diff --git a/WaferAdjust/FitCircleToolBlock.cs b/WaferAdjust/FitCircleToolBlock.cs
index 8299586..ddf3463 100644
--- a/WaferAdjust/FitCircleToolBlock.cs
+++ b/WaferAdjust/FitCircleToolBlock.cs
@@ -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)
diff --git a/WaferAdjust/Form1.Designer.cs b/WaferAdjust/Form1.Designer.cs
index 5dd5359..2fc1009 100644
--- a/WaferAdjust/Form1.Designer.cs
+++ b/WaferAdjust/Form1.Designer.cs
@@ -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
//
diff --git a/WaferAdjust/Form1.cs b/WaferAdjust/Form1.cs
index e0cef2d..7c16fbb 100644
--- a/WaferAdjust/Form1.cs
+++ b/WaferAdjust/Form1.cs
@@ -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);
+ }
+ ///
+ /// 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）
+ ///
+ 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);
}
diff --git a/WaferAdjust/GetCircleToolBlock.cs b/WaferAdjust/GetCircleToolBlock.cs
index 9de918e..da336d1 100644
--- a/WaferAdjust/GetCircleToolBlock.cs
+++ b/WaferAdjust/GetCircleToolBlock.cs
@@ -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 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)
{
diff --git a/WaferAdjust/TranslateCirclePoint.cs b/WaferAdjust/TranslateCirclePoint.cs
index 8b3f7e8..d685a63 100644
--- a/WaferAdjust/TranslateCirclePoint.cs
+++ b/WaferAdjust/TranslateCirclePoint.cs
@@ -14,6 +14,7 @@ namespace WaferAdjust
List 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();
circleIndex = 0;
perAngle = angle;
+ nashPoint = null;
+ }
+ public double GetRotateX()
+ {
+ return rotateX;
+ }
+ public double GetRotateY()
+ {
+ return rotateY;
}
public void AddCirclePoint(List 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;
+ }
}
}