public void NewDoProject(LD.Config.PlcDataItem PlcItem, Object Obj)
{
LD.Common.PlcDevice plcDevice = PlcItem.PlcDevice;
if (plcDevice == LD.Common.PlcDevice.ArtTestCameraStart) //
{
//读取机台编号
int StageNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestStageNumRead);
//读取拍照位编号
int GrabNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestGrabNum);
//获取视觉示教的定位参数
NowProjectPara = ProjectParaManager.Instance.GetProjectPara(StageNum);
//获取当前拍照点的视觉坐标
NowVisionPara = NowProjectPara.GetVisionPara(GrabNum);
NowVisionProcess.SetVisionPara(NowVisionPara);
NowVisionProcess.Do();
FirstLocalResult = NowVisionProcess.MyLocalResult;
St_VectorAngle PosToRot = NowVisionProcess.PosToRot;
St_VectorAngle TeachPosToRot = NowVisionProcess.TeachPosToRot;
St_VectorAngle AddVector = new St_VectorAngle();
MyVisionBase.VectorAngleToMotionXYTh(PosToRot, TeachPosToRot, out AddVector);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddX, -AddVector.Col);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddY, AddVector.Row);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddTheta, -AddVector.Angle);
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
}
}
public LineCircRectRlt()
{
IsOk = true;
NgContour = new HObject();
DetectContour = new HObject();
row = 0;
col = 0;
angle = 0;
x = 0;
y = 0;
Theta = 0;
TeachRow = 0;
TeachCol = 0;
TeachAngle = 0;
TeachX = 0;
TeachY = 0;
TeachTheta = 0;
IsLocalOk = false;
ShowContour = new HObject();
NgContour = new HObject();
DetectContour = new HObject();
TeachPosToRot = new St_VectorAngle();
PosToRot = new St_VectorAngle();
}
/// <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;
}
public St_InspectImageSetting(bool isInit = true)
{
LinePara = new St_LinesParam(4);
CirclePara = new St_CirclesParam(true);
VectorAngle0 = new St_VectorAngle(true);
NowVectorAngle = new St_VectorAngle(true);
InspectLinePara = new St_InsepctLinePara(2, true);
InspectCirclePara = new St_InspectCirclePara(2, true);
InspectRectPara = new St_InspectRectanglePara(1, true);
}
public void UpdateCurrImage(HObject img, St_VectorAngle TempFindVectorAngleIn, LocalPara LocalParaIn)
{
if (GrabedImg != null)
{
GrabedImg.Dispose();
}
HOperatorSet.CopyImage(img, out GrabedImg);
TeachFindVectorAngle = TempFindVectorAngleIn;
LocalPara0 = LocalParaIn;
}
private void btnFindTemplate_Click(object sender, EventArgs e)
{
DialogResult rlt = MessageBox.Show("是否重新示教模板,点击YES,需要重新示教后面的线和圆？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (rlt != DialogResult.Yes)
{
return;
}
if (CurrentImage == null)
{
Logger.PopError("请先采集图片！", true);
return;
}
RectangleF roi = new RectangleF();
roi.X = Setting.SearchAreaX;
roi.Y = Setting.SearchAreaY;
roi.Width = Setting.SearchWidth;
roi.Height = Setting.SearchHeight;
MatchingResult result;
TemplateParam.FindSharpTemplate(CurrentImage, roi, TemplateParam, out result);
if (result.mScore != null && result.mScore > 0)
{
XYOffset.Col = result.mCol - TemplateParam.CenterX;
XYOffset.Row = result.mRow - TemplateParam.CenterY;
TemplateParam.CenterX = result.mCol;
TemplateParam.CenterY = result.mRow;
TemplateParam.TemplateAngle = result.mAngle;
TempFindVecvtorAngle = new St_VectorAngle(TemplateParam.CenterY, TemplateParam.CenterX, TemplateParam.TemplateAngle);
view1.Refresh();
this.view1.AddImage(this.CurrentImage);
view1.Repaint();
Thread.Sleep(100);
HXLD contour;
TemplateParam.GetDetectionContour(out contour);
view1.SetDraw("blue", "margin");
view1.AddViewObject(contour.CopyObj(1, -1));
view1.Repaint();
Thread.Sleep(500);
string str = string.Format("匹配度：{0}%", (100 * result.mScore.D).ToString("f2"));
view1.SetString(100, 500, "red", str);
str = string.Format("耗时：{0}ms", (result.mTime).ToString("f1"));
view1.SetString(100, 250, "red", str);
contour.Dispose();
}
else
{
view1.SetString(50, 100, "red", "匹配失败！");
}
}
private void TryDebugBtn_Click(object sender, EventArgs e)
{
Stopwatch sw = new Stopwatch();
sw.Start();
try{
#region
Point2Db MotionPos = new Point2Db(0, 0);
HObject CirContour = new HObject();
HObject circle = new HObject();
HObject centerCont = new HObject();
//模板的VectorAngle
double TempTeachRow = LocalPara0.Template.CenterY;
double TempTeachCol = LocalPara0.Template.CenterX;
double TempTeachAngle = LocalPara0.Template.TemplateAngle;
view1.Refresh();
HTuple Y = new HTuple(), X = new HTuple();
//找出要定位的的圆
St_CirclesParam AdjCirclePara = new St_CirclesParam(2);
St_VectorAngle VectorAngle0 = new St_VectorAngle(LocalPara0.Template.CenterY, LocalPara0.Template.CenterX,
LocalPara0.Template.TemplateAngle);
HTuple CircleStartPhi = new HTuple(), CircleEndPhi = new HTuple();
CircleTypePos.FindCircle(GrabedImg, AdjCirclePara, out Y, out X, out FindCircleR, out CircleStartPhi,
out CircleEndPhi, out circle, out CirContour, out centerCont);
FindCircleRow = Y;
FindCircleCol = X;
view1.AddImage(GrabedImg);
Thread.Sleep(100);
view1.SetDraw("green", "margin");
view1.AddViewObject(circle);
view1.SetDraw("blue", "margin");
view1.AddViewObject(CirContour);
view1.SetDraw("red", "margin");
view1.AddViewObject(centerCont);
HObject CirCenterCross = new HObject();
HOperatorSet.GenCrossContourXld(out CirCenterCross, Y, X, 120, 0.6);
view1.AddViewObject(CirCenterCross);
#endregion
}
catch (Exception e0) {
Logger.PopError(e0.Message.ToString(), true);
}
}
private void TempFindTestBtn_Click(object sender, EventArgs e)
{
if (CurrentImage == null)
{
Logger.PopError("请先采集图片！", true);
return;
}
RectangleF roi = new RectangleF();
roi.X = Setting.SearchAreaX;
roi.Y = Setting.SearchAreaY;
roi.Width = Setting.SearchWidth;
roi.Height = Setting.SearchHeight;
MatchingResult result;
TemplateParam.FindSharpTemplate(CurrentImage, roi, TemplateParam, out result);
view1.Refresh();
view1.AddImage(CurrentImage);
if (result.mScore != null && result.mScore > 0)
{
TempFindVecvtorAngle = new St_VectorAngle(result.mRow, result.mCol, result.mAngle);
HXLD contour;
TemplateParam.GetDetectionContour(out contour);
view1.SetDraw("blue", "margin");
view1.AddViewObject(contour.CopyObj(1, -1));
view1.Repaint();
string str = string.Format("匹配度：{0}%", (100 * result.mScore.D).ToString("f2"));
view1.SetString(100, 150, "red", str);
str = string.Format("耗时：{0}ms", (result.mTime).ToString("f1"));
view1.SetString(100, 200, "red", str);
str = string.Format("Row：{0}", (result.mRow.D).ToString("f1"));
view1.SetString(100, 250, "red", str);
str = string.Format("Col：{0}", (result.mCol.D).ToString("f1"));
view1.SetString(100, 300, "red", str);
str = string.Format("Angle：{0}", (result.mAngle.D * 180.0 / Math.PI).ToString("f1"));
view1.SetString(100, 350, "red", str);
contour.Dispose();
}
else
{
view1.SetString(50, 100, "red", "匹配失败！");
}
}
public LocalSettingPara()
{
SearchAreaX = 0;
SearchAreaY = 0;
SearchWidth = 1000;
SearchHeight = 1000;
localModel = LocalModelEnum.Temp;
GrabPosTeach = new Point3Db();
TeachImgLocal = new St_VectorAngle();
TeachCoordi = CoordiEmum.Coordi0;
CoordiCam = CoordiCamHandEyeMatEnum.Coordi0Cam0;
Offset_x_range = 1;
Offset_y_range = 1;
Offset_theta_range = 1;
Offset_x = 0;
Offset_y = 0;
Offset_theta = 0;
PixelSize = 1;
}
public BlobLocalRlt()
{
ListRow = new List <double>();
ListCol = new List <double>();
ListWid = new List <double>();
ListHei = new List <double>();
ListArea = new List <double>();
row = 0;
col = 0;
angle = 0;
x = 0;
y = 0;
Theta = 0;
TeachRow = 0;
TeachCol = 0;
TeachAngle = 0;
TeachX = 0;
TeachY = 0;
TeachTheta = 0;
IsLocalOk = false;
ShowContour = new HObject();
TeachPosToRot = new St_VectorAngle();
PosToRot = new St_VectorAngle();
}
public void UpdatePara(St_LinesParam LineParaIn, St_CirclesParam CircleParaIn, St_VectorAngle VectorAngle0In)
{
InspectImageSetting.VectorAngle0 = VectorAngle0In;
InspectImageSetting.CirclePara = CircleParaIn;
InspectImageSetting.LinePara = LineParaIn;
}
public St_PosDesignMsg(bool IsInit = true)
{
vectorAngle = new St_VectorAngle();
PixelSize = 0.02;
}
private void btnNextStep_Click(object sender, EventArgs e)
{
SubFormIndex++;
if (SubFormIndex == VisionSubFormList.Count)
{
DialogResult rlt = MessageBox.Show("即将保存参数 &&退出，是否继续？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
foreach (var item in panelOperator.Controls)
{
if (item is SubFrmTemplate)
{
TeachLocalPara.localSetting.SearchAreaX = ((SubFrmTemplate)item).Setting.SearchAreaX;
TeachLocalPara.localSetting.SearchAreaY = ((SubFrmTemplate)item).Setting.SearchAreaY;
TeachLocalPara.localSetting.SearchWidth = ((SubFrmTemplate)item).Setting.SearchWidth;
TeachLocalPara.localSetting.SearchHeight = ((SubFrmTemplate)item).Setting.SearchHeight;
TeachLocalPara.Template = ((SubFrmTemplate)item).TemplateParam;
TemplateFindVectorAngle = ((SubFrmTemplate)item).TempFindVecvtorAngle;
}
else if (item is SubFrmBlobLocal)
{
TeachLocalPara.Blobs = ((SubFrmBlobLocal)item).BlobInspectPara;
break;
}
else if (item is SubFrmFindLine)
{
TeachLocalPara.Lines = ((SubFrmFindLine)item).LinesParam;
}
else if (item is SubFrmFindCircle)
{
TeachLocalPara.Circles = ((SubFrmFindCircle)item).CircleParam;
}
else if (item is SubFrmRecheck)
{
TeachLocalPara.LineCirRectInspParam = ((SubFrmRecheck)item).RecheckParam;
}
else if (item is SubFrmFinish)
{
TeachLocalPara.localSetting = ((SubFrmFinish)item).LocalPara0.localSetting;
}
else
{
}
}
if (rlt == DialogResult.Yes)
{
IsSaveVisionPara = true;
this.Close();
this.Dispose();
return;
}
else
{
SubFormIndex--;
return;
}
}
else
{
foreach (var item in panelOperator.Controls)
{
if (item is SubFrmTemplate)
{
TeachLocalPara.localSetting.SearchAreaX = ((SubFrmTemplate)item).Setting.SearchAreaX;
TeachLocalPara.localSetting.SearchAreaY = ((SubFrmTemplate)item).Setting.SearchAreaY;
TeachLocalPara.localSetting.SearchWidth = ((SubFrmTemplate)item).Setting.SearchWidth;
TeachLocalPara.localSetting.SearchHeight = ((SubFrmTemplate)item).Setting.SearchHeight;
TeachLocalPara.Template = ((SubFrmTemplate)item).TemplateParam;
TemplateFindVectorAngle = ((SubFrmTemplate)item).TempFindVecvtorAngle;
}
else if (item is SubFrmBlobLocal)
{
TeachLocalPara.Blobs = ((SubFrmBlobLocal)item).BlobInspectPara;
break;
}
else if (item is SubFrmFindLine)
{
TeachLocalPara.Lines = ((SubFrmFindLine)item).LinesParam;
}
else if (item is SubFrmFindCircle)
{
TeachLocalPara.Circles = ((SubFrmFindCircle)item).CircleParam;
}
else if (item is SubFrmRecheck)
{
TeachLocalPara.LineCirRectInspParam = ((SubFrmRecheck)item).RecheckParam;
}
else if (item is SubFrmFinish)
{
TeachLocalPara.localSetting = ((SubFrmFinish)item).LocalPara0.localSetting;
}
else
{
}
}
SwitchSubFrm(SubFormIndex);
SwitchStepButton(SubFormIndex);
}
SwitchStepButton(SubFormIndex);
if (CurrentImage != null)
{
if (CurrentImage.IsInitialized())
{
UpdateImageToSubForm();
}
}
UpdateParaToSubForm();
}
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;
}
private void FindLineBtn_Click(object sender, EventArgs e)
{
txtFindTime.Clear();
Stopwatch sw = new Stopwatch();
sw.Start();
if (GrabedImg == null)
{
Logger.PopError("请先采集图片！", true);
return;
}
//1.0模板匹配
St_TemplateParam TemplateParam = VisionPara0.localPara.Template;
RectangleF roi = new RectangleF();
LocalSettingPara Setting = VisionPara0.localPara.localSetting;
roi.X = Setting.SearchAreaX;
roi.Y = Setting.SearchAreaY;
roi.Width = Setting.SearchWidth;
roi.Height = Setting.SearchHeight;
MatchingResult result;
TemplateParam.FindSharpTemplate(GrabedImg, roi, TemplateParam, out result);
//2.0调整图像位置
St_VectorAngle VectorAngle0 = new St_VectorAngle(VisionPara0.localPara.Template.CenterY,
VisionPara0.localPara.Template.CenterX, VisionPara0.localPara.Template.TemplateAngle);
St_VectorAngle TempFindVectorAngle = new St_VectorAngle(result.mRow, result.mCol, result.mAngle);//找到的模板坐标
HTuple HomMat = new HTuple();
HOperatorSet.VectorAngleToRigid(result.mRow, result.mCol, result.mAngle, VisionPara0.localPara.Template.CenterY,
VisionPara0.localPara.Template.CenterX, VisionPara0.localPara.Template.TemplateAngle, out HomMat);
HObject AffineImg = new HObject();
HOperatorSet.AffineTransImage(GrabedImg, out AffineImg, HomMat, "constant", "false");
HOperatorSet.ClearWindow(ShowWindow);
MyVisionBase.hDispObj(ShowWindow, GrabedImg);
//3.0找出Pin针坐标
HObject RoiContour = new HObject();
MyVisionBase.hDispObj(ShowWindow, AffineImg);
HTuple PinRows = new HTuple(), PinCols = new HTuple();
PinInsepct.FindPinPos(TeachInspectPinParam, AffineImg, out PinRows, out PinCols);
HObject ShowContour = new HObject();
HOperatorSet.GenCrossContourXld(out ShowContour, PinRows, PinCols, 50, 0);
MyVisionBase.hSetColor(ShowWindow, "red");
MyVisionBase.hDispObj(ShowWindow, ShowContour);
//4.0 计算出Pin针偏移量
HTuple OffSetRows = new HTuple(), OffSetCols = new HTuple(), OffSetDists = new HTuple();;
PinInsepct.CalculatePinOffset(TeachInspectPinParam, PinRows, PinCols, out OffSetRows, out OffSetCols, out OffSetDists);
HTuple Max = OffSetDists.TupleMax();
HTuple MaxIndex = OffSetDists.TupleFind(Max);
HOperatorSet.GenCircleContourXld(out ShowContour, PinRows[MaxIndex[0].I], PinCols[MaxIndex[0].I], 50, 0,
Math.PI * 2, "positive", 1.0);
MyVisionBase.hSetColor(ShowWindow, "red");
MyVisionBase.hDispObj(ShowWindow, ShowContour);
txtFindTime.Text = sw.ElapsedMilliseconds.ToString();
}
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 static bool CircleLocation(HObject ImgIn, St_CirclesParam TeachCirclePara0, out St_VectorAngle VectorAngleOut, out HObject circleCont, out HObject CirContour, out HObject centerCont)
{
St_CirclesParam TeachCirclePara;
TeachCirclePara = TeachCirclePara0;
HObject ObjContour = new HObject();
CirContour = new HObject();
HOperatorSet.GenEmptyObj(out CirContour);
HObject CircleObj = new HObject();
centerCont = new HObject();
circleCont = new HObject();
VectorAngleOut = new St_VectorAngle(true);
HTuple CircleRows = new HTuple(), CircleCols = new HTuple();
HObject RoiContour = new HObject();
HTuple ResultRows = new HTuple(), ResultCols = new HTuple(), ArcType0 = new HTuple();
HTuple CircleCenterRow = new HTuple(), CircleCenterCol = new HTuple(), CircleRadius = new HTuple();
HTuple StartPhi = new HTuple(), EndPhi = new HTuple(), PointOrder = new HTuple(), IsTrueFlag = new HTuple();
int cirCount;
try
{
#region
for (int i = 0; i < TeachCirclePara.Count; i++)
{
//2.0利用存下来的圆的信息，创建圆的边缘点坐标
MyVisionBase.GenCirclePts2(TeachCirclePara.CenterRows[i], TeachCirclePara.CenterCols[i], TeachCirclePara.CircleRs[i], TeachCirclePara.StartPhis[i], TeachCirclePara.EndPhis[i]
, TeachCirclePara.PointOrders[i], out CircleRows, out CircleCols);
//3.0找出边缘点用来拟合圆
MyVisionBase.spoke2(ImgIn, TeachCirclePara.Elements[i], TeachCirclePara.DetectHeights[i], 2, 2, TeachCirclePara.Thresholds[i], "all", "first", CircleRows, CircleCols,
TeachCirclePara.Directs[i], out ResultRows, out ResultCols, out ArcType0);
HOperatorSet.GenCrossContourXld(out CircleObj, ResultRows, ResultCols, TeachCirclePara.CircleRs[i] / 10, 0.6);
HOperatorSet.ConcatObj(CircleObj, CirContour, out CirContour);
cirCount = CirContour.CountObj();
HTuple ElectRows = ResultRows, ElectCols = ResultCols;
int lengthResultRows = ResultRows.Length;
int StartNum = (int)(lengthResultRows * 0.3);
int RemoveNum = (int)(lengthResultRows * 0.2);
for (int j = StartNum; j < StartNum + RemoveNum; j++)
{
if (j < lengthResultRows && StartNum + RemoveNum < lengthResultRows)
{
ElectRows = ElectRows.TupleRemove(StartNum);
ElectCols = ElectCols.TupleRemove(StartNum);
}
}
//4.拟合圆找到圆的中心
HObject CircleContour = new HObject();
HTuple FitRow = new HTuple(), FitCol = new HTuple(), FitR = new HTuple(), SartP = new HTuple(), EndP = new HTuple(), IsFlag = new HTuple();
MyVisionBase.PtsToBestCircle1(out CircleObj, ElectRows, ElectCols, 4, "arc", out FitRow, out FitCol, out FitR, out SartP, out EndP, out IsFlag);
if (Math.Abs(TeachCirclePara.CircleRs[i] - FitR.D) > TeachCirclePara.CircleRs[i] * 0.2)
{
HOperatorSet.ConcatObj(CircleObj, CirContour, out CirContour);
Logger.PopError("找出圆的半径大于理论值。");
return(false);
}
cirCount = CircleObj.CountObj();
HOperatorSet.ConcatObj(CircleObj, CirContour, out CirContour);
CircleCenterRow[i] = FitRow.D;
CircleCenterCol[i] = FitCol.D;
CircleRadius[i] = FitR.D;
StartPhi[i] = SartP.D;
EndPhi[i] = EndP.D;
IsTrueFlag[i] = IsFlag[0];
}
HTuple AngleLxPixel = new HTuple(), AngleLx = new HTuple();
if (CircleCenterRow.TupleLength() != TeachCirclePara0.Count)
{
Logger.PopError("CircleTypePos.FindCenter" + "没有找到圆");
return(false);
}
#region //生成圆心十字轮廓，非功能性代码
HTuple cRow = new HTuple(), cColumn = new HTuple();
int count = CircleCenterRow.TupleLength();
cRow = 0;
cColumn = 0;
if (count < 4)
{
for (int i = 0; i < count; i++)
{
cRow += CircleCenterRow[i];
cColumn += CircleCenterCol[i];
}
HOperatorSet.GenCrossContourXld(out centerCont, cRow / count, cColumn / count, 150, 0);
}
else if (count == 4)
{
for (int i = 0; i < 2; i++)
{
cRow += CircleCenterRow[i];
cColumn += CircleCenterCol[i];
}
HOperatorSet.GenCrossContourXld(out centerCont, cRow / 2, cColumn / 2, 150, 0);
}
#endregion
//5.0X轴到圆的中心连线的角度
HTuple CircleRowAdj = new HTuple();
CircleRowAdj = CircleCenterRow.Clone();
//5.1调整行坐标
MyVisionBase.AdjImgRow(ImgIn, ref CircleRowAdj);
if (CircleRowAdj.Length >= 2)
{
if (CircleCenterCol[0].D < CircleCenterCol[1].D)
{
HOperatorSet.AngleLl(0, 0, 1, 0, CircleCenterCol[0].D, CircleRowAdj[0].D, CircleCenterCol[1].D, CircleRowAdj[1].D, out AngleLxPixel); //圆中心连线与相机坐标X轴之间的夹角
}
else
{
HOperatorSet.AngleLl(0, 0, 1, 0, CircleCenterCol[1].D, CircleRowAdj[1].D, CircleCenterCol[0].D, CircleRowAdj[0].D, out AngleLxPixel);
}
}
else if (CircleRowAdj.Length == 1)
{
AngleLxPixel = 0;
}
VectorAngleOut = new St_VectorAngle(cRow / count, cColumn / count, AngleLxPixel);
if (double.IsNaN(cColumn / count) || double.IsNaN(cRow / count))
{
Logger.PopError("计算出错，非数字");
return(false);
}
return(true);
#endregion
}
catch (Exception e0)
{
Logger.PopError(e0.Message + e0.Source);
return(false);
}
}