private Tuple <PointD, double> CaptrueDelta()
{
//拍照前延时
Thread.Sleep(this.settlingTime);
//拍照获取图像
byte[] imgData = Machine.Instance.Camera.TriggerAndGetBytes(TimeSpan.FromSeconds(1)).DeepClone();
//移动到拍照高度
if (Machine.Instance.Setting.MachineSelect == MachineSelection.RTV)
{
Machine.Instance.Robot.MoveToMarkZAndReply();
}
//抓圆，得到像素坐标
if (!this.chxAsv.Checked)
{
CalibMap.excuteCaliper(imgData, Machine.Instance.Camera.Executor.ImageWidth, Machine.Instance.Camera.Executor.ImageHeight,
ref outX, ref outY, ref outR);
}
else
{
this.inspection.Execute(imgData, Machine.Instance.Camera.Executor.ImageWidth, Machine.Instance.Camera.Executor.ImageHeight);
outX = this.inspection.PixResultX;
outY = this.inspection.PixResultY;
outR = this.inspection.PixResultR;
}
//像素坐标转机械坐标
double scale = 0;
PointD p = Machine.Instance.Camera.ToMachine(outX, outY);
CalibBy9d.GetScale(ref scale);
this.BeginInvoke(new MethodInvoker(() =>
{
this.LblTitle.Text = string.Format("deltaX = {0}, deltaY = {1}.", Math.Round(p.X, 3), Math.Round(p.Y, 3));
}));
return(new Tuple <PointD, double>(p, outR * scale));
}
public PointD ToMachine(double imgx, double imgy)
{
double x = 0, y = 0;
CalibBy9d.ConvertImg2Phy(ref imgx, ref imgy, ref x, ref y);
PointD rtn = new PointD(-x, -y);
//if (this.Prm.ReverseX)
//{
// rtn.X *= -1;
//}
//if (this.Prm.ReverseY)
//{
// rtn.Y *= -1;
//}
return(rtn);
}
