/// <summary>
/// 获得点的实际坐标
/// </summary>
/// <param name="markCenter"></param>
/// <returns></returns>
public PointH GetMarkAxis(PointH markCenter)
{
HTuple hv_Tx = null, hv_Ty = null;
try
{
HOperatorSet.AffineTransPoint2d(hv_HomMat2D, markCenter.X, markCenter.Y, out hv_Tx, out hv_Ty);
return(new PointH(hv_Tx[0].D, hv_Ty[0].D));
}
catch { return(new PointH()); }
}
/// <summary>
/// 九点校正的CAD坐标
/// </summary>
/// <param name="strPath"></param>
/// <returns></returns>
public bool GetCADData(string strPath)
{
CADAllData = new PointH[11, 11];
cadCenterData = new PointH();
try
{
using (FileStream fs = new FileStream(strPath, FileMode.Open, FileAccess.Read))
{
using (StreamReader sr = new StreamReader(fs, Encoding.GetEncoding("utf-8")))
{
string strReadline;
while ((strReadline = sr.ReadLine()) != null)
{
if (strReadline.IndexOf(CCDName) >= 0)
{
string camindex = strReadline.Substring(3, 1);
for (int i = 0; i < 11; i++)
{
strReadline = sr.ReadLine();
string[] strx = strReadline.Split(',');
strReadline = sr.ReadLine();
string[] stry = strReadline.Split(',');
if (strx.Length != stry.Length || strx.Length != 11)
{
MessageBox.Show(CCDName + "读取CAD坐标失败");
halconCCD1_event_StatusText("读取CAD坐标失败", true);
return(false);
}
for (int j = 0; j < strx.Length; j++)
{
double xx = strx[j] == "" ? 0.0 : Convert.ToDouble(strx[j]);
double yy = stry[j] == "" ? 0.0 : Convert.ToDouble(stry[j]);
PointH pointh = new PointH(xx, yy);
CADAllData[j, i] = pointh;
}
}
}
}
}
}
cadCenterData = CADAllData[5, 5];
return(true);
}
catch (Exception ex)
{
halconCCD1_event_StatusText("获取CAD坐标异常：" + ex.ToString());
ShowStatusForm("获取CAD坐标异常", Color.Red);
CADAllData = new PointH[11, 11];
cadCenterData = new PointH();
return(false);
}
}
private void DispMMPixel()
{
try
{
this.Invoke(new EventHandler(delegate {
lbl_X.Text = "X:0.0000 um/pixel";
lbl_Y.Text = "Y:0.0000 um/pixel";
PointH pm = halconHelp.GetPixelMM();
lbl_X.Text = "X:" + (pm.X * 1000).ToString("0.0000") + " um/pixel";
lbl_Y.Text = "Y:" + (pm.Y * 1000).ToString("0.0000") + " um/pixel";
}));
}
catch (Exception ex)
{
}
}
public void InitCCD()
{
if (m_nCameraType == 1) //AVT相机
{
if (m_AVTName == "")
{
halconCCD1_event_StatusText("未设置AVT相机编号，初始化失败", true);
ShowStatusForm(this.CCDName + "-" + "未设置AVT相机编号，初始化失败", Color.Red);
return;
}
}
halconCCD1.InitCCD();
halconCCD1.SetCCDExposure(m_ExposureProduct); //初始化相机，设置曝光值
point1 = new PointH(halconCCD1.SearchRec_x1, halconCCD1.SearchRec_y1);
point2 = new PointH(halconCCD1.SearchRec_x2, halconCCD1.SearchRec_y2);
}
/// <summary>
/// 模板中心补偿
/// </summary>
/// <param name="offset">补偿值</param>
/// <param name="Center">模板中心坐标</param>
/// <param name="angle">旋转角度</param>
/// <param name="isClockwise">true:顺时针(默认)/false:逆时针</param>
/// <returns>旋转后坐标</returns>
public static PointH DeviationCalc(PointH offset, PointH Center, double angle)
{
try
{
if (angle > 180)
{
angle -= 360;
}
PointH _P = new PointH(offset.X, offset.Y); //待旋转点
PointH _Center = new PointH(Center.X, Center.Y); //旋转中心
bool isClockwise = (angle >= 0 && angle <= 180) ? false : true; //顺时、逆时针旋转
double rad = Math.PI / 180 * (isClockwise ? -angle : angle);
PointH newP = RotatePoint(_P, _Center, rad, isClockwise);
PointH point = new PointH((float)newP.X, (float)newP.Y);
return(point); //Y轴坐标系再取反
}
catch { return(new PointH()); }
}
/// <summary>
/// 返回点P围绕点A旋转弧度rad后的坐标
/// </summary>
/// <param name="P">待旋转点坐标</param>
/// <param name="Center">旋转中心坐标</param>
/// <param name="rad">旋转弧度</param>
/// <param name="isClockwise">true:顺时针(默认)/false:逆时针</param>
/// <returns>旋转后坐标</returns>
private static PointH RotatePoint(PointH P, PointH Center,
double rad, bool isClockwise = true)
{
//点Temp1
PointH Temp1 = new PointH(P.X - Center.X, P.Y - Center.Y);
//点Temp1到原点的长度
double lenO2Temp1 = Temp1.DistanceTo(new PointH(0, 0));
//∠T1OX弧度
double angT1OX = radPOX(Temp1.X, Temp1.Y);
//∠T2OX弧度（T2为T1以O为圆心旋转弧度rad）
double angT2OX = angT1OX - (isClockwise ? 1 : -1) * rad;
//点Temp2
PointH Temp2 = new PointH(
lenO2Temp1 * Math.Cos(angT2OX),
lenO2Temp1 * Math.Sin(angT2OX));
//点Q
return(new PointH(Temp2.X + Center.X, Temp2.Y + Center.Y));
}
//该点到指定点pTarget的距离
public double DistanceTo(PointH p)
{
return(Math.Sqrt((p.X - X) * (p.X - X) + (p.Y - Y) * (p.Y - Y)));
}
private void btn_config_Click(object sender, EventArgs e)
{
if (GlobalVar.m_bChangeForm)
{
if (this.changeForm)
{
this.changeForm = false;
this.BackColor = Color.DarkGray;
btn_config.BackColor = Color.DarkGray;
return;
}
this.changeForm = true;
this.BackColor = Color.Green;
btn_config.BackColor = Color.Green;
if (m_eventChangeForm != null)
{
m_eventChangeForm(sequence);
}
return;
}
CCDParaConfig paraconfig = new CCDParaConfig(this);
if (paraconfig.ShowDialog() == DialogResult.OK)
{
m_AVTName = paraconfig.AVTName;
AreaMark[0] = paraconfig.MarkMinArea;
AreaMark[1] = paraconfig.MarkMaxArea;
AreaPoint[0] = paraconfig.PointMinArea;
AreaPoint[1] = paraconfig.PointMaxArea;
AreaProduct[0] = paraconfig.ProductMinArea;
AreaProduct[1] = paraconfig.ProductMaxArea;
m_ExposureProduct = paraconfig.m_ExposureProduct;
m_ExposureModel = paraconfig.m_ExposureModel;
m_UmPixel = paraconfig.m_UmPixel;
point1 = new PointH(paraconfig.m_roiX1, paraconfig.m_roiY1);
point2 = new PointH(paraconfig.m_roiX2, paraconfig.m_roiY2);
halconCCD1.SearchRec_x1 = paraconfig.m_roiX1;
halconCCD1.SearchRec_y1 = paraconfig.m_roiY1;
halconCCD1.SearchRec_x2 = paraconfig.m_roiX2;
halconCCD1.SearchRec_y2 = paraconfig.m_roiY2;
WriteINI();
if (m_bIn9Point)
{
halconHelp.SetMarkArea(AreaMark);
halconHelp.SetPointArea(AreaPoint);
halconCCD1.SetCCDExposure(m_ExposureModel); //修改曝光值-校准片
}
else
{
if (GlobalVar.m_bInCalibMode)
{
halconHelp.SetMarkArea(AreaMark);
halconHelp.SetPointArea(AreaPoint);
halconCCD1.SetCCDExposure(m_ExposureModel); //修改曝光值-校准片
}
else
{
halconHelp.SetMarkArea(AreaProduct);
halconHelp.SetPointArea(AreaPoint);
halconCCD1.SetCCDExposure(m_ExposureProduct); //修改曝光值-制品
}
}
}
}
public void StartHanle(HImage himage)
{
//m_bInHandleImage = true; //2018.05.25 改为多线程，在拍照前置为True
m_MarkCenter = new PointH();
m_MarkAxis = new PointH();
try
{
HImage handleImage = himage;
//if (GlobalVar.gl_strProductModel.ToUpper().IndexOf("A85IFLEX") >= 0)
if (!GlobalVar.m_bUseXLD)
{
m_MarkCenter = halconHelp.GetMarkCenter(handleImage);
}
else
{
m_MarkCenter = halconHelp.GetMarkCenterXLD(handleImage);
}
if (m_MarkCenter.X == 0.0 || m_MarkCenter.Y == 0.0)
{
m_MarkAxis = new PointH();
}
else
{
m_MarkAxis = halconHelp.GetMarkAxis(m_MarkCenter);
}
if (m_bIn9Point)
{
#region 九点标定处理
m_bHomMat2DOK = false;
try
{
if (m_MarkCenter.X == 0.0 || m_MarkCenter.Y == 0.0)
{
m_bHomMat2DOK = false;
return;
}
HTuple hv_Row, hv_Column, hv_AxisX, hv_AxisY, hv_Height, hv_Width, hv_newRow, hv_newColumn;
halconHelp.Get9Points(handleImage, out hv_Row, out hv_Column, out hv_Height, out hv_Width);
GetAxisData(hv_Row, hv_Column, hv_Height, hv_Width, out hv_newRow, out hv_newColumn, out hv_AxisY, out hv_AxisX);
//int length = hv_newRow.Length;
//hv_newRow[length] = m_MarkCenter.Y;
//hv_newColumn[length] = m_MarkCenter.X;
//hv_AxisY[length] = cadCenterData.Y;
//hv_AxisX[length] = cadCenterData.X;
for (int i = 0; i < hv_newRow.Length; i++)
{
halconHelp.disp_message(hv_DispWindown, (i + 1), "image", hv_newRow[i].D, hv_newColumn[i].D, "red", "true");
}
int countMY = hv_newRow.Length, countMX = hv_newColumn.Length, countAY = hv_AxisY.Length, countAX = hv_AxisX.Length;
if (countMY < 9 || countMX < 9 || countAY < 9 || countAX < 9 || countAX != countAY || countAX != countMX || countMX != countMY)
{
m_bHomMat2DOK = false;
halconCCD1_event_StatusText("标定相机异常: 标定点过少或个数不匹配", true);
GlobalVar.m_bNeedReCalc = true; //需要重新标定相机
GlobalVar.m_timeLast9Point = GlobalVar.m_timeLast9Point.AddHours((GlobalVar.m_CalibSpace + 12) * -1);
string strfile = Application.StartupPath + "\\CONFIG\\Config.ini";
CommonFunc.Write(ini_Section_TestInfo, ini_Key_Last9Point, GlobalVar.m_timeLast9Point.ToString("yyyy-MM-dd HH:mm:ss.fff"), strfile);
return;
}
HOperatorSet.WriteTuple(hv_newRow, m_pathConfigTup + "\\" + CCDName + "MarkY.tup");
HOperatorSet.WriteTuple(hv_newColumn, m_pathConfigTup + "\\" + CCDName + "MarkX.tup");
HOperatorSet.WriteTuple(hv_AxisY, m_pathConfigTup + "\\" + CCDName + "AxisY.tup");
HOperatorSet.WriteTuple(hv_AxisX, m_pathConfigTup + "\\" + CCDName + "AxisX.tup");
GetHomMat2D();
}
catch (Exception ex)
{
m_bHomMat2DOK = false;
halconCCD1_event_StatusText("标定相机异常: " + ex.ToString(), true);
ShowStatusForm("标定相机异常", Color.Red);
}
#endregion
}
}
catch (Exception ex)
{
halconCCD1_event_StatusText("图片处理异常: " + ex.ToString(), true);
}
finally
{
m_bInHandleImage = false;
DispCenterPoint();
}
}
