static void AlignPart()
{
channel.SetCoords(e: 0);
Native.MinRect mr = new Native.MinRect();
Native.MinRect mr2 = new Native.MinRect();
Camera u = settings.upCamera;
Tape t = tapes[state.lastTape];
decimal w = Math.Max(t.partRects[0].width, t.partRects[0].height);
int partsize = (int)(t.partRects[0].width * t.partRects[0].height * u.xPixelPerMm * u.yPixelPerMm);
int ww = (int)((w * 1.4m + 1) * u.xPixelPerMm);
Native.get_minrect(1, ww, ww, t.threshold1, t.threshold2, t.gauss1, t.gauss2, 25, partsize, 5, mr);
int angle = mr.angle < -45 ? (mr.angle + 90) : mr.angle;
if (angle > 17 || angle < -17)
{
Error("Part angle too big: " + angle);
return;
}
if ((w > 2 && angle != settings.zeroAngle) || angle > 3 || angle < -3)
{
channel.MoveTo(e: PartAngleToPnpAngle(-angle + settings.zeroAngle), s: 10000);
channel.WaitForDone();
Native.get_minrect(1, ww, ww, t.threshold1, t.threshold2, t.gauss1, t.gauss2, 25, partsize, 5, mr2);
}
else
{
mr2 = mr;
}
decimal sx = Decimal.Round((mr2.xc - u.resolutionX / 2) / u.xPixelPerMm, 2);
decimal sy = -Decimal.Round((mr2.yc - u.resolutionY / 2) / u.yPixelPerMm, 2);
Native.DrawText(420, 810, 1, 0, "Angle: " + angle + " (" + sx + "," + sy + ") " + mr.size + " ");
Native.DrawLine(mr.x1 / 2 + 200, mr.y1 / 2 + 150, mr.x2 / 2 + 200, mr.y2 / 2 + 150, 3);
Native.DrawLine(mr.x3 / 2 + 200, mr.y3 / 2 + 150, mr.x2 / 2 + 200, mr.y2 / 2 + 150, 3);
Native.DrawLine(mr.x3 / 2 + 200, mr.y3 / 2 + 150, mr.x4 / 2 + 200, mr.y4 / 2 + 150, 3);
Native.DrawLine(mr.x1 / 2 + 200, mr.y1 / 2 + 150, mr.x4 / 2 + 200, mr.y4 / 2 + 150, 3);
if (Math.Abs(sx) > 0.6m || Math.Abs(sy) > 0.6m)
{
Error("Part misalignment too big: " + sx + ", " + sy);
return;
}
partOffsetX = sx + settings.fineOffsetX + t.visionXOffset;
partOffsetY = sy + settings.fineOffsetY + t.visionYOffset;
}
static void FindPart()
{
Camera u = settings.upCamera;
Native.MinRect mr = new Native.MinRect();
Tape t = tapes[state.lastTape];
decimal w = Math.Max(t.partRects[0].width, t.partRects[0].height);
int partsize = (int)(t.partRects[0].width * t.partRects[0].height * u.xPixelPerMm * u.yPixelPerMm);
int ww = (int)((w * 1.4m + 1) * u.xPixelPerMm);
Native.get_minrect(1, ww, ww, t.threshold1, t.threshold2, t.gauss1, t.gauss2, 45, partsize, 5, mr);
int angle = mr.angle < -45 ? (mr.angle + 90) : mr.angle;
decimal sx = Decimal.Round((mr.xc - u.resolutionX / 2) / u.xPixelPerMm, 2);
decimal sy = -Decimal.Round((mr.yc - u.resolutionY / 2) / u.yPixelPerMm, 2);
Native.DrawText(420, 810, 1, 0, "Angle: " + angle + " (" + sx + "," + sy + ") " + mr.size + " ");
Native.DrawLine(mr.x1 / 2 + 200, mr.y1 / 2 + 150, mr.x2 / 2 + 200, mr.y2 / 2 + 150, 3);
Native.DrawLine(mr.x3 / 2 + 200, mr.y3 / 2 + 150, mr.x2 / 2 + 200, mr.y2 / 2 + 150, 3);
Native.DrawLine(mr.x3 / 2 + 200, mr.y3 / 2 + 150, mr.x4 / 2 + 200, mr.y4 / 2 + 150, 3);
Native.DrawLine(mr.x1 / 2 + 200, mr.y1 / 2 + 150, mr.x4 / 2 + 200, mr.y4 / 2 + 150, 3);
}
