/// <summary>
/// 计算机器人取片坐标，纯计算不带信息输出
/// </summary>
/// <param name="pt2Pixel">粗定位相机的像素结果</param>
/// <param name="pt4Dst">机器人取片基准值</param>
/// <param name="pt4Adj">机器人取片补偿</param>
/// <param name="parCalibrate">机器人校准算子参数</param>
/// <param name="result"></param>
/// <returns></returns>
public static bool CalcRobotPickPos(Point2D pt2Pixel, Point4D pt4Dst, Point4D pt4Adj,
BaseParCalibRobot parCalibrate, out Point4D result)
{
result = pt4Dst + pt4Adj;
try
{
Point2D pt2Map = FunCalibRobot.F_I.GetWordCord(pt2Pixel, parCalibrate);
if (pt2Map.DblValue1 * pt2Map.DblValue2 == 0)
{
return(false);
}
result = new Point4D(pt2Map.DblValue1 + pt4Adj.DblValue1, pt2Map.DblValue2 +
pt4Adj.DblValue2, pt4Dst.DblValue3 + pt4Adj.DblValue3, pt4Dst.DblValue4 + pt4Adj.DblValue4);
}
catch (Exception ex)
{
Log.L_I.WriteError(ClassName, ex);
return(false);
}
return(true);
}
/// <summary>
/// 发送机器人取片坐标
/// </summary>
/// <param name="pt2Pixel">匹配的得到的计算结果</param>
/// <param name="pt4Dst">取片基准点位（空运转取片点位）</param>
/// <param name="pt4Adj">取片调整值</param>
/// <param name="cmd">交互指令</param>
/// <param name="parCalibrate"></param>
/// <returns></returns>
public static bool SendRobotPickPos(Point2D pt2Pixel, Point4D pt4Dst, Point4D pt4Adj,
string cmd, BaseParCalibRobot parCalibrate, out Point4D pResult)
{
pResult = new Point4D();
try
{
if (!CalcRobotPickPos(pt2Pixel, pt4Dst, pt4Adj, parCalibrate, out Point4D result))
{
return(false);
}
pResult = result;
ShowState(string.Format("发送给机器人坐标:X:{0},Y:{1},R:{2}",
result.DblValue1.ToString(ReservDigits),
result.DblValue2.ToString(ReservDigits),
result.DblValue4.ToString(ReservDigits)));
LogicRobot.L_I.WriteRobotCMD(result, cmd);
}
catch (Exception ex)
{
Log.L_I.WriteError(ClassName, ex);
return(false);
}
return(true);
}
