数据不移动,在原点收集

LaiPuLaser/GlobalDefine.h

@@ -133,6 +133,9 @@ inline bool IsDbEqual(double a,double b)
 class Dbxy
 {
     friend bool operator==(const Dbxy &lhs, const Dbxy &rhs);
+	friend bool operator!=(const Dbxy &lhs, const Dbxy &rhs);
+	friend Dbxy operator+(const Dbxy &lhs, const Dbxy &rhs);
+	friend Dbxy operator-(const Dbxy &lhs, const Dbxy &rhs);
 public:
     Dbxy(double _x,double _y):x(_x),y(_y){};
     Dbxy()
@@ -154,7 +157,18 @@ inline bool operator==(const Dbxy &lhs, const Dbxy &rhs)
 { 
     return (IsDbEqual(lhs.x,rhs.x) && IsDbEqual(lhs.y,rhs.y)); 
 }
-
+inline bool operator!=(const Dbxy &lhs, const Dbxy &rhs)
+{
+	return ((!IsDbEqual(lhs.x, rhs.x)) || (!IsDbEqual(lhs.y, rhs.y)));
+}
+inline Dbxy operator+(const Dbxy &lhs, const Dbxy &rhs)
+{
+	return Dbxy((lhs.x+ rhs.x),(lhs.y+ rhs.y));
+}
+inline Dbxy operator-(const Dbxy &lhs, const Dbxy &rhs)
+{
+	return Dbxy((lhs.x - rhs.x), (lhs.y - rhs.y));
+}
 //抓取点的类型
 class CCatchPoint :public Dbxy
 {

LaiPuLaser/MarkArea.cpp

@@ -240,8 +240,8 @@ void CMarkArea::CollectWorkData(bool bNeedSel,CProduct &Product)
      {
 		 Dbxy AllOffset2;
 		  AllOffset2 = gCommonFlowMgr->GetAdjustOffsetAll();
-		  Offset.x = AllOffset2.x - m_RealBasePt.x;
+		  Offset.x = AllOffset2.x;//-m_RealBasePt.x;
-		  Offset.y = AllOffset2.y - m_RealBasePt.y; 
+		  Offset.y = AllOffset2.y;// -m_RealBasePt.y;
      }
      
      if(bNeedSel)
@@ -286,6 +286,11 @@ void CMarkArea::CollectWorkData(bool bNeedSel,CProduct &Product)
                 SpecialWorkDataVec.clear();
                 return;
             }
+
+			Product.TheoryDataToRealData(WorkDataVec, m_BasePt,Offset);
+			Product.TheoryDataToRealData(SpecialWorkDataVec, m_BasePt,Offset);
+			return;
+
             //根据抓取两个mark 来计算拉伸数据
             if(gCommonFlowMgr->IsbStretchDataToRealSize())
             {

LaiPuLaser/Product.cpp

@@ -83,8 +83,8 @@ void CProduct::ResetRealMarkPt()
     m_RealMarkPt1.y = 0;
     m_RealMarkPt2.x = 0;
     m_RealMarkPt2.y = 0;
-    m_RealMarkPt3.x = 0;
+    //m_RealMarkPt3.x = 0;
-    m_RealMarkPt3.y = 0;
+    //m_RealMarkPt3.y = 0;
     //偏移和旋转都要重设
     m_Offset.x = 0;//理论数据映射为平台坐标的偏移X
     m_Offset.y = 0;//理论数据映射为平台坐标的偏移Y
@@ -140,6 +140,9 @@ void CProduct::SetRealMarkPt(Dbxy pt)
     if(!IsSetRealMarkPt1() || !IsSetRealMarkPt2())
          return;
 
+	CalAffinePars();
+	return;
+
     //计算偏移旋转
     CalTheoryToRealPar();
 
@@ -157,20 +160,98 @@ void CProduct::SetRealMarkPt(Dbxy pt)
          CalTheoryToRealPar();
     }
 }
+
+#include<opencv2/opencv.hpp>
+using namespace cv;
+
+void CProduct::CalAffinePars()
+{
+	CString logstr;
+
+	o_TheoryMarkPt1 = m_TheoryMarkPt1 - m_BasePt;
+	logstr.Format("TheoryMarkPt1 Coord(%f,%f)", o_TheoryMarkPt1.x, o_TheoryMarkPt1.y);
+	gLogMgr->WriteDebugLog(logstr);
+
+	o_TheoryMarkPt2 = m_TheoryMarkPt2 - m_BasePt;
+	logstr.Format("TheoryMarkPt2 Coord(%f,%f)", o_TheoryMarkPt2.x, o_TheoryMarkPt2.y);
+	gLogMgr->WriteDebugLog(logstr);
+
+	o_TheoryMarkPt3 = m_TheoryMarkPt3 - m_BasePt;
+	logstr.Format("TheoryMarkPt3 Coord(%f,%f)", o_TheoryMarkPt3.x, o_TheoryMarkPt3.y);
+	gLogMgr->WriteDebugLog(logstr);
+
+	o_RealMarkPt1 = m_RealMarkPt1 - m_BasePt;
+	logstr.Format("RealMarkPt1 Coord(%f,%f)", o_RealMarkPt1.x, o_RealMarkPt1.y);
+	gLogMgr->WriteDebugLog(logstr);
+
+	o_RealMarkPt2 = m_RealMarkPt2 - m_BasePt;
+	logstr.Format("RealMarkPt2 Coord(%f,%f)", o_RealMarkPt2.x, o_RealMarkPt2.y);
+	gLogMgr->WriteDebugLog(logstr);
+
+	o_RealMarkPt3 = m_RealMarkPt3 - m_BasePt;
+	logstr.Format("RealMarkPt3 Coord(%f,%f)", o_RealMarkPt3.x, o_RealMarkPt3.y);
+	gLogMgr->WriteDebugLog(logstr);
+
+	double TheoryDis = CalDistance(o_TheoryMarkPt1, o_TheoryMarkPt2);
+	logstr.Format("[Mark1&2理论间距]: [%f]", TheoryDis);
+	gLogMgr->WriteDebugLog(logstr);
+
+	double RealDis = CalDistance(o_RealMarkPt1, o_RealMarkPt2);
+	logstr.Format("[Mark1&2真实间距]: [%f]", RealDis);
+	gLogMgr->WriteDebugLog(logstr);
+
+	double DisDiff = abs(TheoryDis - RealDis);
+	logstr.Format(_T("[Mark 间距误差] = [%f]"), DisDiff);
+	gLogMgr->WriteDebugLog(logstr);
+
+	if (DisDiff > abs(gProductMgr->GetMaxMarkDisDiff()))
+	{
+		gTrackWorkFlow1.RadAlamOnOff(true);//报警提示
+		ResetRealMarkPt();
+		CString LogStr("Mark 间距误差超出范围,定位可能误判!");
+		AfxMessageBox(logstr);	
+		gTrackWorkFlow1.RadAlamOnOff(false);//报警提示		
+		CExceptionMsg Msg;
+		Msg.SetMsg(CString(""));
+		throw Msg;//抛出异常
+	/*	CExceptionMsg Msg;
+		Msg.SetMsg(LogStr);
+		throw Msg;*/
+	}
+
+	Point2f  ThroryCoords[3];
+	Point2f  RealCoords[3];
+
+	Mat warp_mat(2, 3, CV_32FC1);
+
+	ThroryCoords[1] = Point2f(o_TheoryMarkPt1.x, o_TheoryMarkPt1.y);
+	ThroryCoords[2] = Point2f(o_TheoryMarkPt2.x, o_TheoryMarkPt2.y);
+	ThroryCoords[0] = Point2f(o_TheoryMarkPt3.x, o_TheoryMarkPt3.y);
+
+	RealCoords[1] = Point2f(o_RealMarkPt1.x, o_RealMarkPt1.y);
+	RealCoords[2] = Point2f(o_RealMarkPt2.x, o_RealMarkPt2.y);
+	RealCoords[0] = Point2f(o_RealMarkPt3.x, o_RealMarkPt3.y);
+
+	//得放射变换参数矩阵
+	warp_mat = getAffineTransform(ThroryCoords, RealCoords);
+	warp_mat.convertTo(warp_mat, CV_32FC1);//不转化时,默认CV_64FC1  后续计算会错误
+
+	//取出6个变换参数
+	m_p00 = warp_mat.at<float>(0, 0);
+	m_p01 = warp_mat.at<float>(0, 1);
+	m_p02 = warp_mat.at<float>(0, 2);
+
+	m_p10 = warp_mat.at<float>(1, 0);
+	m_p11 = warp_mat.at<float>(1, 1);
+	m_p12 = warp_mat.at<float>(1, 2);
+
+
+}
 //计算真实数据的偏移和旋转值
 void CProduct::CalTheoryToRealPar()
 {
      gLogMgr->WriteDebugLog("func : CalTheoryToRealPar");
     
-	 if (gLogMgr->IsDebuging())//调试时,理论点用作实际点.
-	 {
-		 m_RealMarkPt1 = m_TheoryMarkPt1;
-		 m_RealMarkPt2 = m_TheoryMarkPt2;
-		 m_Offset.x = 0;
-		 m_Offset.y = 0;
-		 m_RotateAng = 0;
-		 return;
-	 }
      //以第一个点的来计算相对的偏移
      m_Offset.x = m_RealMarkPt1.x - m_TheoryMarkPt1.x;
      m_Offset.y = m_RealMarkPt1.y - m_TheoryMarkPt1.y;
@@ -263,36 +344,49 @@ void CProduct::CalRealStretchPar()
 //理论数据转换为实际数据
 void CProduct::TheoryDataToRealData(vector<Dbxy> &vec,Dbxy &Offset)
 {
-#ifdef Create_MarkData_file
-	CStdioFile sf;
-	if (!sf.Open("MarkData.txt", CFile::modeCreate | CFile::modeReadWrite | CFile::modeNoTruncate))
-		sf.m_hFile = NULL;
-	CString str;
      vector<Dbxy>::iterator iter = vec.begin();
      vector<Dbxy>::iterator iter_end = vec.end();
-	for (; iter != iter_end; iter++)
+     for(;iter!=iter_end;iter++)
      {
           (*iter) = TheoryPtToRealPt((*iter));
           (*iter).x += Offset.x;
           (*iter).y += Offset.y;
-		if (sf.m_hFile != NULL)
-		{
-			str.Format("MarkAreaCenter: X=%f;Y=%f \n", (*iter).x, (*iter).y);
-			sf.SeekToEnd();
-			sf.WriteString(str);
-		}
      }
-	sf.Close();
+}
-#else
+
+//理论数据转换为实际数据
+void CProduct::TheoryDataToRealData(vector<Dbxy> &vec, Dbxy &BaseOffset, Dbxy CutAdjust)
+{
 	vector<Dbxy>::iterator iter = vec.begin();
 	vector<Dbxy>::iterator iter_end = vec.end();
-     for(;iter!=iter_end;iter++)
+	for (;iter != iter_end;iter++)
 	{
-          (*iter) = TheoryPtToRealPt((*iter));
+		//(*iter) = TheoryPtToRealPt((*iter));
-          (*iter).x += Offset.x;
+		//(*iter) = (*iter) - m_BasePt;	
-          (*iter).y += Offset.y;
+		auto x = (*iter).x;
+		auto y = (*iter).y;
+		double retx = m_p00*x + m_p01*y + m_p02+ CutAdjust.x;
+		double rety = m_p10*x + m_p11*y + m_p12+ CutAdjust.y;
+		(*iter).x = retx;
+		(*iter).y = rety;
+
+		auto temp = BaseOffset - m_BasePt;
+
+		(*iter) = (*iter) - temp;
+		
+		/*(*iter).x += CutAdjust.x;
+		(*iter).y += CutAdjust.y;*/
 	}
-#endif
+}
+void CProduct::ResetAffinePars()
+{
+	m_p00 = 1;
+	m_p01 = 0;
+	m_p02 = 0;
+
+	m_p10 = 0;
+	m_p11 = 1;
+	m_p12 = 0;
 }
 //获取实际产品的尺寸比例
 Dbxy CProduct::CalRealProductScale()
@@ -434,4 +528,16 @@ void CProduct::TheoryDataToRealData(vector<vector<Dbxy>> &vec,Dbxy &Offset)
      }
 }
 
+
+//理论数据转换为实际数据
+void CProduct::TheoryDataToRealData(vector<vector<Dbxy>> &vec, Dbxy &BaseOffset, Dbxy CutAdjust)
+{
+	gLogMgr->WriteDebugLog("CProduct::TheoryDataToRealData");
+	vector<vector<Dbxy>>::iterator iter = vec.begin();
+	vector<vector<Dbxy>>::iterator iter_end = vec.end();
+	for (;iter != iter_end;iter++)
+	{
+		TheoryDataToRealData(*iter, BaseOffset,CutAdjust);
+	}
+}
 #endif

LaiPuLaser/Product.h

@@ -28,9 +28,14 @@ public:
 	void SetTheoryMark3Pt(Dbxy pt){m_TheoryMarkPt3 = pt;};
 	void SetRealMark3Pt(Dbxy pt){m_RealMarkPt3 = pt;};
 	Dbxy TheoryPtToRealPt(Dbxy TheoryMarkPt);	
-	void TheoryDataToRealData(vector<vector<Dbxy>> &vec,Dbxy &Offset);
 	void StretchDataToRealSize(vector<vector<Dbxy>> &vec);
-       void TheoryDataToRealData(vector<Dbxy> &vec,Dbxy &Offset);
+
+	void TheoryDataToRealData(vector<vector<Dbxy>> &vec, Dbxy &Offset);
+	void TheoryDataToRealData(vector<Dbxy> &vec, Dbxy &Offset);
+	void TheoryDataToRealData(vector<Dbxy>& vec, Dbxy & BaseOffset, Dbxy CutAdjust);
+	void ResetAffinePars();//重置仿射变换参数
+	void TheoryDataToRealData(vector<vector<Dbxy>>& vec, Dbxy & BaseOffset, Dbxy CutAdjust); 
+
     void TheoryDataToRealData(vector<vector<Dbxy>> &SrcVec,vector<vector<Dbxy>> &DecVec,Dbxy &Offset);
     void TheoryDataToRealData(vector<Dbxy> &SrcVec,vector<Dbxy> &DecVec,Dbxy &Offset);
     bool IsSetRealMarkPt1();
@@ -42,12 +47,13 @@ public:
 	void SetbNewAddProduct(bool bNew) { m_bNewAddProduct = bNew; };//设置是否是改造新增的产品
 	bool IsbNewAddProduct() { return m_bNewAddProduct; };//查询是否是改造新增的产品
 private:
+	void CalAffinePars();
 	void CalTheoryToRealPar();
 	Dbxy CalRealProductScale();
 	void StretchPt(Dbxy &Pt,SObjOperatePar &Par);
 	void CalRealStretchPar();
 	double CalRealProductScaleExt(Dbxy TheoryMarkPt1,Dbxy TheoryMarkPt2,Dbxy RealMarkPt1,Dbxy RealMarkPt2);
-public:
+private:
         Dbxy                                   m_BasePt;//工件的基准坐标点
         bool                                     m_bUsed;//是否使用
         bool                                     m_bLastOne;//是否为最后一个
@@ -62,6 +68,23 @@ public:
         Dbxy                                    m_RealMarkPt1;//真实坐标(相对于激光中心点) mm
         Dbxy                                    m_RealMarkPt2;
         Dbxy                                    m_RealMarkPt3;
+public:
+		Dbxy                                    o_TheoryMarkPt1;//理论坐标(不移动时)  mm
+		Dbxy                                    o_TheoryMarkPt2;
+		Dbxy                                    o_TheoryMarkPt3;
+		//ccd 抓取的实际值------------------------------------
+		Dbxy                                    o_RealMarkPt1;//真实坐标(不移动时) mm
+		Dbxy                                    o_RealMarkPt2;
+		Dbxy                                    o_RealMarkPt3;
+
+	//仿射参数------------------------------------
+		float                                    m_p00=1;
+		float                                    m_p01=0;
+		float                                    m_p02=0;
+
+		float                                    m_p10=0;
+		float                                    m_p11=1;
+		float                                    m_p12=0;
 public:
         //实际偏移旋转结果---------------------------------
         Dbxy                                    m_Offset;//理论数据映射为平台坐标的偏移

LaiPuLaser/Program_SZ_XL_TrackWorkFlow.cpp

@@ -817,8 +817,8 @@ void CTrackWorkFlow::MarkProcess()
 		//设置当前的工作步骤
 		SetCurTrackWorkStep(_ETrack_Step_Marking);
 		//数据移动回默认的位置
-		gProgramCutMgr->MoveObjData(Dbxy(0, 0));
+		//gProgramCutMgr->MoveObjData(Dbxy(0, 0));
-		gMarkAreaMgr->MoveAllAreaToTargetPt(Dbxy(0, 0));
+		//gMarkAreaMgr->MoveAllAreaToTargetPt(Dbxy(0, 0));
 
 	
 	//gCurLockTrackType = _ETrackType_NULL;//解锁
@@ -839,6 +839,8 @@ bool CTrackWorkFlow::MarkProcessExt()
 	//gProgram_SZ_XL->SetCurMarkingTrack(m_TrackType);
 
 	CProduct &Product = gServer->m_RcvProduct;
+/*
+
 	Dbxy BasePt = Product.GetProductBasePt();
 	//=======移动obj==============
 	gProgramCutMgr->MoveObjData(BasePt);
@@ -847,6 +849,7 @@ bool CTrackWorkFlow::MarkProcessExt()
 	gObjComponentMgr->CalAllObjCenterPt();
 	Dbxy AllObjCenterPt = gObjComponentMgr->GetAllObjCenterPt();
 	gMarkAreaMgr->MoveAllAreaToTargetPt(AllObjCenterPt);
+*/
 
 	bool Ret;
 	//启动切割

LaiPuLaser/WorkCmdMarkArea.cpp

@@ -57,7 +57,8 @@ bool CWorkCmdMarkArea::Excute()
           m_MarkArea.SetSelState(true);//选择当前加工的area
 
           //设置markarea 内的obj 为已加工状态
-          gObjComponentMgr->SetMarkedStateRect(m_MarkArea.GetRect(),m_bSelMark);
+		 // gObjComponentMgr->SetMarkedStateRect(m_MarkArea.GetRect(), m_bSelMark);
+          gObjComponentMgr->SetMarkedStateRect(m_MarkArea.GetRect(),true);
           //可能会引起报错?
           //m_pView->MoveViewCenter();
           //m_pView->RefreshView();