/// <summary>
/// 背光定位，不规则区域，计算并发送角度到robot1
/// </summary>
/// <param name="precisePos">精定位拍照位置</param>
/// <param name="cmdAngle">与bot的协议，表示拍照ok</param>
/// <param name="cmdError">与bot的协议，表示拍照失败</param>
/// <param name="threadR">角度阈值</param>
/// <param name="deltar">算子直接获得的角度</param>
/// <param name="displayType">画面设置，影响角度计算</param>
/// <param name="id">unique id</param>
/// <param name="ifRecord">是否进行数据记录</param>
/// <param name="r">输出计算后不要补正的角度偏差</param>
/// <returns></returns>
public static bool BlobAngleCalc(double deltar, Point4D precisePos, string cmdAngle, string cmdError,
double threadR, BackLightDisplay_Enum displayType, int id, bool ifRecord, out double r)
{
r = 0;
try
{
r = GetDeltaR(deltar, displayType);
if (Math.Abs(r) > threadR)
{
ShowAlarm("精确定位处角度:" + r.ToString(ReservDigits) + "超过设定阈值:" + threadR.ToString(ReservDigits));
LogicRobot.L_I.WriteRobotCMD(cmdError);
return(false);
}
ShowState("玻璃精确定位处角度:" + r.ToString(ReservDigits));
//发送角度让机器人调整,第一次拍照结果
LogicRobot.L_I.WriteRobotCMD(precisePos.Add(3, r), cmdAngle);
return(true);
}
catch (Exception ex)
{
Log.L_I.WriteError(ClassName, ex);
return(false);
}
finally
{
if (ifRecord)
{
RecordPreciseData(id, "角度" + r.ToString());
}
}
}
/// <summary>
/// 用于不规则区域角度补偿值的计算，将不规则区域直接获得的角度值转换成补正的偏差角度
/// </summary>
/// <param name="r">不规则区域获得的R_J</param>
/// <param name="displayType">背光显示方向</param>
/// <returns></returns>
public static double GetDeltaR(double r, BackLightDisplay_Enum displayType)
{
double deltaR = Math.Round(r, 3);
if (displayType == BackLightDisplay_Enum.Vertical)
{
deltaR += r < 0 ? 90 : -90;
}
return(deltaR);
}
/// <summary>
/// 背光一次定位偏差计算
/// </summary>
/// <param name="pt2Src">像素坐标，精定位处获取的计算结果</param>
/// <param name="pt2Rc">旋转中心</param>
/// <param name="r">角度补偿，即需要旋转的角度</param>
/// <param name="ratio">相机系数</param>
/// <param name="type">背光方向</param>
/// <param name="srcAngle">精定位处玻璃角度</param>
/// <param name="dstAngle">目标点玻璃角度</param>
/// <param name="botAngle">机器人放置角度</param>
/// <param name="displayAngle">画面显示角度</param>
/// <param name="blAngle">背光角度</param>
public static void Verify(Point2D pt2Src, Point2D pt2Rc, double r, double ratio, BackLightDisplay_Enum type,
double srcAngle, double dstAngle, double botAngle, double displayAngle, double blAngle)
{
try
{
r = GetDeltaR(r, type);
Point2D pt2AfterR = new FunCalibRotate().GetPoint_AfterRotation(r / 180 * Math.PI, pt2Rc, pt2Src);
Point2D delta = pt2AfterR - pt2Rc;
delta = GetDeviationForBot(delta, botAngle, displayAngle, blAngle, srcAngle, dstAngle);
delta = new Point2D(delta.DblValue1 * ratio, delta.DblValue2 * ratio);
ShowState(string.Format("一次拍照计算的偏差结果：X:{0}/Y:{1}",
delta.DblValue1.ToString(ReservDigits),
delta.DblValue2.ToString(ReservDigits)));
}
catch (Exception ex)
{
Log.L_I.WriteError(ClassName, ex);
}
}