCol = new HTuple();
HTuple RotRadius = new HTuple(), StartPhi = new HTuple(), EndPhi = new HTuple(), FitFlag = new HTuple();
if (FindCirCenterCbx.SelectedValue.ToString() == "拟合圆")
{
MyVisionBase.PtsToBestCircle1(out CircleContourU, CircleRows, CircleCols, 4, "arc", out CenterRow, out CenterCol,
out RotRadius, out StartPhi, out EndPhi, out FitFlag);//通过边界点拟合圆
RotR = RotRadius.D;
RotCenterRow = CenterRow.D;
RotCenterCol = CenterCol.D;
}
else if (FindCirCenterCbx.SelectedValue.ToString() == "中垂线找圆心")
{
FindCircleCenter(ListMarkCenterU, out RotCenterRow, out RotCenterCol, out RotR);
HOperatorSet.GenCircleContourXld(out CircleContourU, RotCenterRow, RotCenterCol, RotR, 0, Math.PI, "positive", 1);
}
HObject PtContour = new HObject();
HOperatorSet.GenCrossContourXld(out PtContour, CircleRows, CircleCols, 20, 0.6);
HOperatorSet.ConcatObj(PtContour, CircleContourU, out CircleContourU);
// MyVisionBase.hDispObj(hWindowControl1.HalconWindow, CircleContourU);
view1.AddViewObject(CircleContourU);
view1.Repaint();
MyVisionBase.HTupleToListPt2d(CircleRows, CircleCols, out ListMarkCenterU);
//计算0度标定Mark中心到旋转中心的偏移量
VectorCaliMarkToRot.Row = (CenterRow - ZeoroDegreePos.Row);
VectorCaliMarkToRot.Col = (CenterCol - ZeoroDegreePos.Col);
HObject MarkToRotArrow = new HObject();
MyVisionBase.GenArrowContourXld(out MarkToRotArrow, ZeoroDegreePos.Row, ZeoroDegreePos.Col, CenterRow, CenterCol, 30, 30);
view1.AddViewObject(MarkToRotArrow);
view1.Repaint();
}));
}
/// <summary>
/// 拟合参数的示教函数
/// </summary>
public void TeachProcess()
{
ShowRoiFlag = true;
HObject RoiContour = new HObject();
//1.0获取图像，调节曝光时间
HTuple ResultRows = new HTuple(), ResultCols = new HTuple();
//2.0示教参数
#region //直线参数示教
//2.1画出直线的检测区域
bool CurIsOk = true;
view1.AddViewImage(GrabedImg);
while (ShowRoiFlag)
{
//2.2显示直线的检测ROI,调整ROI的参数
Thread.Sleep(50);
view1.Refresh();
view1.AddImage(GrabedImg);
CurIsOk = MyVisionBase.gen_rake_ROI(GrabedImg, out RoiContour, Element, DetectHeight, 2,
LineRow1, LineCol1, LineRow2, LineCol2);
if (!CurIsOk)
{
break;
}
view1.SetDraw("blue", "margin");
view1.AddViewObject(RoiContour);
//2.3利用卡尺工具找出边界点
CurIsOk = MyVisionBase.Rake(GrabedImg, out RoiContour, Element, DetectHeight, 2, 2, Threshold,
"all", "first", LineRow1, LineCol1,
LineRow2, LineCol2, out ResultRows, out ResultCols);
//减去中间不要的点
int Count = ResultRows.Length;
int ClipLength = (int )(Count * CenterClip);
int StartClipNo = (int)((Count - ClipLength) * 0.5);
if ((Count - ClipLength) > 4 && ClipLength > 0)
{
for (int i = 0; i < ClipLength; i++)
{
ResultRows = ResultRows.TupleRemove(StartClipNo);
ResultCols = ResultCols.TupleRemove(StartClipNo);
}
}
if (!CurIsOk)
{
break;
}
//2.4
HObject LinePtCross = new HObject();
//2.5显示拟合的点
HOperatorSet.GenCrossContourXld(out LinePtCross, ResultRows, ResultCols, 12, 0.7);
view1.SetDraw("green", "margin");
view1.AddViewObject(LinePtCross);
//2.6直线拟合
HObject FitLineCotour = new HObject();
HTuple FitLineRow1 = new HTuple(), FitLineCol1 = new HTuple(), FitLineRow2 = new HTuple(),
FitLineCol2 = new HTuple(), PtToLineDist = new HTuple();
CurIsOk = MyVisionBase.PtsToBestLine(out FitLineCotour, ResultRows, ResultCols, 3,
out FitLineRow1, out FitLineCol1, out FitLineRow2, out FitLineCol2, out PtToLineDist);
if (CurIsOk)
{
HTuple AngleLx = new HTuple();
HOperatorSet.AngleLl(0, 0, 1, 0, FitLineCol1, FitLineRow1, FitLineCol2, FitLineRow2, out AngleLx); //直线1与X轴之间的夹角
HTuple DistP1L = new HTuple(), DistP2L = new HTuple();
HOperatorSet.DistancePl(LineRow10, LineCol10, FitLineRow1, FitLineCol1, FitLineRow2, FitLineCol2, out DistP1L);
HOperatorSet.DistancePl(LineRow20, LineCol20, FitLineRow1, FitLineCol1, FitLineRow2, FitLineCol2, out DistP2L);
AngleLx = AngleLx.D / Math.PI * 180.0;
if (Math.Abs(AngleLx.D) % 90 < 10 && DistP1L.D < 10 && DistP2L.D < 10)
{
HOperatorSet.ProjectionPl(LineRow1, LineCol1, FitLineRow1, FitLineCol1, FitLineRow2, FitLineCol2,
out LineRow1, out LineCol1);
HOperatorSet.ProjectionPl(LineRow2, LineCol2, FitLineRow1, FitLineCol1, FitLineRow2, FitLineCol2,
out LineRow2, out LineCol2);
}
}
if (!CurIsOk)
{
break;
}
//2.7显示拟合直线
view1.SetDraw("red", "margin");
view1.AddViewObject(FitLineCotour);
view1.Repaint();
Thread.Sleep(1500);
}
#endregion
}
