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add nash

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gebo
2025-11-21 13:46:29 +08:00
parent b69f76160d
commit dc5b1b94a5
5 changed files with 122 additions and 42 deletions
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3
WaferAdjust/FitCircleToolBlock.cs
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@@ -10,7 +10,7 @@ using System.Threading.Tasks;
namespace WaferAdjust
{
public delegate void OnFitCircleResult(double x, double y, double rms);
public delegate void OnFitCircleResult(double x, double y, double r, double rms);
internal class FitCircleToolBlock
{
private CogToolBlock cogToolBlock;
@@ -47,6 +47,7 @@ namespace WaferAdjust
FitCircleImage = cogToolBlock.Outputs["OutputImage"].Value as CogImage8Grey;
OnFitCircleResult?.Invoke(Math.Round((double)cogToolBlock.Outputs["CenterX"].Value, 3),
Math.Round((double)cogToolBlock.Outputs["CenterY"].Value, 3),
Math.Round((double)cogToolBlock.Outputs["Radius"].Value, 3),
Math.Round((double)cogToolBlock.Outputs["RMSError"].Value, 3));
}
catch (Exception ex)

6
WaferAdjust/Form1.Designer.cs generated
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@@ -289,7 +289,7 @@
this.textBox2.Name = "textBox2";
this.textBox2.Size = new System.Drawing.Size(55, 21);
this.textBox2.TabIndex = 7;
this.textBox2.Text = "64";
this.textBox2.Text = "82";
//
// label1
//
@@ -323,7 +323,7 @@
this.textBox5.Name = "textBox5";
this.textBox5.Size = new System.Drawing.Size(55, 21);
this.textBox5.TabIndex = 13;
this.textBox5.Text = "1";
this.textBox5.Text = "-6";
//
// label2
//
@@ -349,7 +349,7 @@
this.textBox4.Name = "textBox4";
this.textBox4.Size = new System.Drawing.Size(55, 21);
this.textBox4.TabIndex = 11;
this.textBox4.Text = "1";
this.textBox4.Text = "-8";
//
// groupBox1
//

118
WaferAdjust/Form1.cs
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@@ -6,6 +6,7 @@ using Cognex.VisionPro.ImageProcessing;
using Cognex.VisionPro.PMAlign;
using Cognex.VisionPro.ToolBlock;
using QWhale.Common;
using QWhale.Syntax;
using System;
using System.Collections.Generic;
using System.ComponentModel;
@@ -19,6 +20,7 @@ using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Windows.Interop;
using System.Windows.Media;
using System.Xml.Serialization;
@@ -52,6 +54,7 @@ namespace WaferAdjust
getCircleMachineToolBlock = new GetCircleToolBlock();
getCircleMachineToolBlock.OnGetCircleResult += GetCircleMachineToolBlock_OnGetCircleResult;
getCircleMachineToolBlock.OnGetNashResult += GetCircleMachineToolBlock_OnGetNashResult;
getCircleMachineToolBlock.OnToolReady += GetCircleMachineToolBlock_OnToolReady;
getCircleMachineToolBlock.Initialize("vpp\\GetCircleM.vpp");
@@ -70,31 +73,88 @@ namespace WaferAdjust
}
}
private void GetCircleMachineToolBlock_OnGetNashResult(double x, double y)
{
translateCirclePoint.AddNashPoint(x, y);
ShowMessage($"Update Nash X:{x}, Y:{y}{Environment.NewLine}");
}
private void FitCircleMachineToolBlock_OnToolReady(bool ready)
{
}
private void FitCircleMachineToolBlock_OnFitCircleResult(double x, double y, double rms)
private void AddPointMarker(CogGraphicCollection graphicCollection, double x, double y, CogColorConstants color = CogColorConstants.Green)
{
CogPointMarker marker_1 = new CogPointMarker();
CogPointMarker marker = new CogPointMarker();
marker.X = x;
marker.Y = y;
marker.Color = color;
marker.Interactive = false;
graphicCollection.Add(marker);
}
private void AddLineMarker(CogGraphicCollection graphicCollection, double x1, double y1, double x2, double y2, CogColorConstants color = CogColorConstants.Green)
{
CogLineSegment line = new CogLineSegment();
line.SetStartEnd((int)x1, (int)y1, (int)x2, (int)y2);
line.Color = color;
line.Interactive = false;
graphicCollection.Add(line);
}
private void AddLabelMarker(CogGraphicCollection graphicCollection, string text, double x, double y, CogColorConstants color = CogColorConstants.Green)
{
CogGraphicLabel label = new CogGraphicLabel();
label.Text = text;
label.X = x;
label.Y = y;
label.Color = color;
graphicCollection.Add(label);
}
/// <summary>
/// 计算从 lineA 到 lineB 的逆时针有向角度（0-360度）
/// 坐标系：向右为正，向下为正（标准屏幕坐标系）
/// </summary>
public double GetCounterClockwiseAngle360(double x, double y, double x1, double y1, double x2, double y2)
{
// 2. 获取方向向量（dy 向下为正）
double dxA = x1 - x;
double dyA = y1 - y;
marker_1.X = x;
marker_1.Y = y;
marker_1.Color = CogColorConstants.Green;
marker_1.Interactive = false;
m_graphics2.Add(marker_1);
double dxB = x2 - x;
double dyB = y2 - y;
CogPointMarker marker_2 = new CogPointMarker();
// 3. 将Y轴翻转，转换为标准数学坐标系（dy向上为正）
// 这样 Math.Atan2 返回的就是标准数学角度（逆时针为正）
double angleA = Math.Atan2(-dyA, dxA); // 注意：y取负号
double angleB = Math.Atan2(-dyB, dxB); // 注意：y取负号
marker_2.X = Convert.ToDouble(textBox4.Text);
marker_2.Y = Convert.ToDouble(textBox5.Text);
marker_2.Color = CogColorConstants.Red;
marker_2.Interactive = false;
m_graphics2.Add(marker_2);
// 4. 计算逆时针角度差（弧度）
double angleDiff = angleB - angleA;
// 5. 转换为角度并规范化为 [0, 360)
double angleDegrees = angleDiff * 180.0 / Math.PI;
angleDegrees = angleDegrees % 360.0;
if (angleDegrees < 0) angleDegrees += 360.0;
return Math.Round(angleDegrees, 3);
}
private void FitCircleMachineToolBlock_OnFitCircleResult(double x, double y, double r, double rms)
{
AddPointMarker(m_graphics2, x, y);
AddPointMarker(m_graphics2, translateCirclePoint.GetRotateX(), translateCirclePoint.GetRotateY(), CogColorConstants.Red);
PointInfo nPoint = translateCirclePoint.GetNashPoint();
if (nPoint != null)
{
AddPointMarker(m_graphics2, nPoint.X, nPoint.Y, CogColorConstants.Yellow);
AddLineMarker(m_graphics2, x, y, x, y - r);
AddLineMarker(m_graphics2, x, y, nPoint.X, nPoint.Y, CogColorConstants.Yellow);
var aa = GetCounterClockwiseAngle360(x, y, x, y - r, nPoint.X, nPoint.Y);
AddLabelMarker(m_graphics2, aa.ToString(), x, y, CogColorConstants.Yellow);
ShowMessage($"{Environment.NewLine}nash degree:{aa}{Environment.NewLine}");
}
ShowMessage($"{Environment.NewLine}X:{x}, Y:{y}, RMS:{rms}{Environment.NewLine}");
ShowMessage($"{Environment.NewLine}DiffX:{x - Convert.ToDouble(textBox4.Text)}, DiffY:{y - Convert.ToDouble(textBox5.Text)}, RMS:{rms}{Environment.NewLine}");
ShowMessage($"{Environment.NewLine}DiffX:{Math.Round((x - Convert.ToDouble(textBox4.Text)), 3)}, DiffY:{Math.Round((y - Convert.ToDouble(textBox5.Text)), 3)}, RMS:{rms}{Environment.NewLine}");
ImageDisplay(FitCircleMachineToolBlock.FitCircleImage);
ImageDisplay(m_graphics);
ImageDisplay(m_graphics2);
@@ -118,15 +178,9 @@ namespace WaferAdjust
}
private void FitCircleCameraToolBlock_OnFitCircleResult(double x, double y, double rms)
private void FitCircleCameraToolBlock_OnFitCircleResult(double x, double y, double r, double rms)
{
CogPointMarker marker_1 = new CogPointMarker();
marker_1.X = x;
marker_1.Y = y;
marker_1.Color = CogColorConstants.Green;
marker_1.Interactive = false;
m_graphics2.Add(marker_1);
AddPointMarker(m_graphics2, x, y);
ShowMessage($"{Environment.NewLine}X:{x}, Y:{y}, RMS:{rms}{Environment.NewLine}");
ImageDisplay(fitCircleCameraToolBlock.FitCircleImage);
ImageDisplay(m_graphics);
@@ -196,13 +250,7 @@ namespace WaferAdjust
m_graphics = new CogGraphicCollection();
foreach (PointInfo pointInfo in aa)
{
CogPointMarker marker_1 = new CogPointMarker();//圆
marker_1.X = pointInfo.X;
marker_1.Y = pointInfo.Y;
marker_1.Color = CogColorConstants.Green;
marker_1.Interactive = false;
m_graphics.Add(marker_1);
AddPointMarker(m_graphics, pointInfo.X, pointInfo.Y);
}
fitCircleCameraToolBlock.Run(m_lastBMP, aa);
}
@@ -284,20 +332,16 @@ namespace WaferAdjust
ShowMessage("转换机械坐标系下圆弧各点的原始坐标：\n");
var points = translateCirclePoint.DoTranslatePoint();
translateCirclePoint.DoTranslateNashPoint();
ShowMessage("拟合机械坐标系下的圆中心：\n");
m_graphics = new CogGraphicCollection();
m_graphics2 = new CogGraphicCollection();
foreach (PointInfo pointInfo in points)
{
CogPointMarker marker_1 = new CogPointMarker();//圆
marker_1.X = pointInfo.X;
marker_1.Y = pointInfo.Y;
marker_1.Color = CogColorConstants.Green;
marker_1.Interactive = false;
m_graphics.Add(marker_1);
AddPointMarker(m_graphics, pointInfo.X, pointInfo.Y);
}
FitCircleMachineToolBlock.Run(m_lastBMP, points);
}

8
WaferAdjust/GetCircleToolBlock.cs
View File

@@ -13,12 +13,14 @@ namespace WaferAdjust
{
public delegate void OnGetCircleResult(double x, double y, double r);
public delegate void OnToolReady(bool ready);
public delegate void OnGetNashResult(double x, double y);
internal class GetCircleToolBlock
{
private CogToolBlock cogToolBlock;
private bool initialized = false;
public event OnToolReady OnToolReady;
public event OnGetCircleResult OnGetCircleResult;
public event OnGetNashResult OnGetNashResult;
public List<PointInfo> PointInfos;
public void Initialize(string vpp)
{
@@ -62,6 +64,12 @@ namespace WaferAdjust
OnGetCircleResult?.Invoke(Math.Round((double)cogToolBlock.Outputs["CenterX"].Value, 3),
Math.Round((double)cogToolBlock.Outputs["CenterY"].Value, 3),
Math.Round((double)cogToolBlock.Outputs["Radius"].Value, 3));
if ((int)cogToolBlock.Outputs["Results_Count"].Value == 1)
{
OnGetNashResult?.Invoke(Math.Round((double)cogToolBlock.Outputs["TranslationX"].Value, 3),
Math.Round((double)cogToolBlock.Outputs["TranslationY"].Value, 3));
}
}
catch (Exception ex)
{

29
WaferAdjust/TranslateCirclePoint.cs
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@@ -14,6 +14,7 @@ namespace WaferAdjust
List<PointInfo> totalCenters;
private int circleIndex;
private double perAngle;
PointInfo nashPoint;
public void SetRotateXY(double x, double y, double angle)
{
rotateX = x; rotateY = y;
@@ -21,6 +22,15 @@ namespace WaferAdjust
totalCenters = new List<PointInfo>();
circleIndex = 0;
perAngle = angle;
nashPoint = null;
}
public double GetRotateX()
{
return rotateX;
}
public double GetRotateY()
{
return rotateY;
}
public void AddCirclePoint(List<PointInfo> pointInfos)
{
@@ -33,6 +43,10 @@ namespace WaferAdjust
{
circleIndex++;
}
public void AddNashPoint(double x, double y)
{
nashPoint = new PointInfo(x, y, circleIndex * perAngle);
}
public void AddCircleCenter(double x, double y, double r)
{
totalCenters.Add(new PointInfo(x, y, r));
@@ -44,10 +58,23 @@ namespace WaferAdjust
{
var res = Rotation2D.GetOriginalPointDegrees(item.X, item.Y,
rotateX, rotateY, item.Radius, true, false);
Console.WriteLine($"{item.X} {item.Y} {item.Radius} ==> {res.x} {res.y}");
trans.Add(new PointInfo(res.x, res.y, item.Radius));
}
return trans;
}
public void DoTranslateNashPoint()
{
if (nashPoint == null)
return;
var res = Rotation2D.GetOriginalPointDegrees(nashPoint.X, nashPoint.Y,
rotateX, rotateY, nashPoint.Radius, true, false);
nashPoint = new PointInfo(res.x, res.y, nashPoint.Radius);
}
public PointInfo GetNashPoint()
{
return nashPoint;
}
}
}