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498 lines
18 KiB
C++
498 lines
18 KiB
C++
#include "StdAfx.h"
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#include "Camera.h"
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#include "Propertie.h"
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#include "PropertieMgr.h"
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#include "LogMgr.h"
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#include "AuthorityMgr.h"
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#include "GlobalDrawMgr.h"
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#include "DrawSimpleShape.h"
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#include "PlatformXY.h"
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#include "ExceptionMsg.h"
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CCamera::CCamera(void)
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{
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m_OnePixDis = 1;//一个像素对应的实际尺寸(mm/pix)
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m_bIni = false;//是否初始化成功
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m_bRotatoPtByAngle = false;//是否根据相机的安装角度修正抓取结果
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m_Angle = 0;
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m_bUse = true;//是否使用
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m_bLeftTop = true;//基准点是否为左上角(false 为左下角)
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m_bPixCoord = true;//相机抓取的是否为像素坐标(基恩士返回的是mm 单位的值)
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m_bCatch = true;//实际抓取
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m_CatchFrontDelay = 100;//抓取前延时ms
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m_CatchWaitDelay = 200;//抓取等待延时ms
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}
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CCamera::~CCamera(void)
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{
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}
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CMFCPropertyGridProperty *CCamera::CreatGridProperty()
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{
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CString PropertyName;//属性名称
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CString Description;//描述
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CString Path = _T("Camera");;//存储路径
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CString Name;
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//-------------------------------------------------------------------------------//
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PropertyName = _T("共通设定");
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CMFCPropertyGridProperty* pGroup = new CMFCPropertyGridProperty(PropertyName);
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//-------------------------------------------------------------------------------//
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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{
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//添加属性变量映射
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Name = _T("m_bUse");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bUse);
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pPropertie->SetType(_PROP_TYPE_BOOL );
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("是否使用");
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Description = _T("是否使用camera");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bUse, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_bCatch");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bCatch);
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pPropertie->SetType(_PROP_TYPE_BOOL );
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("是否抓取");
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Description = _T("FALSE 的时候返回0,但是不报错");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bCatch, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_CatchFrontDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_CatchFrontDelay);
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pPropertie->SetType(_PROP_TYPE_INT);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("抓取前延时");
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Description = _T("相机抓取前的延时ms");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_CatchFrontDelay, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_CatchWaitDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_CatchWaitDelay);
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pPropertie->SetType(_PROP_TYPE_INT);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("抓取等待延时");
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Description = _T("识别触发后等待数据传到ocx 的延时ms");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_CatchWaitDelay, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_bRotatoPtByAngle");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bRotatoPtByAngle);
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pPropertie->SetType(_PROP_TYPE_BOOL );
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("角度修正");
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Description = _T("是否根据相机的安装角度修正抓取结果");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bRotatoPtByAngle, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_Angle");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_Angle);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("安装角度");
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Description = _T("CCD X 方向相对于电机X 轴的角度");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Angle, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_bLeftTop");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bLeftTop);
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pPropertie->SetType(_PROP_TYPE_BOOL );
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("左上角基准");
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Description = _T("基准点是否为左上角(false 为左下角)");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bLeftTop, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_bPixCoord");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bPixCoord);
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pPropertie->SetType(_PROP_TYPE_BOOL );
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("像素坐标");
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Description = _T("相机抓取的是否为像素坐标");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bPixCoord, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_OnePixDis");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_OnePixDis);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("像素尺寸");
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Description = _T("一个像素对应的实际尺寸单位是(mm/像素)");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_OnePixDis, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_Coord_x");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_Coord.x);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("视场基准坐标x");
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Description = _T("CCD 的视场基准点相对于平台原点的坐标(单位:mm)");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Coord.x, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_Coord_y");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_Coord.y);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("视场基准坐标y");
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Description = _T("CCD 的视场基准点相对于平台原点的坐标(单位:mm)");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Coord.y, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_Coord2_x");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_Coord2.x);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("视场2基准坐标x");
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Description = _T("CCD2 的视场基准点相对于平台原点的坐标(单位:mm)");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Coord2.x, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_Coord2_y");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_Coord2.y);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("视场2基准坐标y");
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Description = _T("CCD2 的视场基准点相对于平台原点的坐标(单位:mm)");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Coord2.y, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_Size_w");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_Size.w);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("视场宽度");
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Description = _T("CCD 视场的实际宽度(单位:mm)");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Size.w, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_Size_h");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_Size.h);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("视场高度");
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Description = _T("CCD 视场的实际高度(单位:mm)");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_Size.h, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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}
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//-------------------------------------------------------------------------------//
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return pGroup;
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}
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void CCamera::ExportPar(ofstream *pFile)
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{
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(*pFile)<<"[模块] [Camera]------------------------------------------------"<<endl;
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(*pFile)<<"[CCD 坐标x][m_Coord.x] = "<<m_Coord.x<<endl;
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(*pFile)<<"[CCD 坐标y][m_Coord.y] = "<<m_Coord.y<<endl;
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(*pFile)<<"[像素尺寸(mm/pix) ][m_OnePixDis] = "<<m_OnePixDis<<endl;
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}
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void CCamera::Draw(CDC* pDC)
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{
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if(gDraw->IsShowPlatformPos())
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{
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DbRect Rect(m_Coord,gDraw->GetCatchNodeSize());
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DrawCrossX(pDC,gDraw->GetMarkPointPen(),Rect);
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}
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}
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//设置CCD 的坐标
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void CCamera::SetCoord(Dbxy pt)
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{
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m_Coord = pt;
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//强制保存所有的属性到文件
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gDevicePropertieMgr.SaveAllPropertie();
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}
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//获取CCD 的中心点坐标(一般用来移动到CCD 观察)
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Dbxy CCamera::GetCenterPt()
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{
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Dbxy ValidCoord = m_Coord;//实际使用的坐标
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if (m_CamIndex!=0)
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{
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ValidCoord = m_Coord2;
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}
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Dbxy CenterPt;
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CenterPt.x = ValidCoord.x + m_Size.w/2;
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if(m_bLeftTop)
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{
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CenterPt.y = ValidCoord.y - m_Size.h/2;
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}
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else
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{
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CenterPt.y = ValidCoord.y + m_Size.h/2;
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}
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return CenterPt;
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}
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Dbxy CCamera::GetCoord()
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{
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if (m_CamIndex != 0)
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{
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return m_Coord2;
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}
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else
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{
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return m_Coord;
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}
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}
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Dbxy CCamera::CCDpt2Platcoord(Dbxy CCDpt)
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{
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Dbxy ValidCoord = m_Coord;//实际使用的坐标
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if (m_CamIndex != 0)
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{
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ValidCoord = m_Coord2;
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}
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Dbxy pt;
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pt.x = ValidCoord.x + CCDpt.x;
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if(m_bLeftTop)//根据CCD 的基准点,y 值不一样
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pt.y = ValidCoord.y - CCDpt.y;
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else
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pt.y = ValidCoord.y + CCDpt.y;
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return pt;
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}
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//将CCD 抓取坐标转换为相对于平台原点的坐标
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//CCDpt 是CCD 抓取的坐标(相对于CCD 原点的值)
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Dbxy CCamera::CCDcoord2Platformcoord(Dbxy CCDpt)
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{
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CString LogStr;
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LogStr.Format(_T("CCDcoord2Platformcoord : CCD 返回值[x] = [%0.3f] ,[y] = [%0.3f]"),CCDpt.x,CCDpt.y);
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gLogMgr->WriteDebugLog(LogStr);
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//像素坐标转换为mm 单位坐标-----------------------
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if(m_bPixCoord)
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{
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CCDpt.x *= m_OnePixDis;
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|
CCDpt.y *= m_OnePixDis;
|
|
}
|
|
|
|
if(((CCDpt.x<0)||(CCDpt.x>m_Size.w))||((CCDpt.y<0)||(CCDpt.y>m_Size.h)))//避免错误的返回值
|
|
{
|
|
CString str = _T("定位抓取失败");
|
|
CExceptionMsg Msg;
|
|
Msg.SetMsg(str);
|
|
throw Msg;
|
|
}
|
|
|
|
LogStr.Format(_T("[MM_Coordx] = [%0.3f] ,[MM_Coordy] = [%0.3f]"),CCDpt.x,CCDpt.y);
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
|
//换算为平台 坐标-------------------------------------------
|
|
#if 0
|
|
Dbxy pt = CCDpt2Platcoord(CCDpt);
|
|
|
|
LogStr.Format(_T("[m_Coordx] = [%0.3f] ,[m_Coordy] = [%0.3f]"),m_Coord.x,m_Coord.y);
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
|
|
|
//结果抵消平台当前的移动量,才是实际测量点的坐标
|
|
Dbxy PlatformPt = gPlatformXY->GetCoord();
|
|
LogStr.Format(_T("[PlatformPtx] = [%0.3f] ,[PlatformPty] = [%0.3f]"),PlatformPt.x,PlatformPt.y);
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
|
pt.x -= PlatformPt.x;
|
|
pt.y -= PlatformPt.y;
|
|
#else
|
|
Dbxy CameraCoord = m_Coord; //GetCenterPt();
|
|
if (m_CamIndex != 0)
|
|
{
|
|
CameraCoord = m_Coord2;
|
|
}
|
|
|
|
LogStr.Format(_T("[CameraCoord.x] = [%0.3f] ,[CameraCoord.y] = [%0.3f]"),CameraCoord.x,CameraCoord.y);
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
Dbxy PlatformPt = gPlatformXY->GetCoord();
|
|
LogStr.Format(_T("[PlatformCoord.x] = [%0.3f] ,[PlatformCoord.y] = [%0.3f]"),PlatformPt.x,PlatformPt.y);
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
CameraCoord.x = CameraCoord.x - PlatformPt.x;
|
|
CameraCoord.y = CameraCoord.y + PlatformPt.y;
|
|
LogStr.Format(_T("[CameraCoord_Now.x] = [%0.3f] ,[CameraCoord_Now.y] = [%0.3f]"),CameraCoord.x,CameraCoord.y);
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
|
Dbxy pt;
|
|
pt.x = CameraCoord.x + CCDpt.x;
|
|
pt.y = CameraCoord.y - CCDpt.y;
|
|
|
|
LogStr.Format(_T("[CatchPt.x] = [%0.3f] ,[CatchPt.y] = [%0.3f]"),pt.x,pt.y);
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
#endif
|
|
return pt;
|
|
}
|
|
//抓取点, 并转换为平台坐标(pt 保存抓取的结果)
|
|
bool CCamera::CatchPtToPlatformcoord(Dbxy &pt)
|
|
{
|
|
Dbxy CatchPt;
|
|
bool ret;
|
|
if(!m_bCatch)//不实际抓取
|
|
{
|
|
ret = true;
|
|
CatchPt.x = 1296;
|
|
CatchPt.y = 972;
|
|
}
|
|
else
|
|
{
|
|
ret = CatchPoint(CatchPt);
|
|
}
|
|
if(IsDbxyZero(CatchPt))
|
|
return false;
|
|
|
|
if(ret)
|
|
{
|
|
pt = CCDcoord2Platformcoord(CatchPt);
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
|