4.示例- RoboDK API文档</t我tle> <link rel="stylesheet" href="//www.sinclairbody.com/doc/en/PythonAPI/_static/css/theme.css" type="text/css"> <link rel="stylesheet" href="//www.sinclairbody.com/doc/en/PythonAPI/_static/pygments.css" type="text/css"> <link rel="stylesheet" href="//www.sinclairbody.com/doc/en/PythonAPI/_static/pygments.css" type="text/css"> <link rel="stylesheet" href="//www.sinclairbody.com/doc/en/PythonAPI/_static/css/theme.css" type="text/css"> </head> <body class="wy-body-for-nav"> <div class="wy-grid-for-nav"> <nav data-toggle="wy-nav-shift" class="wy-nav-side"> <div class="wy-side-scroll"> <div class="wy-side-nav-search"> <a href="//www.sinclairbody.com/doc/en/PythonAPI/index.html" class="icon icon-home">RoboDK API<我米g src="//www.sinclairbody.com/doc/en/PythonAPI/_static/weblogo.svg" class="logo" alt="标志＂></一个><div class="version"> 5.4</div> <div role="search"> <form id="rtd-search-form" class="wy-form" action="search.html" method="get"> <input type="text" name="q" placeholder="Search docs"> <input type="hidden" name="check_keywords" value="是的＂><我nput type="hidden" name="area" value="默认的＂></f或米></div> </div> <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation"> <ul class="current"> <li class="toctree-l1"><a class="reference internal" href="//www.sinclairbody.com/doc/en/PythonAPI/intro.html">1.简介</一个></li> <li class="toctree-l1"><a class="reference internal" href="//www.sinclairbody.com/doc/en/PythonAPI/robodk.html">2.RoboDK API (RoboDK包)</一个></li> <li class="toctree-l1"><a class="reference internal" href="//www.sinclairbody.com/doc/en/PythonAPI/postprocessor.html">3.后处理器</一个></li> <li class="toctree-l1 current"><a class="current reference internal" href="#">4.例子</一个><ul> <li class="toctree-l2"><a class="reference internal" href="#offline-programming">4.1.2022世界杯8强赛时间离线编程</一个></li> <li class="toctree-l2"><a class="reference internal" href="#offline-programming-gui">4.2.2022世界杯8强赛时间离线编程(GUI)</一个></li> <li class="toctree-l2"><a class="reference internal" href="#online-programming">4.3.在线编程</一个></li> <li class="toctree-l2"><a class="reference internal" href="#points-to-program">4.4.指向程序</一个></li> <li class="toctree-l2"><a class="reference internal" href="#points-to-curve">4.5.点曲线</一个></li> <li class="toctree-l2"><a class="reference internal" href="#csv-file-to-program-xyz">4.6.CSV文件到程序(XYZ)</一个></li> <li class="toctree-l2"><a class="reference internal" href="#csv-file-to-program-xyzwpr">4.7.CSV文件到程序(XYZWPR)</一个></li> <li class="toctree-l2"><a class="reference internal" href="#load-a-kuka-src-file">4.8.加载一个KUKA SRC文件</一个></li> <li class="toctree-l2"><a class="reference internal" href="#test-move-feasibility">4.9.测试移动可行性</一个></li> <li class="toctree-l2"><a class="reference internal" href="#docked-ui">4.10.对接界面</一个></li> <li class="toctree-l2"><a class="reference internal" href="#estimated-cycle-time">4.11.估计周期时间</一个></li> <li class="toctree-l2"><a class="reference internal" href="#change-tool">4.12.改变工具</一个></li> <li class="toctree-l2"><a class="reference internal" href="#project-curve-to-surface">4.13.将曲线投影到曲面上</一个></li> <li class="toctree-l2"><a class="reference internal" href="#filter-curve-normals">4.14.过滤器曲线法线</一个></li> <li class="toctree-l2"><a class="reference internal" href="#change-curve-normals">4.15.变化曲线法线</一个></li> <li class="toctree-l2"><a class="reference internal" href="#attach-object-to-a-robot-link">4.16.将对象附加到机器人链接</一个></li> <li class="toctree-l2"><a class="reference internal" href="#move-robot-using-a-keyboard">4.17.使用键盘移动机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="#connect-to-robots">4.18.连接到机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="#monitor-joints">4.19.监控关节</一个></li> <li class="toctree-l2"><a class="reference internal" href="#monitor-a-real-ur-robot">4.20.监控一个真正的UR机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="#pick-and-place">4.21.选择和地点</一个></li> <li class="toctree-l2"><a class="reference internal" href="#update-machining-tools">4.22.更新加工工具</一个></li> <li class="toctree-l2"><a class="reference internal" href="#project-tcp-to-axis">4.23.项目TCP到Axis</一个></li> <li class="toctree-l2"><a class="reference internal" href="#robot-machining-settings">4.24.机器人加工设置</一个></li> <li class="toctree-l2"><a class="reference internal" href="#axes-optimization-settings">4.25.轴的优化设置</一个></li> <li class="toctree-l2"><a class="reference internal" href="#modify-program-instructions">4.26.修改程序指令</一个></li> <li class="toctree-l2"><a class="reference internal" href="#drawing-an-svg-image">4.27.绘制SVG图像</一个></li> <li class="toctree-l2"><a class="reference internal" href="#synchronize-3-robots">4.28.同步3机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="#robot-model-dh">4.29.机器人模型(DH)</一个></li> <li class="toctree-l2"><a class="reference internal" href="#camera-live-stream">4.30.摄像头直播</一个></li> <li class="toctree-l2"><a class="reference internal" href="#camera-calibration">4.31.摄像机标定</一个></li> <li class="toctree-l2"><a class="reference internal" href="#camera-pose">4.32.相机的姿势</一个></li> <li class="toctree-l2"><a class="reference internal" href="#augmented-reality">4.33.增强现实</一个></li> <li class="toctree-l2"><a class="reference internal" href="#qr-codes-and-barcodes">4.34.二维码和条形码</一个><ul> <li class="toctree-l3"><a class="reference internal" href="#generating-qr-codes">4.34.1.生成二维码</一个></li> <li class="toctree-l3"><a class="reference internal" href="#generating-barcodes-ean-13">4.34.2.生成条形码(EAN-13)</一个></li> <li class="toctree-l3"><a class="reference internal" href="#reading-qr-codes-and-bar-codes">4.34.3.阅读二维码和条形码</一个></li> </ul></li> <li class="toctree-l2"><a class="reference internal" href="#object-detection">4.35.对象检测</一个><ul> <li class="toctree-l3"><a class="reference internal" href="#d-pose-estimation-of-a-known-object">4.35.1.已知物体的二维姿态估计</一个></li> <li class="toctree-l3"><a class="reference internal" href="#blob-detection">4.35.2.Blob检测</一个></li> <li class="toctree-l3"><a class="reference internal" href="#orientation-of-elongated-parts">4.35.3.拉长零件的定位</一个></li> </ul></li> <li class="toctree-l2"><a class="reference internal" href="#depth-camera">4.36.深度相机</一个><ul> <li class="toctree-l3"><a class="reference internal" href="#depth-map">4.36.1.深度图</一个></li> </ul></li> </ul></li> </ul> </div> </div> </nav> <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"> <nav class="wy-nav-top" aria-label="top navigation"> <i data-toggle="wy-nav-top" class="fa fa-bars"></i> <a href="//www.sinclairbody.com/doc/en/PythonAPI/index.html">RoboDK API</一个></n一个v> <div class="wy-nav-content"> <div class="rst-content"> <div role="navigation" aria-label="breadcrumbs navigation"> <ul class="wy-breadcrumbs"> <li><a href="//www.sinclairbody.com/doc/en/PythonAPI/index.html" class="icon icon-home"></a>»</li> <li><span class="section-number">4.</span>例子</li> <li class="wy-breadcrumbs-aside"></li> </ul> <hr> </div> <div role="main" class="document" itemscope itemtype="http://schema.org/Article"> <div itemprop="articleBody"> <div class="section" id="examples"> <span id="id1"></span> <h1><span class="section-number">4.</span>例子<一个class="headerlink" href="#examples" title="¶＂>¶</一个></h1><p>本节将展示一些使用RoboDK API的Python示例。这些示例中的大多数都可以轻松移植到其他编程语言(如c#、c++、. net或Matlab)。这些示例是使用Python 3进行测试的，可能需要进行一些调整才能在Python 2上工作。</p><p>附加的RoboDK API示例包含在以下文件夹中:</p><b锁问uote> <div> <ul class="simple"> <li><p>C: / / RoboDK /图书馆/脚本</p></li> <li><p>C: / RoboDK /图书馆/宏/</p></li> </ul> </div> </blockquote> <p>Scripts文件夹中可用的任何Python文件都可以作为独立脚本运行，请选择:</p><b锁问uote> <div> <ul class="simple"> <li><p>工具涉及脚本</p></li> <li><p>选择运行它的脚本</p></li> </ul> </div> </blockquote> <p>在RoboDK库中提供的示例RoboDK项目(RDK文件)中使用了一些示例。一些例子也可以在GitHub上找到:<一个class="reference external" href="https://github.com/RoboDK/RoboDK-API/tree/master/Python/Examples">https://github.com/RoboDK/RoboDK-API/tree/master/Python/Examples</一个>．</p><div class="section" id="offline-programming"> <span id="weldexample"></span> <h2><span class="section-number">4.1.</span>2022世界杯8强赛时间<a class="headerlink" href="#offline-programming" title="¶＂>¶</一个></h2><p>这个例子展示了如何在给定一个目标的情况下生成六边形路径。这个宏使用Python的RoboDK API绘制一个半径为R和n_sides顶点的多边形。</p><dl class="simple"> <dt> 更多信息:</dt> <dd> <ul class="simple"> <li><p>2022世界杯8强赛时间使用RoboDK进行离线编程:<一个class="reference external" href="//www.sinclairbody.com/offline-programming">//www.sinclairbody.com/offline-programming</一个></p></li> <li><p>使用RoboDK API对Python进行模拟:<一个class="reference external" href="//www.sinclairbody.com/doc/en/RoboDK-API.html">//www.sinclairbody.com/doc/en/RoboDK-API.html#PythonAPIOLP</一个></p></li> <li><p>后处理器:<一个class="reference external" href="//www.sinclairbody.com/doc/en/Post-Processors.html">//www.sinclairbody.com/doc/en/Post-Processors.html#PostProcessor</一个></p></li> <li><p>2022世界杯8强赛时间离线编程概述:<一个class="reference external" href="https://www.youtube.com/watch?list=PLjiA6TvRACQc5E_3c5f3TFXEa56XNR1-m&v=Ic-iKGSc7dk">https://www.youtube.com/watch?list=PLjiA6TvRACQc5E_3c5f3TFXEa56XNR1-m&v=Ic-iKGSc7dk</一个></p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="offline-programming-weld-test"> <div class="code-block-caption"> <span class="caption-text">2022世界杯8强赛时间离线编程-焊接试验</span> <a class="headerlink" href="#offline-programming-weld-test" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏展示了一个使用RoboDK API为Python绘制半径为R和顶点为n_sides的多边形的例子</span><span class="c1">更多关于RoboDK API的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#基本矩阵运算</span><span class="c1">#任何与RoboDK的互动都必须通过RDK完成:</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#选择一个机器人(如果有多个机器人会弹出)</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个机器人”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s1">“没有选定或可用的机器人”</span><span class="p">）</span><span class="c1">获取TCP相对于参考帧的当前位置:</span><span class="c1"># (4x4矩阵表示位置和方向)</span><span class="n">target_ref</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="n">pos_ref</span><span class="o">＝</span><span class="n">target_ref</span><span class="o">．</span><span class="n">Pos</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“围绕目标绘制一个多边形:”</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">Pose_2_TxyzRxyz</span><span class="p">（</span><span class="n">target_ref</span><span class="p">）)</span><span class="c1">#移动机器人到第一个点</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">target_ref</span><span class="p">）</span><span class="c1">离线生成程序时，提供参考框架和工具框架是很重要的</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">机器人</span><span class="o">．</span><span class="n">PoseFrame</span><span class="p">())</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">机器人</span><span class="o">．</span><span class="n">PoseTool</span><span class="p">())</span><span class="n">机器人</span><span class="o">．</span><span class="n">setRounding</span><span class="p">（</span><span class="mi">10</span><span class="p">）</span><span class="c1">#设置舍入参数(也称为CNT, APO/C_DIS, ZoneData，混合半径，角，…)</span><span class="n">机器人</span><span class="o">．</span><span class="n">setSpeed</span><span class="p">（</span><span class="mi">200</span><span class="p">）</span><span class="c1">设置线速度单位为mm/s</span><span class="c1">#设置多边形的边数:</span><span class="n">n_sides</span><span class="o">＝</span><span class="mi">6</span><span class="n">R</span><span class="o">＝</span><span class="mi">One hundred.</span><span class="c1">#在参考目标周围画一个六边形:</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">n_sides</span><span class="o">+</span><span class="mi">1</span><span class="p">)：</span><span class="n">盎</span><span class="o">＝</span><span class="n">我</span><span class="o">＊</span><span class="mi">2</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="n">n_sides</span><span class="c1">#角度:0,60,120，…</span><span class="c1">#-----------------------------</span><span class="c1">#相对于参考框架的运动</span><span class="c1">#创建目标的副本</span><span class="n">target_i</span><span class="o">＝</span><span class="n">垫</span><span class="p">（</span><span class="n">target_ref</span><span class="p">）</span><span class="n">pos_i</span><span class="o">＝</span><span class="n">target_i</span><span class="o">．</span><span class="n">Pos</span><span class="p">（）</span><span class="n">pos_i</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">＝</span><span class="n">pos_i</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">R</span><span class="o">＊</span><span class="n">因为</span><span class="p">（</span><span class="n">盎</span><span class="p">）</span><span class="n">pos_i</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">＝</span><span class="n">pos_i</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">+</span><span class="n">R</span><span class="o">＊</span><span class="n">罪</span><span class="p">（</span><span class="n">盎</span><span class="p">）</span><span class="n">target_i</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">pos_i</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“搬到目标</span><span class="si">%我</span><span class="s2">:角</span><span class="si">% .1f</span><span class="s2">＂</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="p">，</span><span class="n">盎</span><span class="o">＊</span><span class="mi">180</span><span class="o">/</span><span class="n">π</span><span class="p">）)</span><span class="nb">打印</span><span class="p">（</span><span class="nb">str</span><span class="p">（</span><span class="n">Pose_2_TxyzRxyz</span><span class="p">（</span><span class="n">target_i</span><span class="p">))）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">target_i</span><span class="p">）</span><span class="c1">#-----------------------------</span><span class="c1"># Post multiply:相对于工具</span><span class="c1">#target_i = target_ref * rotz(ang) * transl(R,0,0) * rotz(-ang)</span><span class="c1"># robot.MoveL (target_i)</span><span class="c1">#移动到中间，然后回家:</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">target_ref</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“完成”</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="offline-programming-gui"> <h2><span class="section-number">4.2.</span>2022世界杯8强赛时间离线编程(GUI)<一个class="headerlink" href="#offline-programming-gui" title="¶＂>¶</一个></h2><p>这个例子是上一个例子的改进版本。在模拟或生成程序之前，它会提示用户进行一些输入。这个例子展示了RoboDK和Python GUI tkinter如何根据特定参数显示图形用户界面来定制程序生成。</p><dl class="simple"> <dt> 更多信息:</dt> <dd> <ul class="simple"> <li><p>使用RoboDK API对Python进行模拟:<一个class="reference external" href="//www.sinclairbody.com/doc/en/RoboDK-API.html">//www.sinclairbody.com/doc/en/RoboDK-API.html#PythonAPIOLP</一个></p></li> <li><p>后处理器:<一个class="reference external" href="//www.sinclairbody.com/doc/en/Post-Processors.html">//www.sinclairbody.com/doc/en/Post-Processors.html#PostProcessor</一个></p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="offline-programming-with-gui"> <div class="code-block-caption"> <span class="caption-text">2022世界杯8强赛时间使用GUI进行离线编程</span> <a class="headerlink" href="#offline-programming-with-gui" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#这个例子展示了RoboDK和Python GUI tkinter如何根据特定参数显示图形用户界面来定制程序生成</span><span class="c1">#这个例子是焊接六边形的改进</span><span class="c1">更多关于RoboDK API的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># robodk机器人工具箱</span><span class="c1">#设置默认参数</span><span class="n">PROGRAM_NAME</span><span class="o">＝</span><span class="s2">“DoWeld”</span><span class="c1">#程序名称</span><span class="n">方法</span><span class="o">＝</span><span class="mi">300</span><span class="c1">#方法距离</span><span class="n">半径</span><span class="o">＝</span><span class="mi">200</span><span class="c1">#多边形的半径</span><span class="n">SPEED_WELD</span><span class="o">＝</span><span class="mi">50</span><span class="c1">#焊接路径的速度(mn/s)</span><span class="n">SPEED_MOVE</span><span class="o">＝</span><span class="mi">200</span><span class="c1">#进/退动作的速度(毫米/秒)</span><span class="n">国</span><span class="o">＝</span><span class="mi">8</span><span class="c1">#多边形的边数</span><span class="n">DRY_RUN</span><span class="o">＝</span><span class="mi">1</span><span class="c1">#如果0，它将生成SprayOn/SprayOff程序调用，否则它将不会激活该工具</span><span class="n">RUN_MODE</span><span class="o">＝</span><span class="n">RUNMODE_SIMULATE</span><span class="c1">#模拟行为(模拟、生成程序或生成程序并发送给机器人)</span><span class="c1">#使用RUNMODE_SIMULATE只进行模拟</span><span class="c1">使用RUNMODE_MAKE_ROBOTPROG生成程序</span><span class="c1">使用RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD生成程序并将其发送给机器人</span><span class="c1">#主程序</span><span class="k">def</span><span class="nf">调用</span><span class="p">():</span><span class="c1">#使用默认全局变量</span><span class="k">全球</span><span class="n">PROGRAM_NAME</span><span class="k">全球</span><span class="n">方法</span><span class="k">全球</span><span class="n">半径</span><span class="k">全球</span><span class="n">SPEED_WELD</span><span class="k">全球</span><span class="n">SPEED_MOVE</span><span class="k">全球</span><span class="n">国</span><span class="k">全球</span><span class="n">DRY_RUN</span><span class="k">全球</span><span class="n">RUN_MODE</span><span class="c1">#任何与RoboDK的互动都必须通过RDK完成:</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#获取home目标和焊接目标:</span><span class="n">首页</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“回家”</span><span class="p">）</span><span class="n">目标</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“目标参考”</span><span class="p">）</span><span class="c1">#获取机器人作为一个项目:</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#强制运行模式</span><span class="n">RDK</span><span class="o">．</span><span class="n">setRunMode</span><span class="p">（</span><span class="n">RUN_MODE</span><span class="p">）</span><span class="c1">#设置生成程序的名称</span><span class="n">RDK</span><span class="o">．</span><span class="n">ProgramStart</span><span class="p">（</span><span class="n">PROGRAM_NAME</span><span class="p">，</span><span class="s2">＂＂</span><span class="p">，</span><span class="s2">＂＂</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span><span class="c1">#获取参考目标的位置(4x4矩阵表示位置和方向):</span><span class="n">poseref</span><span class="o">＝</span><span class="n">目标</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="c1">#移动机器人回家，然后接近位置</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">首页</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setSpeed</span><span class="p">（</span><span class="n">SPEED_MOVE</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="n">方法</span><span class="p">）</span><span class="o">＊</span><span class="n">poseref</span><span class="p">）</span><span class="c1">#创建一个围绕参考目标的n边多边形</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">国</span><span class="o">+</span><span class="mi">1</span><span class="p">)：</span><span class="n">盎</span><span class="o">＝</span><span class="n">我</span><span class="o">＊</span><span class="mi">2</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="n">国</span><span class="c1">#角度:0,60,120，…</span><span class="c1">#计算下一个位置</span><span class="n">posei</span><span class="o">＝</span><span class="n">poseref</span><span class="o">＊</span><span class="n">rotz</span><span class="p">（</span><span class="n">盎</span><span class="p">）</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="n">半径</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">）</span><span class="o">＊</span><span class="n">rotz</span><span class="p">（</span><span class="o">-</span><span class="n">盎</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">posei</span><span class="p">）</span><span class="c1">#只对第一点施加焊接速度</span><span class="k">如果</span><span class="n">我</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="c1">#设置焊接速度，到达第一个点后启动焊枪</span><span class="n">机器人</span><span class="o">．</span><span class="n">setSpeed</span><span class="p">（</span><span class="n">SPEED_WELD</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">DRY_RUN</span><span class="p">：</span><span class="c1">#在我们到达第一个点后激活喷雾</span><span class="n">机器人</span><span class="o">．</span><span class="n">RunCodeCustom</span><span class="p">（</span><span class="s2">“SprayOn”</span><span class="p">，</span><span class="n">INSTRUCTION_CALL_PROGRAM</span><span class="p">）</span><span class="c1">#如果我们没有进行试运行，请停止工具</span><span class="k">如果</span><span class="ow">不</span><span class="n">DRY_RUN</span><span class="p">：</span><span class="n">机器人</span><span class="o">．</span><span class="n">RunCodeCustom</span><span class="p">（</span><span class="s2">“SprayOff”</span><span class="p">，</span><span class="n">INSTRUCTION_CALL_PROGRAM</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setSpeed</span><span class="p">（</span><span class="n">SPEED_MOVE</span><span class="p">）</span><span class="c1">#回到进场点，然后回家:</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="n">方法</span><span class="p">）</span><span class="o">＊</span><span class="n">poseref</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">首页</span><span class="p">）</span><span class="c1">#触发程序生成(RDK完成时自动生成)</span><span class="n">RDK</span><span class="o">．</span><span class="n">完成</span><span class="p">（）</span><span class="c1">#使用tkinter显示GUI菜单</span><span class="kn">从</span><span class="nn">tkinter</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#生成主窗口</span><span class="n">根</span><span class="o">＝</span><span class="n">Tk</span><span class="p">（）</span><span class="n">根</span><span class="o">．</span><span class="n">标题</span><span class="p">（</span><span class="s2">“项目设置”</span><span class="p">）</span><span class="c1">#使用链接到全局变量的变量</span><span class="n">runmode</span><span class="o">＝</span><span class="n">IntVar</span><span class="p">（）</span><span class="n">runmode</span><span class="o">．</span><span class="n">集</span><span class="p">（</span><span class="n">RUN_MODE</span><span class="p">）</span><span class="c1">#设置默认值</span><span class="n">dryrun</span><span class="o">＝</span><span class="n">IntVar</span><span class="p">（）</span><span class="n">dryrun</span><span class="o">．</span><span class="n">集</span><span class="p">（</span><span class="n">DRY_RUN</span><span class="p">）</span><span class="c1">#设置默认值</span><span class="n">entry_name</span><span class="o">＝</span><span class="n">StringVar</span><span class="p">（）</span><span class="n">entry_name</span><span class="o">．</span><span class="n">集</span><span class="p">（</span><span class="n">PROGRAM_NAME</span><span class="p">）</span><span class="n">entry_speed</span><span class="o">＝</span><span class="n">StringVar</span><span class="p">（）</span><span class="n">entry_speed</span><span class="o">．</span><span class="n">集</span><span class="p">（</span><span class="nb">str</span><span class="p">（</span><span class="n">SPEED_WELD</span><span class="p">）)</span><span class="c1">#定义反馈呼叫</span><span class="k">def</span><span class="nf">ShowRunMode</span><span class="p">():</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"选定的运行模式:"</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">runmode</span><span class="o">．</span><span class="n">得到</span><span class="p">()))</span><span class="c1">#为程序名定义标签和输入文本</span><span class="n">标签</span><span class="p">（</span><span class="n">根</span><span class="p">，</span><span class="n">文本</span><span class="o">＝</span><span class="s2">“项目名称”</span><span class="p">）</span><span class="o">．</span><span class="n">包</span><span class="p">（）</span><span class="n">条目</span><span class="p">（</span><span class="n">根</span><span class="p">，</span><span class="n">textvariable</span><span class="o">＝</span><span class="n">entry_name</span><span class="p">）</span><span class="o">．</span><span class="n">包</span><span class="p">（）</span><span class="c1">#定义焊接速度的标签和输入文本</span><span class="n">标签</span><span class="p">（</span><span class="n">根</span><span class="p">，</span><span class="n">文本</span><span class="o">＝</span><span class="s2">“焊接速度(毫米/秒)</span><span class="p">）</span><span class="o">．</span><span class="n">包</span><span class="p">（）</span><span class="n">条目</span><span class="p">（</span><span class="n">根</span><span class="p">，</span><span class="n">textvariable</span><span class="o">＝</span><span class="n">entry_speed</span><span class="p">）</span><span class="o">．</span><span class="n">包</span><span class="p">（）</span><span class="c1">#定义一个复选框来进行演练</span><span class="n">Checkbutton</span><span class="p">（</span><span class="n">根</span><span class="p">，</span><span class="n">文本</span><span class="o">＝</span><span class="s2">“演习”</span><span class="p">，</span><span class="n">变量</span><span class="o">＝</span><span class="n">dryrun</span><span class="p">，</span><span class="n">onvalue</span><span class="o">＝</span><span class="mi">1</span><span class="p">，</span><span class="n">offvalue</span><span class="o">＝</span><span class="mi">0</span><span class="p">，</span><span class="n">高度</span><span class="o">＝</span><span class="mi">5</span><span class="p">，</span><span class="n">宽度</span><span class="o">＝</span><span class="mi">20.</span><span class="p">）</span><span class="o">．</span><span class="n">包</span><span class="p">（）</span><span class="c1">#为运行模式添加显示标签</span><span class="n">标签</span><span class="p">（</span><span class="n">根</span><span class="p">，</span><span class="n">文本</span><span class="o">＝</span><span class="s2">“运行模式”</span><span class="p">，</span><span class="n">证明</span><span class="o">＝</span><span class="n">左</span><span class="p">，</span><span class="n">padx</span><span class="o">＝</span><span class="mi">20.</span><span class="p">）</span><span class="o">．</span><span class="n">包</span><span class="p">（）</span><span class="c1">#设置运行模式(单选按钮)</span><span class="n">runmodes</span><span class="o">＝</span><span class="p">((</span><span class="s2">“模拟”</span><span class="p">，</span><span class="n">RUNMODE_SIMULATE</span><span class="p">)，</span><span class="p">（</span><span class="s2">“生成程序”</span><span class="p">，</span><span class="n">RUNMODE_MAKE_ROBOTPROG</span><span class="p">)，</span><span class="p">（</span><span class="s2">“向机器人发送程序”</span><span class="p">，</span><span class="n">RUNMODE_MAKE_ROBOTPROG_AND_START</span><span class="p">）]</span><span class="k">为</span><span class="n">三种</span><span class="p">，</span><span class="n">瓦尔</span><span class="ow">在</span><span class="n">runmodes</span><span class="p">：</span><span class="n">Radiobutton</span><span class="p">（</span><span class="n">根</span><span class="p">，</span><span class="n">文本</span><span class="o">＝</span><span class="n">三种</span><span class="p">，</span><span class="n">padx</span><span class="o">＝</span><span class="mi">20.</span><span class="p">，</span><span class="n">变量</span><span class="o">＝</span><span class="n">runmode</span><span class="p">，</span><span class="n">命令</span><span class="o">＝</span><span class="n">ShowRunMode</span><span class="p">，</span><span class="n">价值</span><span class="o">＝</span><span class="n">瓦尔</span><span class="p">）</span><span class="o">．</span><span class="n">包</span><span class="p">（</span><span class="n">锚</span><span class="o">＝</span><span class="n">W</span><span class="p">）</span><span class="c1">#添加一个按钮和默认操作来执行用户当前的选择</span><span class="k">def</span><span class="nf">ExecuteChoice</span><span class="p">():</span><span class="k">全球</span><span class="n">DRY_RUN</span><span class="k">全球</span><span class="n">RUN_MODE</span><span class="k">全球</span><span class="n">SPEED_WELD</span><span class="k">全球</span><span class="n">PROGRAM_NAME</span><span class="n">DRY_RUN</span><span class="o">＝</span><span class="n">dryrun</span><span class="o">．</span><span class="n">得到</span><span class="p">（）</span><span class="n">RUN_MODE</span><span class="o">＝</span><span class="n">runmode</span><span class="o">．</span><span class="n">得到</span><span class="p">（）</span><span class="n">SPEED_WELD</span><span class="o">＝</span><span class="nb">浮动</span><span class="p">（</span><span class="n">entry_speed</span><span class="o">．</span><span class="n">得到</span><span class="p">())</span><span class="n">PROGRAM_NAME</span><span class="o">＝</span><span class="n">entry_name</span><span class="o">．</span><span class="n">得到</span><span class="p">（）</span><span class="c1">所有全局变量设置完成后，运行主程序</span><span class="n">调用</span><span class="p">（）</span><span class="n">按钮</span><span class="p">（</span><span class="n">根</span><span class="p">，</span><span class="n">文本</span><span class="o">＝</span><span class="s1">“模拟/生成”</span><span class="p">，</span><span class="n">命令</span><span class="o">＝</span><span class="n">ExecuteChoice</span><span class="p">）</span><span class="o">．</span><span class="n">包</span><span class="p">（）</span><span class="c1">#显示图形用户界面很重要</span><span class="n">根</span><span class="o">．</span><span class="n">mainloop</span><span class="p">（）</span></pre> </div> </div> </div> </div> <div class="section" id="online-programming"> <h2><span class="section-number">4.3.</span>在线编程<一个class="headerlink" href="#online-programming" title="¶＂>¶</一个></h2><p>此示例是前两个示例的修改版本，支持直接从脚本在机器人上运行程序。本例将从Python API(在线编程)在机器人上运行一个Python程序。如果机器人连接到PC上，在执行Python程序的同时，模拟机器人和真实机器人将同时移动。同样的程序也可以用于模拟或离线编程。2022世界杯8强赛时间</p><dl class="simple"> <dt> 更多信息:</dt> <dd> <ul class="simple"> <li><p>使用RoboDK API为Python进行在线编程:<一个class="reference external" href="//www.sinclairbody.com/doc/en/RoboDK-API.html">//www.sinclairbody.com/doc/en/RoboDK-API.html#PythonAPIOnline</一个></p></li> <li><p>机器人司机:<一个class="reference external" href="//www.sinclairbody.com/doc/en/Robot-Drivers.html">//www.sinclairbody.com/doc/en/Robot-Drivers.html#RobotDrivers</一个></p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id2"> <div class="code-block-caption"> <span class="caption-text">在线编程</span> <a class="headerlink" href="#id2" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏显示了一个从Python API(在线编程)在机器人上运行程序的例子。</span><span class="c1">＃</span><span class="c1">#重要:默认情况下，右键单击RoboDK API上的程序并选择“Run on Robot”与运行本示例的效果相同。</span><span class="c1">#使用Example_OnlineProgramming.py来代替从RoboDK站树运行的程序</span><span class="c1">＃</span><span class="c1">这个例子强制连接到机器人，使用:</span><span class="c1"># robot.Connect ()</span><span class="c1">#和</span><span class="c1"># RDK.setRunMode (RUNMODE_RUN_ROBOT)</span><span class="c1">在这个脚本中，如果变量RUN_ON_ROBOT被设置为True，将尝试连接到机器人</span><span class="c1">或者，如果RUN_ON_ROBOT变量被设置为False，程序将被模拟(脱机编程)2022世界杯8强赛时间</span><span class="c1">＃</span><span class="c1">更多关于RoboDK API的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#基本矩阵运算</span><span class="c1">#任何与RoboDK的互动都必须通过RDK完成:</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#选择一个机器人(如果有多个机器人会弹出)</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个机器人”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s1">“没有选定或可用的机器人”</span><span class="p">）</span><span class="n">RUN_ON_ROBOT</span><span class="o">＝</span><span class="kc">真正的</span><span class="c1">#重要:默认情况下，运行模式为RUNMODE_SIMULATE</span><span class="c1">如果程序是离线手工生成的，运行模式将为RUNMODE_MAKE_ROBOTPROG。</span><span class="c1">#因此，我们不应该在机器人上运行程序</span><span class="k">如果</span><span class="n">RDK</span><span class="o">．</span><span class="n">RunMode</span><span class="p">（）</span><span class="o">! =</span><span class="n">RUNMODE_SIMULATE</span><span class="p">：</span><span class="n">RUN_ON_ROBOT</span><span class="o">＝</span><span class="kc">假</span><span class="k">如果</span><span class="n">RUN_ON_ROBOT</span><span class="p">：</span><span class="c1">#如果需要更新连接参数:</span><span class="c1"># robot.setConnectionParams(“192.168.2.35”,30000年,‘/’,‘匿名’,”)</span><span class="c1">使用默认IP连接到机器人</span><span class="n">成功</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">连接</span><span class="p">（）</span><span class="c1">#尝试连接一次</span><span class="c1">#success robot.ConnectSafe(</span><span class="n">状态</span><span class="p">，</span><span class="n">status_msg</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">ConnectedState</span><span class="p">（）</span><span class="k">如果</span><span class="n">状态</span><span class="o">! =</span><span class="n">ROBOTCOM_READY</span><span class="p">：</span><span class="c1">#如果连接不成功则停止</span><span class="nb">打印</span><span class="p">（</span><span class="n">status_msg</span><span class="p">）</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">"连接失败:"</span><span class="o">+</span><span class="n">status_msg</span><span class="p">）</span><span class="c1">#设置在机器人和模拟器上运行API程序(在线编程)</span><span class="n">RDK</span><span class="o">．</span><span class="n">setRunMode</span><span class="p">（</span><span class="n">RUNMODE_RUN_ROBOT</span><span class="p">）</span><span class="c1">#注意:这是当我们通过API Connect()到机器人时自动设置的</span><span class="c1">其他:</span><span class="c1">#这将在模拟器上运行API程序(离线编程)2022世界杯8强赛时间</span><span class="c1"># RDK.setRunMode (RUNMODE_SIMULATE)</span><span class="c1">#注意:如果我们不执行robot.Connect()，这是默认设置。</span><span class="c1">#如果我们希望能够离线生成机器人程序，我们不应该设置RUNMODE_SIMULATE</span><span class="c1">#获取机器人当前的关节位置</span><span class="c1">更新机器人模拟器上的位置</span><span class="n">joints_ref</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="c1">获取TCP相对于参考帧的当前位置:</span><span class="c1"># (4x4矩阵表示位置和方向)</span><span class="n">target_ref</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="n">pos_ref</span><span class="o">＝</span><span class="n">target_ref</span><span class="o">．</span><span class="n">Pos</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“围绕目标绘制一个多边形:”</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">Pose_2_TxyzRxyz</span><span class="p">（</span><span class="n">target_ref</span><span class="p">）)</span><span class="c1">#移动机器人到第一个点</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">target_ref</span><span class="p">）</span><span class="c1">离线生成程序时，提供参考框架和工具框架是很重要的</span><span class="c1">#在使用驱动程序的时候更新机器人的TCP是很重要的</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">机器人</span><span class="o">．</span><span class="n">PoseFrame</span><span class="p">())</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">机器人</span><span class="o">．</span><span class="n">PoseTool</span><span class="p">())</span><span class="n">机器人</span><span class="o">．</span><span class="n">setRounding</span><span class="p">（</span><span class="mi">10</span><span class="p">）</span><span class="c1">#设置舍入参数(也称为CNT, APO/C_DIS, ZoneData，混合半径，角，…)</span><span class="n">机器人</span><span class="o">．</span><span class="n">setSpeed</span><span class="p">（</span><span class="mi">200</span><span class="p">）</span><span class="c1">设置线速度单位为mm/s</span><span class="c1">#设置多边形的边数:</span><span class="n">n_sides</span><span class="o">＝</span><span class="mi">6</span><span class="n">R</span><span class="o">＝</span><span class="mi">One hundred.</span><span class="c1">#在参考目标周围画一个六边形:</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">n_sides</span><span class="o">+</span><span class="mi">1</span><span class="p">)：</span><span class="n">盎</span><span class="o">＝</span><span class="n">我</span><span class="o">＊</span><span class="mi">2</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="n">n_sides</span><span class="c1">#角度:0,60,120，…</span><span class="c1">#-----------------------------</span><span class="c1">#相对于参考框架的运动</span><span class="c1">#创建目标的副本</span><span class="n">target_i</span><span class="o">＝</span><span class="n">垫</span><span class="p">（</span><span class="n">target_ref</span><span class="p">）</span><span class="n">pos_i</span><span class="o">＝</span><span class="n">target_i</span><span class="o">．</span><span class="n">Pos</span><span class="p">（）</span><span class="n">pos_i</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">＝</span><span class="n">pos_i</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">R</span><span class="o">＊</span><span class="n">因为</span><span class="p">（</span><span class="n">盎</span><span class="p">）</span><span class="n">pos_i</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">＝</span><span class="n">pos_i</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">+</span><span class="n">R</span><span class="o">＊</span><span class="n">罪</span><span class="p">（</span><span class="n">盎</span><span class="p">）</span><span class="n">target_i</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">pos_i</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“搬到目标</span><span class="si">%我</span><span class="s2">:角</span><span class="si">% .1f</span><span class="s2">＂</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="p">，</span><span class="n">盎</span><span class="o">＊</span><span class="mi">180</span><span class="o">/</span><span class="n">π</span><span class="p">）)</span><span class="nb">打印</span><span class="p">（</span><span class="nb">str</span><span class="p">（</span><span class="n">Pose_2_TxyzRxyz</span><span class="p">（</span><span class="n">target_i</span><span class="p">))）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">target_i</span><span class="p">）</span><span class="c1">#-----------------------------</span><span class="c1"># Post multiply:相对于工具</span><span class="c1">#target_i = target_ref * rotz(ang) * transl(R,0,0) * rotz(-ang)</span><span class="c1"># robot.MoveL (target_i)</span><span class="c1">#移动到中间，然后回家:</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">target_ref</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“完成”</span><span class="p">）</span><span class="c1">从API运行GUI创建的程序示例</span><span class="c1">#学监= RDK。项（＇MainProgram', ITEM_TYPE_PROGRAM)</span><span class="c1">## prog.setRunType(PROGRAM_RUN_ON_ROBOT) #运行机器人选项</span><span class="c1">## prog.setRunType(PROGRAM_RUN_ON_SIMULATOR) #在模拟器上运行(默认启动时运行)</span><span class="c1"># prog.RunProgram ()</span><span class="c1">#while prog.Busy() == 1:</span><span class="c1">#暂停(0.1)</span><span class="c1">#打印(“项目完成”)</span></pre> </div> </div> </div> </div> <div class="section" id="points-to-program"> <span id="lbl-move-through-points"></span> <h2><span class="section-number">4.4.</span>指向程序<一个class="headerlink" href="#points-to-program" title="¶＂>¶</一个></h2><p>这个例子展示了机器人沿着点列表移动的不同方式。</p><div class="literal-block-wrapper docutils container" id="move-robot-through-points"> <div class="code-block-caption"> <span class="caption-text">移动机器人通过点</span> <a class="headerlink" href="#move-robot-through-points" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#移动机器人沿给定的起点和终点的直线一步一步</span><span class="c1">这个宏展示了使用Python脚本和RoboDK API编程机器人的三种不同方式</span><span class="c1">更多关于RoboDK API的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">更多信息请访问:</span><span class="c1"># //www.sinclairbody.com/doc/en/PythonAPI/robodk.html robolink-py</span><span class="c1">#默认参数:</span><span class="n">P_START</span><span class="o">＝</span><span class="p">［</span><span class="mi">1755</span><span class="p">，</span><span class="o">-</span><span class="mi">500</span><span class="p">，</span><span class="mi">2155</span><span class="p">］</span><span class="c1">#相对于机器人基础框架的起始点</span><span class="n">P_END</span><span class="o">＝</span><span class="p">［</span><span class="mi">1755</span><span class="p">，</span><span class="mi">600</span><span class="p">，</span><span class="mi">2155</span><span class="p">］</span><span class="c1">#机器人基本框架的端点</span><span class="n">NUM_POINTS</span><span class="o">＝</span><span class="mi">10</span><span class="c1">要插值的点的数量</span><span class="c1">#函数定义创建点列表(行)</span><span class="k">def</span><span class="nf">MakePoints</span><span class="p">（</span><span class="n">xStart</span><span class="p">，</span><span class="n">xEnd</span><span class="p">，</span><span class="n">numPoints</span><span class="p">)：</span><span class="sd">生成点列表"""</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">xStart</span><span class="p">）</span><span class="o">! =</span><span class="mi">3.</span><span class="ow">或</span><span class="nb">len</span><span class="p">（</span><span class="n">xEnd</span><span class="p">）</span><span class="o">! =</span><span class="mi">3.</span><span class="p">：</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">"起点和终点必须是三维向量"</span><span class="p">）</span><span class="k">如果</span><span class="n">numPoints</span><span class="o"><</span><span class="mi">2</span><span class="p">：</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“至少需要两点”</span><span class="p">）</span><span class="c1">#起点</span><span class="n">pt_list</span><span class="o">＝</span><span class="p">［］</span><span class="n">x</span><span class="o">＝</span><span class="n">xStart</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="n">y</span><span class="o">＝</span><span class="n">xStart</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="n">z</span><span class="o">＝</span><span class="n">xStart</span><span class="p">［</span><span class="mi">2</span><span class="p">］</span><span class="c1">#我们在每个插值点之间加减多少</span><span class="n">x_steps</span><span class="o">＝</span><span class="p">（</span><span class="n">xEnd</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">-</span><span class="n">xStart</span><span class="p">［</span><span class="mi">0</span><span class="p">])</span><span class="o">/</span><span class="p">（</span><span class="n">numPoints</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="n">y_steps</span><span class="o">＝</span><span class="p">（</span><span class="n">xEnd</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">-</span><span class="n">xStart</span><span class="p">［</span><span class="mi">1</span><span class="p">])</span><span class="o">/</span><span class="p">（</span><span class="n">numPoints</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="n">z_steps</span><span class="o">＝</span><span class="p">（</span><span class="n">xEnd</span><span class="p">［</span><span class="mi">2</span><span class="p">］</span><span class="o">-</span><span class="n">xStart</span><span class="p">［</span><span class="mi">2</span><span class="p">])</span><span class="o">/</span><span class="p">（</span><span class="n">numPoints</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="c1">#增加每个点，直到达到终点</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">numPoints</span><span class="p">)：</span><span class="n">point_i</span><span class="o">＝</span><span class="p">［</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">］</span><span class="c1">#创建一个点</span><span class="c1">#将点添加到列表中</span><span class="n">pt_list</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">point_i</span><span class="p">）</span><span class="n">x</span><span class="o">＝</span><span class="n">x</span><span class="o">+</span><span class="n">x_steps</span><span class="n">y</span><span class="o">＝</span><span class="n">y</span><span class="o">+</span><span class="n">y_steps</span><span class="n">z</span><span class="o">＝</span><span class="n">z</span><span class="o">+</span><span class="n">z_steps</span><span class="k">返回</span><span class="n">pt_list</span><span class="c1">#---------------------------------------------------</span><span class="c1">#--------------- 程序开始 ---------------------</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#基本矩阵运算</span><span class="c1">#生成点曲线路径</span><span class="n">点</span><span class="o">＝</span><span class="n">MakePoints</span><span class="p">（</span><span class="n">P_START</span><span class="p">，</span><span class="n">P_END</span><span class="p">，</span><span class="n">NUM_POINTS</span><span class="p">）</span><span class="c1">#初始化RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#关闭自动渲染(更快)</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#自动删除之前生成的项目(自动标记)</span><span class="n">list_names</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemList</span><span class="p">（）</span><span class="c1">列出所有名字</span><span class="k">为</span><span class="n">item_name</span><span class="ow">在</span><span class="n">list_names</span><span class="p">：</span><span class="k">如果</span><span class="n">item_name</span><span class="o">．</span><span class="n">startswith</span><span class="p">（</span><span class="s1">“汽车”</span><span class="p">)：</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">item_name</span><span class="p">）</span><span class="o">．</span><span class="n">删除</span><span class="p">（）</span><span class="c1">#提示用户选择一个机器人(如果只有一个机器人可用，它会自动选择那个机器人)</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个机器人”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#在开始模拟之前打开渲染</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="c1">如果用户点击取消，#中止</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">检索机器人参考系</span><span class="n">参考</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">父</span><span class="p">（）</span><span class="c1">#使用机器人底座作为主动参考</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">参考</span><span class="p">）</span><span class="c1">#获取机器人的当前方向(相对于活动参考坐标系和工具坐标系)</span><span class="n">pose_ref</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="n">Pose_2_TxyzRxyz</span><span class="p">（</span><span class="n">pose_ref</span><span class="p">）)</span><span class="c1">#一个姿势也可以定义为xyzwpr / xyzABC</span><span class="c1"># pose_ref = TxyzRxyz_2_Pose([100200300, 0, 0,π])</span><span class="c1">#-------------------------------------------------------------</span><span class="c1">选项1:使用Python脚本移动机器人</span><span class="c1">#我们可以使用RUNMODE状态自动强制执行“创建机器人程序”操作</span><span class="c1"># RDK.setRunMode (RUNMODE_MAKE_ROBOTPROG)</span><span class="c1">#遍历所有点</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">NUM_POINTS</span><span class="p">)：</span><span class="c1">#用所需的XYZ坐标更新引用目标</span><span class="n">pose_i</span><span class="o">＝</span><span class="n">pose_ref</span><span class="n">pose_i</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">点</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="c1">#移动机器人到目标:</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">pose_i</span><span class="p">）</span><span class="c1">#完成，停止程序执行</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#-------------------------------------------------------------</span><span class="c1">选项2:在图形用户界面上创建程序</span><span class="c1">#关闭渲染</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="n">掠夺</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddProgram</span><span class="p">（</span><span class="s1">“AutoProgram”</span><span class="p">）</span><span class="c1">#遍历所有点</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">NUM_POINTS</span><span class="p">)：</span><span class="c1">#添加一个新目标并保持对它的引用</span><span class="n">“透明国际”</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="s1">汽车的目标</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">）)</span><span class="c1">#使用参考姿势并更新XYZ位置</span><span class="n">pose_i</span><span class="o">＝</span><span class="n">pose_ref</span><span class="n">pose_i</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">点</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="n">“透明国际”</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">pose_i</span><span class="p">）</span><span class="c1">#强制使用目标作为笛卡尔目标</span><span class="n">“透明国际”</span><span class="o">．</span><span class="n">setAsCartesianTarget</span><span class="p">（）</span><span class="c1">#可选地，在新程序中添加目标作为线性/联合移动</span><span class="n">掠夺</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">“透明国际”</span><span class="p">）</span><span class="c1">#在开始模拟之前打开渲染</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="c1">#在模拟器上运行程序(模拟程序):</span><span class="n">掠夺</span><span class="o">．</span><span class="n">调用</span><span class="p">（）</span><span class="c1"># prog.WaitFinished() #等待程序完成</span><span class="c1">#我们可以自动创建程序</span><span class="c1"># prog.MakeProgram ()</span><span class="c1">#此外，如果我们有机器人驱动程序，我们可以使用下面的调用来触发“Run on robot”动作(模拟和机器人同时移动)</span><span class="c1"># prog.setRunType (PROGRAM_RUN_ON_ROBOT)</span><span class="c1">#完成，停止程序执行</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#-------------------------------------------------------------</span><span class="c1">#选项3:使用Python脚本移动机器人，并检测移动是否可以是线性的</span><span class="c1">这是选项1的改进版本</span><span class="c1">＃</span><span class="c1">#我们可以使用RUNMODE状态自动强制执行“创建机器人程序”操作</span><span class="c1"># RDK.setRunMode (RUNMODE_MAKE_ROBOTPROG)</span><span class="c1">#遍历所有点</span><span class="n">ROBOT_JOINTS</span><span class="o">＝</span><span class="kc">没有一个</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">NUM_POINTS</span><span class="p">)：</span><span class="c1">#用所需的XYZ坐标更新引用目标</span><span class="n">pose_i</span><span class="o">＝</span><span class="n">pose_ref</span><span class="n">pose_i</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">点</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="c1">#移动机器人到目标:</span><span class="k">如果</span><span class="n">我</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="c1">#重要:让第一个动作成为一个关节动作!</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">pose_i</span><span class="p">）</span><span class="n">ROBOT_JOINTS</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="k">其他的</span><span class="p">：</span><span class="c1">#测试我们是否可以做一个从当前位置到下一个点的线性移动</span><span class="k">如果</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL_Collision</span><span class="p">（</span><span class="n">ROBOT_JOINTS</span><span class="p">，</span><span class="n">pose_i</span><span class="p">）</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">pose_i</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">pose_i</span><span class="p">）</span><span class="n">ROBOT_JOINTS</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="c1">#完成，停止程序执行</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#-------------------------------------------------------------</span><span class="c1">选项4:创建跟随曲线项目</span><span class="c1">#首先，我们需要从提供的点创建一个对象，或将点添加到一个现有的对象，并可选地将它们投射到表面上</span><span class="c1">#创建一个新对象，给定点的列表(3xN矢量可以扩展到6xN以提供法线)</span><span class="n">object_points</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddPoints</span><span class="p">（</span><span class="n">点</span><span class="p">）</span><span class="c1">#或者，我们可以在物体表面投射点</span><span class="c1"># object = RDK。项（＇Object', ITEM_TYPE_OBJECT)</span><span class="c1"># object_points = object。AddPoints（点，PROJECTION_ALONG_NORMAL_RECALC）</span><span class="c1">#将点放置在与物体参考框架相同的位置</span><span class="c1"># object_points.setParent (object.Parent ())</span><span class="c1">#设置包含点的对象名称</span><span class="n">object_points</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s1">“AutoPoints n</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="n">NUM_POINTS</span><span class="p">）</span><span class="n">path_settings</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddMillingProject</span><span class="p">（</span><span class="s2">“AutoPointFollow设置”</span><span class="p">）</span><span class="n">掠夺</span><span class="p">，</span><span class="n">状态</span><span class="o">＝</span><span class="n">path_settings</span><span class="o">．</span><span class="n">setMillingParameters</span><span class="p">（</span><span class="n">部分</span><span class="o">＝</span><span class="n">object_points</span><span class="p">）</span><span class="c1">在这一点上，我们可能需要手动调整工具对象或参考框架</span><span class="c1">#如果成功，运行create程序</span><span class="n">掠夺</span><span class="o">．</span><span class="n">调用</span><span class="p">（）</span><span class="c1">#做</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#-------------------------------------------------------------</span><span class="c1">#选项5:创建一个跟随点数项目(类似选项4)</span><span class="c1">#首先，我们需要从提供的点创建一个对象，或将点添加到一个现有的对象，并可选地将它们投射到表面上</span><span class="c1">#创建一个给定点列表的新对象:</span><span class="n">object_curve</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddCurve</span><span class="p">（</span><span class="n">点</span><span class="p">）</span><span class="c1">#或者，我们可以在物体表面投射点</span><span class="c1"># object = RDK。项（＇Object', ITEM_TYPE_OBJECT)</span><span class="c1"># object_curve = object。AddCurve（点，PROJECTION_ALONG_NORMAL_RECALC）</span><span class="c1">#将曲线放置在与物体参考框架相同的位置</span><span class="c1"># object_curve.setParent (object.Parent ())</span><span class="c1">#设置包含点的对象名称</span><span class="n">object_curve</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s1">“AutoPoints n</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="n">NUM_POINTS</span><span class="p">）</span><span class="c1">创建一个新的“曲线跟随项目”来自动跟随曲线</span><span class="n">path_settings</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddMillingProject</span><span class="p">（</span><span class="s2">“AutoCurveFollow设置”</span><span class="p">）</span><span class="n">掠夺</span><span class="p">，</span><span class="n">状态</span><span class="o">＝</span><span class="n">path_settings</span><span class="o">．</span><span class="n">setMillingParameters</span><span class="p">（</span><span class="n">部分</span><span class="o">＝</span><span class="n">object_curve</span><span class="p">）</span><span class="c1">在这一点上，我们可能需要手动调整工具对象或参考框架</span><span class="c1">#如果成功，运行create程序</span><span class="n">掠夺</span><span class="o">．</span><span class="n">调用</span><span class="p">（）</span><span class="c1">#做</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#-------------------------------------------------------------</span><span class="c1">选项6:使用Python脚本移动机器人，并使用外部测量系统进行测量</span><span class="c1">#本例旨在通过距离测量和使用激光跟踪器或立体相机来帮助验证机器人的准确性</span><span class="k">如果</span><span class="n">机器人</span><span class="o">．</span><span class="n">ConnectSafe</span><span class="p">（）</span><span class="o">< =</span><span class="mi">0</span><span class="p">：</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“无法连接到机器人”</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">setRunMode</span><span class="p">（</span><span class="n">RUNMODE_RUN_ROBOT</span><span class="p">）</span><span class="c1">#如果连接成功，这是多余的</span><span class="n">POINTS_NOMINAL</span><span class="o">＝</span><span class="p">［］</span><span class="n">POINTS_ACCURATE</span><span class="o">＝</span><span class="p">［］</span><span class="n">STABILIZATION_TIME</span><span class="o">＝</span><span class="mi">2</span><span class="c1">测量前的稳定时间(以秒为单位)</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">NUM_POINTS</span><span class="p">)：</span><span class="c1">#使用参考方向和XYZ坐标构建一个目标</span><span class="n">pose_i</span><span class="o">＝</span><span class="n">pose_ref</span><span class="n">pose_i</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">行</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="c1">#移动到目标与名义运动学</span><span class="n">RDK</span><span class="o">．</span><span class="n">RunMessage</span><span class="p">（</span><span class="s1">点的移动</span><span class="si">%我</span><span class="s1">(名义运动学)'</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">）)</span><span class="n">RDK</span><span class="o">．</span><span class="n">RunMessage</span><span class="p">（</span><span class="nb">str</span><span class="p">（</span><span class="n">Pose_2_KUKA</span><span class="p">（</span><span class="n">pose_i</span><span class="p">))）</span><span class="c1">#求解名义逆运动学</span><span class="n">机器人</span><span class="o">．</span><span class="n">setAccuracyActive</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="n">霁</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">SolveIK</span><span class="p">（</span><span class="n">pose_i</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">霁</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">暂停</span><span class="p">（</span><span class="n">STABILIZATION_TIME</span><span class="p">）</span><span class="c1">#测量</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">pose1</span><span class="p">，</span><span class="n">pose2</span><span class="p">，</span><span class="n">npoints1</span><span class="p">，</span><span class="n">npoints2</span><span class="p">，</span><span class="n">时间</span><span class="p">，</span><span class="n">错误</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">StereoCamera_Measure</span><span class="p">（）</span><span class="k">如果</span><span class="n">错误</span><span class="o">! =</span><span class="mi">0</span><span class="ow">或</span><span class="n">npoints1</span><span class="o"><</span><span class="mi">4</span><span class="ow">或</span><span class="n">npoints2</span><span class="o"><</span><span class="mi">4</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“无效的测量。两秒钟后再试一次……”</span><span class="p">）</span><span class="n">暂停</span><span class="p">（</span><span class="mi">2</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="c1">#计算工具相对于参考坐标系的姿态</span><span class="n">测量</span><span class="o">＝</span><span class="n">invH</span><span class="p">（</span><span class="n">pose1</span><span class="p">）</span><span class="o">＊</span><span class="n">pose2</span><span class="c1">#检索测量的XYZ值</span><span class="n">POINTS_NOMINAL</span><span class="o">＝</span><span class="n">测量</span><span class="o">．</span><span class="n">Pos</span><span class="p">（）</span><span class="k">打破</span><span class="c1">#移动到目标与准确的运动学</span><span class="n">RDK</span><span class="o">．</span><span class="n">RunMessage</span><span class="p">（</span><span class="s1">点的移动</span><span class="si">%我</span><span class="s1">(准确的运动学)'</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">）)</span><span class="n">机器人</span><span class="o">．</span><span class="n">setAccuracyActive</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="n">霁</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">SolveIK</span><span class="p">（</span><span class="n">pose_i</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">霁</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">暂停</span><span class="p">（</span><span class="n">STABILIZATION_TIME</span><span class="p">）</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">pose1</span><span class="p">，</span><span class="n">pose2</span><span class="p">，</span><span class="n">npoints1</span><span class="p">，</span><span class="n">npoints2</span><span class="p">，</span><span class="n">时间</span><span class="p">，</span><span class="n">错误</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">StereoCamera_Measure</span><span class="p">（）</span><span class="k">如果</span><span class="n">错误</span><span class="o">! =</span><span class="mi">0</span><span class="ow">或</span><span class="n">npoints1</span><span class="o"><</span><span class="mi">4</span><span class="ow">或</span><span class="n">npoints2</span><span class="o"><</span><span class="mi">4</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“无效的测量。两秒钟后再试一次……”</span><span class="p">）</span><span class="n">暂停</span><span class="p">（</span><span class="mi">2</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="c1">#计算工具相对于参考坐标系的姿态</span><span class="n">测量</span><span class="o">＝</span><span class="n">invH</span><span class="p">（</span><span class="n">pose1</span><span class="p">）</span><span class="o">＊</span><span class="n">pose2</span><span class="c1">#检索测量的XYZ值</span><span class="n">POINTS_ACCURATE</span><span class="o">＝</span><span class="n">测量</span><span class="o">．</span><span class="n">Pos</span><span class="p">（）</span><span class="k">打破</span><span class="c1">#此时，我们可以检查精确和名义运动学，并创建如下表:</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“爸爸</span><span class="se">\ t</span><span class="s1">pb</span><span class="se">\ t</span><span class="s1">经销</span><span class="se">\ t</span><span class="s1">dist笔名</span><span class="se">\ t</span><span class="s1">dist acc</span><span class="se">\ t</span><span class="s1">以前的错误</span><span class="se">\ t</span><span class="s1">acc的错误</span><span class="p">）</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">numPoints</span><span class="p">)：</span><span class="k">为</span><span class="n">j</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">numPoints</span><span class="o">+</span><span class="mi">1</span><span class="p">，</span><span class="n">numPoints</span><span class="p">)：</span><span class="n">dist_program</span><span class="o">＝</span><span class="n">距离</span><span class="p">（</span><span class="n">行</span><span class="p">［</span><span class="n">我</span><span class="p">]，</span><span class="n">行</span><span class="p">［</span><span class="n">j</span><span class="p">])</span><span class="n">dist_nominal</span><span class="o">＝</span><span class="n">距离</span><span class="p">（</span><span class="n">POINTS_NOMINAL</span><span class="p">［</span><span class="n">我</span><span class="p">]，</span><span class="n">POINTS_NOMINAL</span><span class="p">［</span><span class="n">j</span><span class="p">])</span><span class="n">dist_accurate</span><span class="o">＝</span><span class="n">距离</span><span class="p">（</span><span class="n">POINTS_ACCURATE</span><span class="p">［</span><span class="n">我</span><span class="p">]，</span><span class="n">POINTS_ACCURATE</span><span class="p">［</span><span class="n">j</span><span class="p">])</span><span class="n">error_nominal</span><span class="o">＝</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">dist_nominal</span><span class="o">-</span><span class="n">dist_program</span><span class="p">）</span><span class="n">error_accurate</span><span class="o">＝</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">dist_accurate</span><span class="o">-</span><span class="n">dist_program</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">＇</span><span class="si">%我</span><span class="se">\ t</span><span class="si">%我</span><span class="se">\ t</span><span class="si">% .3f</span><span class="se">\ t</span><span class="si">% .3f</span><span class="se">\ t</span><span class="si">% .3f</span><span class="se">\ t</span><span class="si">% .3f</span><span class="se">\ t</span><span class="si">% .3f</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">，</span><span class="n">j</span><span class="o">+</span><span class="mi">1</span><span class="p">，</span><span class="n">dist_program</span><span class="p">，</span><span class="n">dist_nominal</span><span class="p">，</span><span class="n">dist_accurate</span><span class="p">，</span><span class="n">error_nominal</span><span class="p">，</span><span class="n">error_accurate</span><span class="p">）)</span><span class="n">辞职</span><span class="p">（）</span></pre> </div> </div> </div> </div> <div class="section" id="points-to-curve"> <h2><span class="section-number">4.5.</span>点曲线<一个class="headerlink" href="#points-to-curve" title="¶＂>¶</一个></h2><p>这个例子展示了如何从API自动设置曲线跟踪项目。此示例通过设置曲线跟踪项目或点跟踪项目，以不同的方式实现了与前一个示例相同的目标。</p><div class="literal-block-wrapper docutils container" id="curve-follow-project"> <div class="code-block-caption"> <span class="caption-text">曲线跟踪项目</span> <a class="headerlink" href="#curve-follow-project" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">#移动机器人沿给定的起点和终点的直线一步一步</span><span class="c1">这个宏展示了使用Python脚本和RoboDK API编程机器人的不同方法</span><span class="c1">#默认参数:</span><span class="n">P_START</span><span class="o">＝</span><span class="p">［</span><span class="mi">1755</span><span class="p">，</span><span class="o">-</span><span class="mi">500</span><span class="p">，</span><span class="mi">2155</span><span class="p">］</span><span class="c1">#相对于机器人基础框架的起始点</span><span class="n">P_END</span><span class="o">＝</span><span class="p">［</span><span class="mi">1755</span><span class="p">，</span><span class="mi">600</span><span class="p">，</span><span class="mi">2155</span><span class="p">］</span><span class="c1">#机器人基本框架的端点</span><span class="n">NUM_POINTS</span><span class="o">＝</span><span class="mi">10</span><span class="c1">要插值的点的数量</span><span class="c1">#函数定义创建点列表(行)</span><span class="k">def</span><span class="nf">MakePoints</span><span class="p">（</span><span class="n">xStart</span><span class="p">，</span><span class="n">xEnd</span><span class="p">，</span><span class="n">numPoints</span><span class="p">)：</span><span class="sd">生成点列表"""</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">xStart</span><span class="p">）</span><span class="o">! =</span><span class="mi">3.</span><span class="ow">或</span><span class="nb">len</span><span class="p">（</span><span class="n">xEnd</span><span class="p">）</span><span class="o">! =</span><span class="mi">3.</span><span class="p">：</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">"起点和终点必须是三维向量"</span><span class="p">）</span><span class="k">如果</span><span class="n">numPoints</span><span class="o"><</span><span class="mi">2</span><span class="p">：</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“至少需要两点”</span><span class="p">）</span><span class="c1">#起点</span><span class="n">pt_list</span><span class="o">＝</span><span class="p">［］</span><span class="n">x</span><span class="o">＝</span><span class="n">xStart</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="n">y</span><span class="o">＝</span><span class="n">xStart</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="n">z</span><span class="o">＝</span><span class="n">xStart</span><span class="p">［</span><span class="mi">2</span><span class="p">］</span><span class="c1">#我们在每个插值点之间加减多少</span><span class="n">x_steps</span><span class="o">＝</span><span class="p">（</span><span class="n">xEnd</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">-</span><span class="n">xStart</span><span class="p">［</span><span class="mi">0</span><span class="p">])</span><span class="o">/</span><span class="p">（</span><span class="n">numPoints</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="n">y_steps</span><span class="o">＝</span><span class="p">（</span><span class="n">xEnd</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">-</span><span class="n">xStart</span><span class="p">［</span><span class="mi">1</span><span class="p">])</span><span class="o">/</span><span class="p">（</span><span class="n">numPoints</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="n">z_steps</span><span class="o">＝</span><span class="p">（</span><span class="n">xEnd</span><span class="p">［</span><span class="mi">2</span><span class="p">］</span><span class="o">-</span><span class="n">xStart</span><span class="p">［</span><span class="mi">2</span><span class="p">])</span><span class="o">/</span><span class="p">（</span><span class="n">numPoints</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="c1">#增加每个点，直到达到终点</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">numPoints</span><span class="p">)：</span><span class="n">point_i</span><span class="o">＝</span><span class="p">［</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">］</span><span class="c1">#创建一个点</span><span class="c1">#将点添加到列表中</span><span class="n">pt_list</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">point_i</span><span class="p">）</span><span class="n">x</span><span class="o">＝</span><span class="n">x</span><span class="o">+</span><span class="n">x_steps</span><span class="n">y</span><span class="o">＝</span><span class="n">y</span><span class="o">+</span><span class="n">y_steps</span><span class="n">z</span><span class="o">＝</span><span class="n">z</span><span class="o">+</span><span class="n">z_steps</span><span class="k">返回</span><span class="n">pt_list</span><span class="c1">#---------------------------------------------------</span><span class="c1">#--------------- 程序开始 ---------------------</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信进行模拟和离线/在线编程</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#工业机器人的机器人工具箱世界杯2022美洲预选赛直播</span><span class="c1">#生成点曲线路径</span><span class="n">点</span><span class="o">＝</span><span class="n">MakePoints</span><span class="p">（</span><span class="n">P_START</span><span class="p">，</span><span class="n">P_END</span><span class="p">，</span><span class="n">NUM_POINTS</span><span class="p">）</span><span class="c1">#初始化RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#关闭自动渲染(更快)</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#自动删除之前生成的项目(自动标记)</span><span class="n">list_items</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemList</span><span class="p">（）</span><span class="c1">列出所有名字</span><span class="k">为</span><span class="n">项</span><span class="ow">在</span><span class="n">list_items</span><span class="p">：</span><span class="k">如果</span><span class="n">项</span><span class="o">．</span><span class="n">的名字</span><span class="p">（）</span><span class="o">．</span><span class="n">startswith</span><span class="p">（</span><span class="s1">“汽车”</span><span class="p">)：</span><span class="n">项</span><span class="o">．</span><span class="n">删除</span><span class="p">（）</span><span class="c1">#提示用户选择一个机器人(如果只有一个机器人可用，它会自动选择那个机器人)</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个机器人”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#在开始模拟之前打开渲染</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="c1">如果用户点击取消，#中止</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">检索机器人参考系</span><span class="n">参考</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">父</span><span class="p">（）</span><span class="c1">#使用机器人底座作为主动参考</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">参考</span><span class="p">）</span><span class="c1">#获取机器人的当前方向(相对于活动参考坐标系和工具坐标系)</span><span class="n">pose_ref</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="n">Pose_2_TxyzRxyz</span><span class="p">（</span><span class="n">pose_ref</span><span class="p">）)</span><span class="c1">#一个姿势也可以定义为xyzwpr / xyzABC</span><span class="c1"># pose_ref = TxyzRxyz_2_Pose([100200300, 0, 0,π])</span><span class="c1">#-------------------------------------------------------------</span><span class="c1">选项1:创建一个曲线跟踪项目</span><span class="c1">#首先，我们需要从提供的点创建一个对象，或将点添加到一个现有的对象，并可选地将它们投射到表面上</span><span class="c1">#创建一个新对象，给定点的列表(3xN矢量可以扩展到6xN以提供法线)</span><span class="n">object_points</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddPoints</span><span class="p">（</span><span class="n">点</span><span class="p">）</span><span class="c1">#或者，我们可以在物体表面投射点</span><span class="c1"># object = RDK。项（＇Object', ITEM_TYPE_OBJECT)</span><span class="c1"># object_points = object。AddPoints（点，PROJECTION_ALONG_NORMAL_RECALC）</span><span class="c1">#将点放置在与物体参考框架相同的位置</span><span class="c1"># object_points.setParent (object.Parent ())</span><span class="c1">#设置包含点的对象名称</span><span class="n">object_points</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s1">“AutoPoints n</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="n">NUM_POINTS</span><span class="p">）</span><span class="n">path_settings</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddMillingProject</span><span class="p">（</span><span class="s2">“AutoPointFollow设置”</span><span class="p">）</span><span class="n">掠夺</span><span class="p">，</span><span class="n">状态</span><span class="o">＝</span><span class="n">path_settings</span><span class="o">．</span><span class="n">setMillingParameters</span><span class="p">（</span><span class="n">部分</span><span class="o">＝</span><span class="n">object_points</span><span class="p">）</span><span class="c1">在这一点上，我们可能需要手动调整工具对象或参考框架</span><span class="c1">#如果成功，运行create程序</span><span class="n">掠夺</span><span class="o">．</span><span class="n">调用</span><span class="p">（）</span><span class="c1">#做</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#-------------------------------------------------------------</span><span class="c1">选项2:创建一个point follow项目(类似选项4)</span><span class="c1">#首先，我们需要从提供的点创建一个对象，或将点添加到一个现有的对象，并可选地将它们投射到表面上</span><span class="c1">#创建一个给定点列表的新对象:</span><span class="n">object_curve</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddCurve</span><span class="p">（</span><span class="n">点</span><span class="p">）</span><span class="c1">#或者，我们可以在物体表面投射点</span><span class="c1"># object = RDK。项（＇Object', ITEM_TYPE_OBJECT)</span><span class="c1"># object_curve = object。AddCurve（点，PROJECTION_ALONG_NORMAL_RECALC）</span><span class="c1">#将曲线放置在与物体参考框架相同的位置</span><span class="c1"># object_curve.setParent (object.Parent ())</span><span class="c1">#设置包含点的对象名称</span><span class="n">object_curve</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s1">“AutoPoints n</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="n">NUM_POINTS</span><span class="p">）</span><span class="c1">创建一个新的“曲线跟随项目”来自动跟随曲线</span><span class="n">path_settings</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddMillingProject</span><span class="p">（</span><span class="s2">“AutoCurveFollow设置”</span><span class="p">）</span><span class="n">掠夺</span><span class="p">，</span><span class="n">状态</span><span class="o">＝</span><span class="n">path_settings</span><span class="o">．</span><span class="n">setMillingParameters</span><span class="p">（</span><span class="n">部分</span><span class="o">＝</span><span class="n">object_curve</span><span class="p">）</span><span class="c1">在这一点上，我们可能需要手动调整工具对象或参考框架</span><span class="c1">#如果成功，运行create程序</span><span class="n">掠夺</span><span class="o">．</span><span class="n">调用</span><span class="p">（）</span><span class="c1">#做</span><span class="n">辞职</span><span class="p">（）</span></pre> </div> </div> </div> </div> <div class="section" id="csv-file-to-program-xyz"> <h2><span class="section-number">4.6.</span>CSV文件到程序(XYZ)<一个class="headerlink" href="#csv-file-to-program-xyz" title="¶＂>¶</一个></h2><p>此示例演示如何从给定XYZ坐标列表的CSV文件导入目标。可选地，第4列将更新程序中的速度。</p><p>默认情况下，这个例子是一个RoboDK脚本:</p><b锁问uote> <div> <ol class="arabic simple"> <li><p>选择工具涉及脚本</p></li> <li><p>选择<em>ImportCSV_XYZ</em></p></li> <li><p>选择CSV文件(例如:C:/RoboDK/Library/Scripts/SampleXYZS.csv)</p></li> </ol> </div> </blockquote> <dl class="simple"> <dt> 注:</dt> <dd> <ul class="simple"> <li><p>在创建目标时，机器人的工具方向作为参考。</p></li> <li><p>XYZ值必须以毫米为单位提供，速度必须以毫米/秒提供。</p></li> <li><p>活动工具和参考系将在程序中使用。</p></li> <li><p>程序会隐藏指令，你可以右键单击一个程序，选择“显示指令”来显示指令。</p></li> <li><p>您可以选择一个或移动移动指令，并选择“选择目标”来查看目标。</p></li> </ul> </dd> </dl> <img alt="_images / Import-CSV-Robot-Simulation.png＂src="//www.sinclairbody.com/doc/en/PythonAPI/_images/Import-CSV-Robot-Simulation.png"> <div class="literal-block-wrapper docutils container" id="convert-a-csv-file-to-a-program-xyz"> <div class="code-block-caption"> <span class="caption-text">将CSV文件转换为程序(XYZ)</span> <a class="headerlink" href="#convert-a-csv-file-to-a-program-xyz" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏展示了如何加载XYZ点列表，包括速度</span><span class="c1">#列表必须提供X,Y,Z，速度。单位必须为mm和mm/s</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robofileio</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#----------------------------</span><span class="c1">全局变量:</span><span class="c1"># LOAD_AS_PROGRAM国旗:</span><span class="c1">#设置为True，在UI中生成一个程序:我们可以手动修改目标，并正确地看到程序</span><span class="c1">#设置为False，则在运行宏时直接模拟或生成机器人程序</span><span class="n">LOAD_AS_PROGRAM</span><span class="o">＝</span><span class="kc">真正的</span><span class="c1">#设置用于放置目标的参考框架的名称:</span><span class="n">REFERENCE_NAME</span><span class="o">＝</span><span class="s1">“参考CSV”</span><span class="c1">#设置引用目标的名称</span><span class="c1">#(方向相对于这个目标保持恒定)</span><span class="n">TARGET_NAME</span><span class="o">＝</span><span class="s1">“回家”</span><span class="c1">#---------------------------</span><span class="c1">#启动RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#让用户选择一个文件:</span><span class="n">rdk_file_path</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">getParam</span><span class="p">（</span><span class="s2">“PATH_OPENSTATION”</span><span class="p">）</span><span class="n">path_file</span><span class="o">＝</span><span class="n">getOpenFile</span><span class="p">（</span><span class="n">rdk_file_path</span><span class="o">+</span><span class="s2">“/”</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">path_file</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“没有选择”</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#从文件路径获取程序名</span><span class="n">program_name</span><span class="o">＝</span><span class="n">getFileName</span><span class="p">（</span><span class="n">path_file</span><span class="p">）</span><span class="c1">#以列表[[x,y,z,speed]，[x,y,z,speed]，…]的形式加载CSV文件</span><span class="n">数据</span><span class="o">＝</span><span class="n">LoadList</span><span class="p">（</span><span class="n">path_file</span><span class="p">）</span><span class="c1">#删除之前生成的遵循特定命名的程序</span><span class="c1"># list_names = RDK.ItemList(假)</span><span class="c1"># list_names中的item_name:</span><span class="c1">#如果item_name.startswith(汽车的):</span><span class="c1"># RDK.Item (item_name) delete ()</span><span class="c1">#选择机器人(只有当有2个或更多的机器人时才会弹出)</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个机器人”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“机器人未被选择或无效”</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#获取生成路径的参考帧</span><span class="n">框架</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">REFERENCE_NAME</span><span class="p">，</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">框架</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">"没有找到参考框架。使用名称:</span><span class="si">% s</span><span class="s2">＂</span><span class="o">％</span><span class="n">REFERENCE_NAME</span><span class="p">）</span><span class="c1">使用主目标作为参考</span><span class="n">目标</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">TARGET_NAME</span><span class="p">，</span><span class="n">ITEM_TYPE_TARGET</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">目标</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“Home target无效。设置一个名为:</span><span class="si">% s</span><span class="s2">＂</span><span class="o">％</span><span class="n">TARGET_NAME</span><span class="p">）</span><span class="c1">#设置机器人到home位置</span><span class="n">机器人</span><span class="o">．</span><span class="n">setJoints</span><span class="p">（</span><span class="n">目标</span><span class="o">．</span><span class="n">关节</span><span class="p">())</span><span class="c1">#从主目标获取姿势引用</span><span class="n">pose_ref</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="k">如果</span><span class="n">LOAD_AS_PROGRAM</span><span class="p">：</span><span class="c1">#添加一个新程序</span><span class="n">程序</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddProgram</span><span class="p">（</span><span class="n">program_name</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span><span class="c1">#关闭渲染(更快)</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#不显示指令加速:</span><span class="n">程序</span><span class="o">．</span><span class="n">ShowInstructions</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#记住速度，这样我们就不会每条指令都设置它</span><span class="n">current_speed</span><span class="o">＝</span><span class="kc">没有一个</span><span class="n">目标</span><span class="o">＝</span><span class="kc">没有一个</span><span class="c1">#非常重要:确保我们设置了参考框架和工具框架，以便机器人能够意识到它</span><span class="n">程序</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">框架</span><span class="p">）</span><span class="n">程序</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">机器人</span><span class="o">．</span><span class="n">PoseTool</span><span class="p">())</span><span class="c1">#遍历所有点</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="nb">len</span><span class="p">（</span><span class="n">数据</span><span class="p">)):</span><span class="n">π</span><span class="o">＝</span><span class="n">pose_ref</span><span class="n">π</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">数据</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="c1">#如果有第4列则更新速度</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">数据</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="o">> =</span><span class="mi">3.</span><span class="p">：</span><span class="n">速度</span><span class="o">＝</span><span class="n">数据</span><span class="p">［</span><span class="n">我</span><span class="p">］［</span><span class="mi">3.</span><span class="p">］</span><span class="c1">#如果速度与之前设置的速度不同，则更新程序</span><span class="k">如果</span><span class="nb">类型</span><span class="p">（</span><span class="n">速度</span><span class="p">）</span><span class="o">! =</span><span class="nb">str</span><span class="ow">而且</span><span class="n">速度</span><span class="o">! =</span><span class="n">current_speed</span><span class="p">：</span><span class="n">程序</span><span class="o">．</span><span class="n">setSpeed</span><span class="p">（</span><span class="n">速度</span><span class="p">）</span><span class="n">current_speed</span><span class="o">＝</span><span class="n">速度</span><span class="n">目标</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="s1">不</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="n">我</span><span class="p">，</span><span class="n">框架</span><span class="p">）</span><span class="n">目标</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">π</span><span class="p">）</span><span class="n">π</span><span class="o">＝</span><span class="n">目标</span><span class="c1">#添加一个直线运动(除了第一个点，它将是一个关节运动)</span><span class="k">如果</span><span class="n">我</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="n">程序</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">π</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="n">程序</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">π</span><span class="p">）</span><span class="c1">#不时更新以通知用户进度</span><span class="k">如果</span><span class="n">我</span><span class="o">％</span><span class="mi">One hundred.</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="n">程序</span><span class="o">．</span><span class="n">ShowTargets</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“加载</span><span class="si">% s</span><span class="s2">：</span><span class="si">% .1f</span><span class="s2"></span><span class="si">% %</span><span class="s2">＂</span><span class="o">％</span><span class="p">（</span><span class="n">program_name</span><span class="p">，</span><span class="mi">One hundred.</span><span class="o">＊</span><span class="n">我</span><span class="o">/</span><span class="nb">len</span><span class="p">（</span><span class="n">数据</span><span class="p">))，</span><span class="kc">假</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（）</span><span class="n">程序</span><span class="o">．</span><span class="n">ShowTargets</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="c1">#非常重要:确保我们设置了参考框架和工具框架，以便机器人能够意识到它</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">框架</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">机器人</span><span class="o">．</span><span class="n">PoseTool</span><span class="p">())</span><span class="c1">#记住速度，这样我们就不会每条指令都设置它</span><span class="n">current_speed</span><span class="o">＝</span><span class="kc">没有一个</span><span class="c1">#遍历所有点</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="nb">len</span><span class="p">（</span><span class="n">数据</span><span class="p">)):</span><span class="n">π</span><span class="o">＝</span><span class="n">pose_ref</span><span class="n">π</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">数据</span><span class="p">［</span><span class="n">我</span><span class="p">］［</span><span class="mi">0</span><span class="p">：</span><span class="mi">3.</span><span class="p">])</span><span class="c1">#如果有第4列则更新速度</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">数据</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="o">> =</span><span class="mi">3.</span><span class="p">：</span><span class="n">速度</span><span class="o">＝</span><span class="n">数据</span><span class="p">［</span><span class="n">我</span><span class="p">］［</span><span class="mi">3.</span><span class="p">］</span><span class="c1">#如果速度与之前设置的速度不同，则更新程序</span><span class="k">如果</span><span class="nb">类型</span><span class="p">（</span><span class="n">速度</span><span class="p">）</span><span class="o">! =</span><span class="nb">str</span><span class="ow">而且</span><span class="n">速度</span><span class="o">! =</span><span class="n">current_speed</span><span class="p">：</span><span class="n">机器人</span><span class="o">．</span><span class="n">setSpeed</span><span class="p">（</span><span class="n">速度</span><span class="p">）</span><span class="n">current_speed</span><span class="o">＝</span><span class="n">速度</span><span class="c1">#添加一个直线运动(除了第一个点，它将是一个关节运动)</span><span class="k">如果</span><span class="n">我</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">π</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">π</span><span class="p">）</span><span class="c1">#不时更新以通知用户进度</span><span class="c1">#如果我% 200 == 0:</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">”计划</span><span class="si">% s</span><span class="s2">：</span><span class="si">% .1f</span><span class="s2"></span><span class="si">% %</span><span class="s2">＂</span><span class="o">％</span><span class="p">（</span><span class="n">program_name</span><span class="p">，</span><span class="mi">One hundred.</span><span class="o">＊</span><span class="n">我</span><span class="o">/</span><span class="nb">len</span><span class="p">（</span><span class="n">数据</span><span class="p">))，</span><span class="kc">假</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“完成”</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“完成”</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="csv-file-to-program-xyzwpr"> <h2><span class="section-number">4.7.</span>CSV文件到程序(XYZWPR)<一个class="headerlink" href="#csv-file-to-program-xyzwpr" title="¶＂>¶</一个></h2><p>这个例子展示了如何从给定XYZWPR坐标(姿势)列表的CSV文件中导入目标。</p><dl class="simple"> <dt> 默认情况下，这个例子是一个RoboDK脚本:</dt> <dd> <ol class="arabic simple"> <li><p>选择工具涉及脚本</p></li> <li><p>选择<em>ImportCSV_XYZWPR</em></p></li> <li><p>选择CSV文件(例如:C:/RoboDK/Library/Scripts/ImportCSV_XYZWPR.csv)</p></li> </ol> </dd> <dt> 注:</dt> <dd> <ul class="simple"> <li><p>本例中使用了目标方向的欧拉格式Z->Y ' ->X "(可以使用rotx、roty和rotz函数轻松更改)</p></li> <li><p>XYZ值必须以毫米为单位，Rx, Ry, Rz值必须以度为单位。</p></li> <li><p>活动工具和参考系将在程序中使用。</p></li> <li><p>该程序将隐藏指令，您可以右键单击一个程序并选择显示指令来显示指令。</p></li> <li><p>您可以选择一个或移动移动指令，并选择“选择目标”来查看目标。</p></li> </ul> </dd> </dl> <img alt="_images / Import-CSV-Robot-Simulation-XYZWPR.png＂src="//www.sinclairbody.com/doc/en/PythonAPI/_images/Import-CSV-Robot-Simulation-XYZWPR.png"> <div class="literal-block-wrapper docutils container" id="convert-a-csv-file-to-a-program-xyzwpr"> <div class="code-block-caption"> <span class="caption-text">将CSV文件转换为程序(XYZWPR)</span> <a class="headerlink" href="#convert-a-csv-file-to-a-program-xyzwpr" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏可以从RoboDK的Denso程序中加载CSV文件。</span><span class="c1">#支持的文件类型:</span><span class="c1">工具数据:Tool.csv</span><span class="c1"># 2-工作对象数据:Work.csv</span><span class="c1">目标数据:P_Var.csv</span><span class="c1">这个宏还可以过滤给定的目标文件</span><span class="c1">输入help("robodk.robolink")或help("robodk.robomath")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#访问://www.sinclairbody.com/doc/PythonAPI/。</span><span class="c1">#用于RoboDK API文档</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robofileio</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#开始与RoboDK沟通</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#要求用户选择机器人(忽略弹出的if only</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个机器人”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">检查用户是否选择了机器人</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#自动检索活动引用和工具</span><span class="n">框架</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="n">工具</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">）</span><span class="c1"># = RDK帧。ItemUserPick（＇选择一个参考框架＇，ITEM_TYPE_FRAME）</span><span class="c1"># = RDK工具。ItemUserPick（＇选择一个工具＇，ITEM_TYPE_TOOL）</span><span class="k">如果</span><span class="ow">不</span><span class="n">框架</span><span class="o">．</span><span class="n">有效的</span><span class="p">（）</span><span class="ow">或</span><span class="ow">不</span><span class="n">工具</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“选择适当的框架和工具参考”</span><span class="p">）</span><span class="c1">将XYZWPR转换为姿势的函数</span><span class="c1">#重要!指定旋转的顺序</span><span class="k">def</span><span class="nf">xyzwpr_to_pose</span><span class="p">（</span><span class="n">xyzwpr</span><span class="p">)：</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">，</span><span class="n">处方</span><span class="p">，</span><span class="n">变化中</span><span class="p">，</span><span class="n">rz</span><span class="o">＝</span><span class="n">xyzwpr</span><span class="k">返回</span><span class="n">transl</span><span class="p">（</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">）</span><span class="o">＊</span><span class="n">rotz</span><span class="p">（</span><span class="n">rz</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">）</span><span class="o">＊</span><span class="n">roty</span><span class="p">（</span><span class="n">变化中</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">）</span><span class="o">＊</span><span class="n">rotx</span><span class="p">（</span><span class="n">处方</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">）</span><span class="c1">#返回transl (x, y, z) * rotx (rx *π/ 180)* roty (ry *π/ 180)* rotz (rz *π/ 180)</span><span class="c1">#返回KUKA_2_Pose (xyzwpr)</span><span class="c1"># cv_file = 'C:/Users/Albert/Desktop/Var_P.csv'</span><span class="n">csv_file</span><span class="o">＝</span><span class="n">getOpenFile</span><span class="p">（</span><span class="n">RDK</span><span class="o">．</span><span class="n">getParam</span><span class="p">（</span><span class="s1">“PATH_OPENSTATION”</span><span class="p">）)</span><span class="c1">#指定文件编解码器</span><span class="n">编解码器</span><span class="o">＝</span><span class="s1">“utf - 8”</span><span class="c1">#“iso - 8859 - 1”</span><span class="c1">#加载P_Var.CSV数据作为姿势列表，包括参考和工具框架的链接</span><span class="k">def</span><span class="nf">load_targets</span><span class="p">（</span><span class="n">strfile</span><span class="p">)：</span><span class="n">csvdata</span><span class="o">＝</span><span class="n">LoadList</span><span class="p">（</span><span class="n">strfile</span><span class="p">，</span><span class="s1">”、“</span><span class="p">，</span><span class="n">编解码器</span><span class="p">）</span><span class="n">提出了</span><span class="o">＝</span><span class="p">［］</span><span class="n">idx</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="nb">len</span><span class="p">（</span><span class="n">csvdata</span><span class="p">)):</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">，</span><span class="n">处方</span><span class="p">，</span><span class="n">变化中</span><span class="p">，</span><span class="n">rz</span><span class="o">＝</span><span class="n">csvdata</span><span class="p">［</span><span class="n">我</span><span class="p">］［</span><span class="mi">0</span><span class="p">：</span><span class="mi">6</span><span class="p">］</span><span class="n">提出了</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">xyzwpr_to_pose</span><span class="p">（[</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">，</span><span class="n">处方</span><span class="p">，</span><span class="n">变化中</span><span class="p">，</span><span class="n">rz</span><span class="p">)))</span><span class="c1"># idxs.append (csvdata[我][6])</span><span class="n">idx</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">我</span><span class="p">）</span><span class="k">返回</span><span class="n">提出了</span><span class="p">，</span><span class="n">idx</span><span class="c1">#在RoboDK中从P_Var.CSV加载并显示目标</span><span class="k">def</span><span class="nf">load_targets_GUI</span><span class="p">（</span><span class="n">strfile</span><span class="p">)：</span><span class="n">提出了</span><span class="p">，</span><span class="n">idx</span><span class="o">＝</span><span class="n">load_targets</span><span class="p">（</span><span class="n">strfile</span><span class="p">）</span><span class="n">program_name</span><span class="o">＝</span><span class="n">getFileName</span><span class="p">（</span><span class="n">strfile</span><span class="p">）</span><span class="n">program_name</span><span class="o">＝</span><span class="n">program_name</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s1">“- - -”</span><span class="p">，</span><span class="s1">“_”</span><span class="p">）</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s1">' '</span><span class="p">，</span><span class="s1">“_”</span><span class="p">）</span><span class="n">程序</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">program_name</span><span class="p">，</span><span class="n">ITEM_TYPE_PROGRAM</span><span class="p">）</span><span class="k">如果</span><span class="n">程序</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">程序</span><span class="o">．</span><span class="n">删除</span><span class="p">（）</span><span class="n">程序</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddProgram</span><span class="p">（</span><span class="n">program_name</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span><span class="n">程序</span><span class="o">．</span><span class="n">setFrame</span><span class="p">（</span><span class="n">框架</span><span class="p">）</span><span class="n">程序</span><span class="o">．</span><span class="n">setTool</span><span class="p">（</span><span class="n">工具</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsHome</span><span class="p">())</span><span class="k">为</span><span class="n">构成</span><span class="p">，</span><span class="n">idx</span><span class="ow">在</span><span class="nb">邮政编码</span><span class="p">（</span><span class="n">提出了</span><span class="p">，</span><span class="n">idx</span><span class="p">)：</span><span class="n">的名字</span><span class="o">＝</span><span class="s1">＇</span><span class="si">% s</span><span class="s1">-</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">program_name</span><span class="p">，</span><span class="n">idx</span><span class="p">）</span><span class="n">目标</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">的名字</span><span class="p">，</span><span class="n">ITEM_TYPE_TARGET</span><span class="p">）</span><span class="k">如果</span><span class="n">目标</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">目标</span><span class="o">．</span><span class="n">删除</span><span class="p">（）</span><span class="n">目标</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="n">的名字</span><span class="p">，</span><span class="n">框架</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span><span class="n">目标</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">构成</span><span class="p">）</span><span class="k">试一试</span><span class="p">：</span><span class="n">程序</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="k">除了</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“警告:</span><span class="si">% s</span><span class="s1">联系不上。它不会被添加到程序中。”</span><span class="o">％</span><span class="n">的名字</span><span class="p">）</span><span class="k">def</span><span class="nf">load_targets_move</span><span class="p">（</span><span class="n">strfile</span><span class="p">)：</span><span class="n">提出了</span><span class="p">，</span><span class="n">idx</span><span class="o">＝</span><span class="n">load_targets</span><span class="p">（</span><span class="n">strfile</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setFrame</span><span class="p">（</span><span class="n">框架</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setTool</span><span class="p">（</span><span class="n">工具</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsHome</span><span class="p">())</span><span class="k">为</span><span class="n">构成</span><span class="p">，</span><span class="n">idx</span><span class="ow">在</span><span class="nb">邮政编码</span><span class="p">（</span><span class="n">提出了</span><span class="p">，</span><span class="n">idx</span><span class="p">)：</span><span class="k">试一试</span><span class="p">：</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">构成</span><span class="p">）</span><span class="k">除了</span><span class="p">：</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s1">的目标</span><span class="si">%我</span><span class="s1">联系不上</span><span class="o">％</span><span class="n">idx</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span><span class="c1">#双击后强制移动机器人</span><span class="c1"># load_targets_move (csv_file)</span><span class="c1">#辞职()</span><span class="c1">#推荐操作模式:</span><span class="c1"># 1-双击python文件在RoboDK站创建一个程序</span><span class="c1"># 2-Generate program直接生成程序</span><span class="n">MAKE_GUI_PROGRAM</span><span class="o">＝</span><span class="kc">假</span><span class="n">机器人</span><span class="o">．</span><span class="n">setFrame</span><span class="p">（</span><span class="n">框架</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setTool</span><span class="p">（</span><span class="n">工具</span><span class="p">）</span><span class="k">如果</span><span class="n">RDK</span><span class="o">．</span><span class="n">RunMode</span><span class="p">（）</span><span class="o">= =</span><span class="n">RUNMODE_SIMULATE</span><span class="p">：</span><span class="n">MAKE_GUI_PROGRAM</span><span class="o">＝</span><span class="kc">真正的</span><span class="c1"># MAKE_GUI_PROGRAM = mbox(你想创建一个新程序吗?如果不是，机器人就会沿着标签移动”，“是”，“否”)</span><span class="k">其他的</span><span class="p">：</span><span class="c1">#如果我们在程序生成模式下运行，只需移动机器人</span><span class="n">MAKE_GUI_PROGRAM</span><span class="o">＝</span><span class="kc">假</span><span class="k">如果</span><span class="n">MAKE_GUI_PROGRAM</span><span class="p">：</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">关闭渲染会更快</span><span class="n">load_targets_GUI</span><span class="p">（</span><span class="n">csv_file</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="n">load_targets_move</span><span class="p">（</span><span class="n">csv_file</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="load-a-kuka-src-file"> <h2><span class="section-number">4.8.</span>加载一个KUKA SRC文件<一个class="headerlink" href="#load-a-kuka-src-file" title="¶＂>¶</一个></h2><p>这个例子展示了如何将KUKA SRC文件导入机器人程序。确保首先在RoboDK(用于SRC程序的那个)中加载你的KUKA机器人，然后，使用Tools -> run - script运行这个脚本。</p><div class="literal-block-wrapper docutils container" id="load-kuka-src-program"> <div class="code-block-caption"> <span class="caption-text">加载KUKA SRC程序</span> <a class="headerlink" href="#load-kuka-src-program" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏演示了如何加载一个KUKA SRC文件</span><span class="c1">带关节坐标的# PTP运动和带笛卡尔信息的LIN运动(XYZABC)将作为程序导入。</span><span class="c1">这个宏还支持定义工具和基本内联，并使用全局变量VEL.CP改变速度</span><span class="c1"># #示例程序:</span><span class="c1"># DEF铣削()</span><span class="c1">＃</span><span class="c1"># $ base ={帧:x 0.000, y -1000.000, z 0.000, a 0.000, b 0.000, c 0.000}</span><span class="c1"># $ tool = {frame: x 466.604, y -4.165, z 109.636, a -0.000, b 90.000, c 0.000}</span><span class="c1">＃</span><span class="c1"># $韦尔。CP = 1.00000</span><span class="c1">＃</span><span class="c1"># PTP {a1 107.78457, a2 -44.95260, a3 141.64681, a4 107.66839, a5 -87.93467, a6 6.37710}</span><span class="c1">#林{x -0.000, y -0.000, z 6.350, a -180.000, b 0.000, c -180.000}</span><span class="c1">＃</span><span class="c1"># $韦尔。CP = 0.02117</span><span class="c1">#林{x 276.225, y 0.000, z 6.350, a 180.000, b 0.000, c -180.000}</span><span class="c1">#林{x 276.225, y 323.850, z 6.350, a -160.000, b 0.000, c 180.000}</span><span class="c1">#林{x -0.000, y 323.850, z 6.350, a -180.000, b -0.000, c -180.000}</span><span class="c1">#林{x -0.000, y -0.000, z 6.350, a -180.000, b 0.000, c -180.000}</span><span class="c1"># $韦尔。CP = 1.00000</span><span class="c1">#林{x -0.000, y -0.000, z 106.350, a -180.000, b 0.000, c -180.000}</span><span class="c1">＃</span><span class="c1">#结束</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robofileio</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#---------------------------</span><span class="c1">#启动RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#要求用户选择一个SRC文件:</span><span class="n">rdk_file_path</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">getParam</span><span class="p">（</span><span class="s2">“PATH_OPENSTATION”</span><span class="p">）</span><span class="n">src_file_path</span><span class="o">＝</span><span class="n">getOpenFile</span><span class="p">（</span><span class="n">rdk_file_path</span><span class="o">+</span><span class="s2">“/”</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">src_file_path</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“没有选择”</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#从文件路径获取程序名</span><span class="n">program_name</span><span class="o">＝</span><span class="n">getFileName</span><span class="p">（</span><span class="n">src_file_path</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“加载项目:“</span><span class="o">+</span><span class="n">program_name</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">src_file_path</span><span class="o">．</span><span class="n">较低的</span><span class="p">（）</span><span class="o">．</span><span class="n">endswith</span><span class="p">（</span><span class="s2">“.src”</span><span class="p">)：</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">"无效的文件选择。选择一个SRC文件。”</span><span class="p">）</span><span class="k">def</span><span class="nf">getvalue</span><span class="p">（</span><span class="n">行</span><span class="p">)：</span><span class="sd">从一行中获取所有数值</span><span class="c1"># Lin {x 1671.189, y -562.497, z -243.070, a 173.363, b -8.525, c -113.306} c_dis</span><span class="n">行</span><span class="o">＝</span><span class="n">行</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s2">”、“</span><span class="p">，</span><span class="s2">”“</span><span class="p">）</span><span class="n">行</span><span class="o">＝</span><span class="n">行</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s2">“}”</span><span class="p">，</span><span class="s2">”“</span><span class="p">）</span><span class="n">值</span><span class="o">＝</span><span class="n">行</span><span class="o">．</span><span class="n">分裂</span><span class="p">（</span><span class="s2">”“</span><span class="p">）</span><span class="n">list_value</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">价值</span><span class="ow">在</span><span class="n">值</span><span class="p">：</span><span class="k">试一试</span><span class="p">：</span><span class="n">价值</span><span class="o">＝</span><span class="nb">浮动</span><span class="p">（</span><span class="n">价值</span><span class="p">）</span><span class="k">除了</span><span class="p">：</span><span class="k">继续</span><span class="n">list_value</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">价值</span><span class="p">）</span><span class="k">返回</span><span class="n">list_value</span><span class="c1">#要求用户选择一个机器人(如果有多个机器人可用)</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个机器人”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“机器人未被选择或无效”</span><span class="p">）</span><span class="c1">#获取活动参考框架</span><span class="n">框架</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">框架</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="c1">#如果没有活动的参考系，使用机器人底座</span><span class="n">框架</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">父</span><span class="p">（）</span><span class="c1">#获取活动的工具框架</span><span class="n">工具</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">）</span><span class="c1">#添加一个新程序</span><span class="n">程序</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddProgram</span><span class="p">（</span><span class="n">program_name</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span><span class="c1">#关闭渲染(更快)</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#不显示指令加速:</span><span class="n">程序</span><span class="o">．</span><span class="n">ShowInstructions</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#打开文件并遍历每一行</span><span class="n">f</span><span class="o">＝</span><span class="nb">开放</span><span class="p">（</span><span class="n">src_file_path</span><span class="p">）</span><span class="n">数</span><span class="o">＝</span><span class="mi">0</span><span class="k">为</span><span class="n">行</span><span class="ow">在</span><span class="n">f</span><span class="p">：</span><span class="c1">#删除空字符:</span><span class="n">行</span><span class="o">＝</span><span class="n">行</span><span class="o">．</span><span class="n">带</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“加载线:“</span><span class="o">+</span><span class="n">行</span><span class="p">）</span><span class="c1">#按顺序获取所有数值</span><span class="n">值</span><span class="o">＝</span><span class="n">getvalue</span><span class="p">（</span><span class="n">行</span><span class="p">）</span><span class="c1">#增加计数器</span><span class="n">数</span><span class="o">＝</span><span class="n">数</span><span class="o">+</span><span class="mi">1</span><span class="c1">#更新TCP速度(KUKA单位为m/s, RoboDK单位为mm/s)</span><span class="k">如果</span><span class="n">行</span><span class="o">．</span><span class="n">startswith</span><span class="p">（</span><span class="s2">“韦尔美元。CP”</span><span class="p">)：</span><span class="n">程序</span><span class="o">．</span><span class="n">setSpeed</span><span class="p">（</span><span class="n">值</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">＊</span><span class="mi">1000</span><span class="p">）</span><span class="k">继续</span><span class="c1">#检查包含姿势的操作</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">值</span><span class="p">）</span><span class="o"><</span><span class="mi">6</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“警告!无效的台词:“</span><span class="o">+</span><span class="n">行</span><span class="p">）</span><span class="k">继续</span><span class="c1">#检查我们需要添加什么指令:</span><span class="k">如果</span><span class="n">行</span><span class="o">．</span><span class="n">startswith</span><span class="p">（</span><span class="s2">“林”</span><span class="p">)：</span><span class="n">目标</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="s1">不</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="n">数</span><span class="p">，</span><span class="n">框架</span><span class="p">）</span><span class="n">目标</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">KUKA_2_Pose</span><span class="p">（</span><span class="n">值</span><span class="p">）)</span><span class="n">程序</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="c1">#检查PTP移动</span><span class="k">elif</span><span class="n">行</span><span class="o">．</span><span class="n">startswith</span><span class="p">（</span><span class="s2">“元”</span><span class="p">)：</span><span class="n">目标</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="s1">不</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="n">数</span><span class="p">，</span><span class="n">框架</span><span class="p">）</span><span class="n">目标</span><span class="o">．</span><span class="n">setAsJointTarget</span><span class="p">（）</span><span class="n">目标</span><span class="o">．</span><span class="n">setJoints</span><span class="p">（</span><span class="n">值</span><span class="p">）</span><span class="n">程序</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="c1">#设置工具</span><span class="k">elif</span><span class="n">行</span><span class="o">．</span><span class="n">startswith</span><span class="p">（</span><span class="s2">“美元工具”</span><span class="p">)：</span><span class="n">构成</span><span class="o">＝</span><span class="n">KUKA_2_Pose</span><span class="p">（</span><span class="n">值</span><span class="p">）</span><span class="n">工具</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">AddTool</span><span class="p">（</span><span class="n">构成</span><span class="p">，</span><span class="s2">“SRC工具”</span><span class="p">）</span><span class="n">程序</span><span class="o">．</span><span class="n">setTool</span><span class="p">（</span><span class="n">工具</span><span class="p">）</span><span class="c1">#设置参考框架</span><span class="k">elif</span><span class="n">行</span><span class="o">．</span><span class="n">startswith</span><span class="p">（</span><span class="s2">“美元基地”</span><span class="p">)：</span><span class="n">框架</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="s2">“SRC基地”</span><span class="p">，</span><span class="n">机器人</span><span class="o">．</span><span class="n">父</span><span class="p">())</span><span class="n">框架</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">KUKA_2_Pose</span><span class="p">（</span><span class="n">值</span><span class="p">）)</span><span class="n">程序</span><span class="o">．</span><span class="n">setFrame</span><span class="p">（</span><span class="n">框架</span><span class="p">）</span><span class="c1">#隐藏目标</span><span class="n">程序</span><span class="o">．</span><span class="n">ShowTargets</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#显示说明</span><span class="n">程序</span><span class="o">．</span><span class="n">ShowInstructions</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“完成”</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“完成”</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="test-move-feasibility"> <h2><span class="section-number">4.9.</span>测试移动可行性<一个class="headerlink" href="#test-move-feasibility" title="¶＂>¶</一个></h2><p>这个示例创建了一个程序，该程序通过一组点安全地移动机器人，以检查是否可以实现线性运动(包括碰撞检查)。这些点被自动创建为围绕参考目标的立方体网格。如果不能实现从一点到下一点的直线运动，机器人将尝试关节运动，如果关节运动也不可能实现，则该点将跳过。</p><div class="literal-block-wrapper docutils container" id="test-movel-and-movej"> <div class="code-block-caption"> <span class="caption-text">测试MoveL和MoveJ</span> <a class="headerlink" href="#test-movel-and-movej" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏展示了如何创建一个程序来移动机器人通过一组点</span><span class="c1">#点被自动创建为围绕参考目标的立方体网格</span><span class="c1">#如果不能完成从一点到下一点的线性运动，机器人将遵循关节运动</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#基本矩阵运算</span><span class="kn">从</span><span class="nn">随机</span><span class="kn">进口</span><span class="n">统一的</span><span class="c1">#随机计算rz(绕Z轴旋转)</span><span class="c1">引用目标的名称</span><span class="n">REFERENCE_TARGET</span><span class="o">＝</span><span class="s1">“RefTarget”</span><span class="c1">#检查碰撞</span><span class="n">CHECK_COLLISIONS</span><span class="o">＝</span><span class="kc">假</span><span class="c1">#启动RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#设置碰撞检查打开或关闭</span><span class="n">RDK</span><span class="o">．</span><span class="n">setCollisionActive</span><span class="p">（</span><span class="n">COLLISION_ON</span><span class="k">如果</span><span class="n">CHECK_COLLISIONS</span><span class="k">其他的</span><span class="n">COLLISION_OFF</span><span class="p">）</span><span class="c1"># Run on robot:强制程序在连接的机器人上运行(行为与右键单击程序，然后选择Run on robot相同)</span><span class="c1"># RDK.setRunMode (RUNMODE_RUN_ROBOT)</span><span class="c1">#让主/唯一的机器人进入空间站</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“机器人无效或不可用”</span><span class="p">）</span><span class="c1">#获取活动参考框架</span><span class="n">框架</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">框架</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">框架</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">父</span><span class="p">（）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">框架</span><span class="p">）</span><span class="c1">#获取关于机器人的参考姿态</span><span class="n">frame_pose</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">PoseFrame</span><span class="p">（）</span><span class="c1">#获取活动工具</span><span class="n">工具</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">工具</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">工具</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">AddTool</span><span class="p">（</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">75</span><span class="p">)，</span><span class="s2">“工具电网”</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">工具</span><span class="p">）</span><span class="c1">#获取目标引用RefTarget</span><span class="n">target_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">REFERENCE_TARGET</span><span class="p">，</span><span class="n">ITEM_TYPE_TARGET</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">target_ref</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">target_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="n">REFERENCE_TARGET</span><span class="p">，</span><span class="n">框架</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span><span class="c1">#获取参考位置(pose=目标相对于参考坐标系的4x4矩阵)</span><span class="n">pose_ref</span><span class="o">＝</span><span class="n">target_ref</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="n">曾经繁荣</span><span class="o">＝</span><span class="n">target_ref</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="n">config_ref</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsConfig</span><span class="p">（</span><span class="n">曾经繁荣</span><span class="p">）</span><span class="c1">#检索工具姿势</span><span class="n">tool_pose</span><span class="o">＝</span><span class="n">工具</span><span class="o">．</span><span class="n">PoseTool</span><span class="p">（）</span><span class="c1">#检索自由度或轴(num_dofs = 6对于6轴机器人)</span><span class="n">num_dofs</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsHome</span><span class="p">（）</span><span class="o">．</span><span class="n">列表</span><span class="p">())</span><span class="c1">#获取目标引用的参考系</span><span class="n">ref_frame</span><span class="o">＝</span><span class="n">target_ref</span><span class="o">．</span><span class="n">父</span><span class="p">（）</span><span class="c1">#函数定义检查两个机器人配置是否相同</span><span class="c1">#配置设置为[Rear/Front,LowerArm/UpperArm,Flip/NonFlip]位(int值)</span><span class="k">def</span><span class="nf">config_equal</span><span class="p">（</span><span class="n">config1</span><span class="p">，</span><span class="n">config2</span><span class="p">)：</span><span class="k">如果</span><span class="n">config1</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">! =</span><span class="n">config2</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="ow">或</span><span class="n">config1</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">! =</span><span class="n">config2</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="ow">或</span><span class="n">config1</span><span class="p">［</span><span class="mi">2</span><span class="p">］</span><span class="o">! =</span><span class="n">config2</span><span class="p">［</span><span class="mi">2</span><span class="p">]:</span><span class="k">返回</span><span class="kc">假</span><span class="k">返回</span><span class="kc">真正的</span><span class="c1">#创建一个新程序</span><span class="n">掠夺</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddProgram</span><span class="p">（</span><span class="s1">“autocreate”</span><span class="p">）</span><span class="c1">#这会使程序生成稍微快一些</span><span class="c1"># prog.ShowInstructions(假)</span><span class="c1">#开始创建程序或移动机器人:</span><span class="n">program_or_robot</span><span class="o">＝</span><span class="n">掠夺</span><span class="n">program_or_robot</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">tool_pose</span><span class="p">）</span><span class="n">program_or_robot</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">target_ref</span><span class="p">）</span><span class="n">lastjoints</span><span class="o">＝</span><span class="n">曾经繁荣</span><span class="n">rz</span><span class="o">＝</span><span class="mi">0</span><span class="n">ntargets</span><span class="o">＝</span><span class="mi">0</span><span class="k">为</span><span class="n">tz</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="o">-</span><span class="mi">One hundred.</span><span class="p">，</span><span class="mi">101</span><span class="p">，</span><span class="mi">One hundred.</span><span class="p">)：</span><span class="k">为</span><span class="n">泰</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">401</span><span class="p">，</span><span class="mi">200</span><span class="p">)：</span><span class="k">为</span><span class="n">tx</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="mi">One hundred.</span><span class="p">，</span><span class="o">-</span><span class="mi">5001</span><span class="p">，</span><span class="o">-</span><span class="mi">250</span><span class="p">)：</span><span class="n">ntargets</span><span class="o">＝</span><span class="n">ntargets</span><span class="o">+</span><span class="mi">1</span><span class="c1">#计算工具绕Z轴的随机旋转</span><span class="c1">#rz = uniform(-20*pi/180, 20*pi/180)</span><span class="c1">#计算新目标的位置:相对于机器人底座平移，并围绕工具旋转</span><span class="n">newtarget_pose</span><span class="o">＝</span><span class="n">transl</span><span class="p">（</span><span class="n">tx</span><span class="p">，</span><span class="n">泰</span><span class="p">，</span><span class="n">tz</span><span class="p">）</span><span class="o">＊</span><span class="n">pose_ref</span><span class="o">＊</span><span class="n">rotz</span><span class="p">（</span><span class="n">rz</span><span class="p">）</span><span class="c1">#首先，确保目标是可达的:</span><span class="n">newtarget_joints</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">SolveIK</span><span class="p">（</span><span class="n">newtarget_pose</span><span class="p">，</span><span class="n">lastjoints</span><span class="p">，</span><span class="n">tool_pose</span><span class="p">，</span><span class="n">frame_pose</span><span class="p">）</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">newtarget_joints</span><span class="o">．</span><span class="n">列表</span><span class="p">())</span><span class="o"><</span><span class="n">num_dofs</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“…t一个r得到不再保险一个ch一个ble!! Skipping target'</span><span class="p">）</span><span class="k">继续</span><span class="c1">#创建一个新目标:</span><span class="n">newtarget_name</span><span class="o">＝</span><span class="s1">'汽车T</span><span class="si">% .0f</span><span class="s1">，</span><span class="si">% .0f</span><span class="s1">，</span><span class="si">% .0f</span><span class="s1">Rz =</span><span class="si">% .1f</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">tx</span><span class="p">，</span><span class="n">泰</span><span class="p">，</span><span class="n">tz</span><span class="p">，</span><span class="n">rz</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“创建目标</span><span class="si">%我</span><span class="s1">：</span><span class="si">% s</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">ntargets</span><span class="p">，</span><span class="n">newtarget_name</span><span class="p">）)</span><span class="n">newtarget</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="n">newtarget_name</span><span class="p">，</span><span class="n">ref_frame</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span><span class="c1">#此时，目标是可达的。</span><span class="c1">#我们必须检查我们是否可以做线性移动。我们有两种方法:</span><span class="n">can_move_linear</span><span class="o">＝</span><span class="kc">真正的</span><span class="c1"># ------------------------------</span><span class="c1">验证方法一:检查目标靶处的关节</span><span class="c1">#并确保我们有相同的配置</span><span class="c1">#一个快速的验证方法(如果机器人关节可以移动超过1圈，这可能不是完美的)</span><span class="c1">#为了改进这个方法，我们必须检查所有可能解决方案的配置</span><span class="c1">#从逆运动学，使用SolveIK_All()</span><span class="k">如果</span><span class="kc">假</span><span class="p">：</span><span class="n">target_joints_config</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsConfig</span><span class="p">（</span><span class="n">newtarget_joints</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">config_equal</span><span class="p">（</span><span class="n">config_ref</span><span class="p">，</span><span class="n">target_joints_config</span><span class="p">)：</span><span class="c1">我们不能做直线移动</span><span class="n">can_move_linear</span><span class="o">＝</span><span class="kc">假</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“警告!配置与参考目标不相同!线性移动是不可能的"</span><span class="p">）</span><span class="c1">#更新引用配置到新的一个</span><span class="n">config_ref</span><span class="o">＝</span><span class="n">target_joints_config</span><span class="c1"># -------------------------------</span><span class="c1"># -------------------------------</span><span class="c1">#验证方法二:使用机器人。MoveL_Testoption to check if the robot can make a linear movement</span><span class="c1">#该方法更可靠，应该提供100%的准确结果，但可能需要更多时间</span><span class="c1">#机器人。MoveL＿Test can also take collisions into account if collision checking is activated</span><span class="n">问题</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL_Test</span><span class="p">（</span><span class="n">lastjoints</span><span class="p">，</span><span class="n">newtarget_pose</span><span class="p">）</span><span class="n">can_move_linear</span><span class="o">＝</span><span class="p">（</span><span class="n">问题</span><span class="o">= =</span><span class="mi">0</span><span class="p">）</span><span class="c1">我们可以通过检索机器人关节来检索最终的关节位置</span><span class="k">如果</span><span class="n">can_move_linear</span><span class="p">：</span><span class="n">newtarget_joints</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="c1"># ---------------------------------</span><span class="k">如果</span><span class="n">can_move_linear</span><span class="p">：</span><span class="c1">#都很好，我们不需要修改目标。</span><span class="c1">#然而，我们可以在目标中设置关节，因为这可能允许我们在需要时检索机器人配置</span><span class="n">newtarget</span><span class="o">．</span><span class="n">setAsCartesianTarget</span><span class="p">（）</span><span class="c1">#默认行为</span><span class="n">newtarget</span><span class="o">．</span><span class="n">setJoints</span><span class="p">（</span><span class="n">newtarget_joints</span><span class="p">）</span><span class="c1"># setPose在setnodes之后很重要，因为它可能会重新计算关节以匹配目标</span><span class="n">newtarget</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">newtarget_pose</span><span class="p">）</span><span class="c1">添加直线运动</span><span class="n">program_or_robot</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">newtarget</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="c1">#打印(newtarget_joints)</span><span class="c1">#检查我们是否可以做一个关节运动(检查碰撞)</span><span class="n">问题</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ_Test</span><span class="p">（</span><span class="n">lastjoints</span><span class="p">，</span><span class="n">newtarget_joints</span><span class="p">）</span><span class="n">can_move_joints</span><span class="o">＝</span><span class="p">（</span><span class="n">问题</span><span class="o">= =</span><span class="mi">0</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">can_move_joints</span><span class="p">：</span><span class="c1">#跳过这一点</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“跳过运动到:”</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">newtarget_joints</span><span class="p">）)</span><span class="k">继续</span><span class="c1">#确保我们有一个共同的目标和共同的行动</span><span class="n">newtarget</span><span class="o">．</span><span class="n">setAsJointTarget</span><span class="p">（）</span><span class="c1">#默认行为</span><span class="c1">#设置关节目标的姿势不重要，除非我们想稍后检索姿势</span><span class="c1">#或者我们想使用笛卡尔坐标进行后期处理</span><span class="n">newtarget</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">newtarget_pose</span><span class="p">）</span><span class="c1">#确保我们在关节taget的姿势之后设置关节，因为它可能会重新计算姿势</span><span class="n">newtarget</span><span class="o">．</span><span class="n">setJoints</span><span class="p">（</span><span class="n">newtarget_joints</span><span class="p">）</span><span class="c1">#添加关节运动</span><span class="n">program_or_robot</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">newtarget</span><span class="p">）</span><span class="c1">#记住最后一个动作的关节姿势</span><span class="n">lastjoints</span><span class="o">＝</span><span class="n">newtarget_joints</span><span class="c1">#在末尾显示指令更快:</span><span class="n">掠夺</span><span class="o">．</span><span class="n">ShowInstructions</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="c1">#隐藏目标更干净，更不容易意外移动目标</span><span class="c1"># prog.ShowTargets(假)</span><span class="nb">打印</span><span class="p">（</span><span class="s1">”计划完成</span><span class="si">%我</span><span class="s1">目标的</span><span class="o">％</span><span class="n">ntargets</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="docked-ui"> <h2><span class="section-number">4.10.</span>对接界面<一个class="headerlink" href="#docked-ui" title="¶＂>¶</一个></h2><p>这个例子展示了如何在RoboDK中嵌入一个窗口。在本例中，使用TKInter创建的GUI窗口被添加到RoboDK中作为停靠窗口。</p><div class="literal-block-wrapper docutils container" id="docked-window"> <div class="code-block-caption"> <span class="caption-text">停靠窗口</span> <a class="headerlink" href="#docked-window" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">tkinter</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">进口</span><span class="nn">tkinter</span><span class="kn">进口</span><span class="nn">线程</span><span class="c1">#创建一个新窗口</span><span class="n">窗口</span><span class="o">＝</span><span class="n">tkinter</span><span class="o">．</span><span class="n">Tk</span><span class="p">（）</span><span class="c1">#关闭窗口</span><span class="k">def</span><span class="nf">onClose</span><span class="p">():</span><span class="n">窗口</span><span class="o">．</span><span class="n">摧毁</span><span class="p">（）</span><span class="n">辞职</span><span class="p">（</span><span class="mi">0</span><span class="p">）</span><span class="c1">#触发选择按钮</span><span class="c1">#重要:我们需要在一个单独的线程上运行操作，因为</span><span class="c1">#(否则，如果我们想与RoboDK窗口交互，它将被冻结)</span><span class="k">def</span><span class="nf">on_btnSelect</span><span class="p">():</span><span class="k">def</span><span class="nf">thread_btnSelect</span><span class="p">():</span><span class="c1">#运行按钮动作(例如选择一个项目并显示其名称)</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">项</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择项”</span><span class="p">）</span><span class="k">如果</span><span class="n">项</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“你选择了这个项目:”</span><span class="o">+</span><span class="n">项</span><span class="o">．</span><span class="n">的名字</span><span class="p">())</span><span class="n">线程</span><span class="o">．</span><span class="n">线程</span><span class="p">（</span><span class="n">目标</span><span class="o">＝</span><span class="n">thread_btnSelect</span><span class="p">）</span><span class="o">．</span><span class="n">开始</span><span class="p">（）</span><span class="c1">#设置窗口标题(必须是唯一的，以便对接工作，尽量有创意)</span><span class="n">window_title</span><span class="o">＝</span><span class="s1">“RoboDK API停靠窗口”</span><span class="n">窗口</span><span class="o">．</span><span class="n">标题</span><span class="p">（</span><span class="n">window_title</span><span class="p">）</span><span class="c1">#当我们关闭窗口时删除它</span><span class="n">窗口</span><span class="o">．</span><span class="n">协议</span><span class="p">（</span><span class="s2">“WM_DELETE_WINDOW”</span><span class="p">，</span><span class="n">onClose</span><span class="p">）</span><span class="c1">#添加一个按钮(选择动作)</span><span class="n">btnSelect</span><span class="o">＝</span><span class="n">按钮</span><span class="p">（</span><span class="n">窗口</span><span class="p">，</span><span class="n">文本</span><span class="o">＝</span><span class="s1">“触发on_btnSelect”</span><span class="p">，</span><span class="n">高度</span><span class="o">＝</span><span class="mi">5</span><span class="p">，</span><span class="n">宽度</span><span class="o">＝</span><span class="mi">60</span><span class="p">，</span><span class="n">命令</span><span class="o">＝</span><span class="n">on_btnSelect</span><span class="p">）</span><span class="n">btnSelect</span><span class="o">．</span><span class="n">包</span><span class="p">（</span><span class="n">填满</span><span class="o">＝</span><span class="n">X</span><span class="p">）</span><span class="c1">#嵌入窗口</span><span class="n">EmbedWindow</span><span class="p">（</span><span class="n">window_title</span><span class="p">）</span><span class="c1">#运行window事件循环。这就像一个应用程序，会阻塞，直到我们关闭窗口</span><span class="n">窗口</span><span class="o">．</span><span class="n">mainloop</span><span class="p">（）</span></pre> </div> </div> </div> </div> <div class="section" id="estimated-cycle-time"> <h2><span class="section-number">4.11.</span>估计周期时间<一个class="headerlink" href="#estimated-cycle-time" title="¶＂>¶</一个></h2><p>这个例子展示了如何计算估计的周期时间。</p><dl class="simple"> <dt> 更多关于RoboDK如何估算周期时间的信息请点击这里:</dt> <dd> <ul class="simple"> <li><p><a class="reference external" href="//www.sinclairbody.com/doc/en/General.html">//www.sinclairbody.com/doc/en/General.html#CycleTime</一个>．</p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="cycle-time"> <div class="code-block-caption"> <span class="caption-text">周期时间</span> <a class="headerlink" href="#cycle-time" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个例子展示了如何快速计算程序的周期时间</span><span class="c1">作为线性速度和关节速度的函数</span><span class="c1">＃</span><span class="c1">#精确循环时间计算的重要注意事项和提示:</span><span class="c1">#加工机之细加工约//www.sinclairbody.com/doc/en/General.html</span><span class="c1">#启动RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#要求用户选择一个程序</span><span class="n">程序</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个程序(确保该程序不会改变机器人速度)”</span><span class="p">，</span><span class="n">ITEM_TYPE_PROGRAM</span><span class="p">）</span><span class="c1">检索链接到所选程序的机器人</span><span class="n">机器人</span><span class="o">＝</span><span class="n">程序</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#输出线速度，关节速度和时间(以tab分隔)</span><span class="n">writeline</span><span class="o">＝</span><span class="s2">“线性速度(毫米/秒)</span><span class="se">\ t</span><span class="s2">联合速度(度/秒)</span><span class="se">\ t</span><span class="s2">周期时间(s)”</span><span class="nb">打印</span><span class="p">（</span><span class="n">writeline</span><span class="p">）</span><span class="c1">#准备一个HTML消息，我们可以通过RoboDK API显示给用户:</span><span class="n">msg_html</span><span class="o">＝</span><span class="s2">“<表边界= 1 > < tr > < td > "</span><span class="o">+</span><span class="n">writeline</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s1">＇</span><span class="se">\ t</span><span class="s1">＇</span><span class="p">，</span><span class="s1">' < / td > < td > '</span><span class="p">）</span><span class="o">+</span><span class="s2">" < / td > < / tr >”</span><span class="k">为</span><span class="n">speed_lin</span><span class="ow">在</span><span class="p">［</span><span class="mi">1</span><span class="p">，</span><span class="mi">5</span><span class="p">，</span><span class="mi">10</span><span class="p">，</span><span class="mi">20.</span><span class="p">，</span><span class="mi">50</span><span class="p">，</span><span class="mi">One hundred.</span><span class="p">，</span><span class="mi">200</span><span class="p">，</span><span class="mi">500</span><span class="p">]:</span><span class="k">为</span><span class="n">speed_joints</span><span class="ow">在</span><span class="p">［</span><span class="mi">1</span><span class="p">，</span><span class="mi">5</span><span class="p">，</span><span class="mi">10</span><span class="p">，</span><span class="mi">20.</span><span class="p">，</span><span class="mi">50</span><span class="p">，</span><span class="mi">One hundred.</span><span class="p">，</span><span class="mi">200</span><span class="p">，</span><span class="mi">500</span><span class="p">]:</span><span class="c1">#设置机器人速度</span><span class="n">机器人</span><span class="o">．</span><span class="n">setSpeed</span><span class="p">（</span><span class="n">speed_lin</span><span class="p">，</span><span class="n">speed_joints</span><span class="p">）</span><span class="c1">#更新程序并检索更新的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/PythonAPI/robodk.html robodk.robolink.Item.Update</span><span class="n">结果</span><span class="o">＝</span><span class="n">程序</span><span class="o">．</span><span class="n">更新</span><span class="p">（）</span><span class="n">指令</span><span class="p">，</span><span class="n">时间</span><span class="p">，</span><span class="n">旅行</span><span class="p">，</span><span class="n">好吧</span><span class="p">，</span><span class="n">错误</span><span class="o">＝</span><span class="n">结果</span><span class="c1">#打印信息</span><span class="n">换行符</span><span class="o">＝</span><span class="s2">＂</span><span class="si">% .1f</span><span class="se">\ t</span><span class="si">% .1f</span><span class="se">\ t</span><span class="si">% .1f</span><span class="s2">＂</span><span class="o">％</span><span class="p">（</span><span class="n">speed_lin</span><span class="p">，</span><span class="n">speed_joints</span><span class="p">，</span><span class="n">时间</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">换行符</span><span class="p">）</span><span class="n">msg_html</span><span class="o">＝</span><span class="n">msg_html</span><span class="o">+</span><span class="s1">' < tr > < td > '</span><span class="o">+</span><span class="n">换行符</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s1">＇</span><span class="se">\ t</span><span class="s1">＇</span><span class="p">，</span><span class="s1">' < / td > < td > '</span><span class="p">）</span><span class="o">+</span><span class="s1">' < / td > < / tr > '</span><span class="n">msg_html</span><span class="o">＝</span><span class="n">msg_html</span><span class="o">+</span><span class="s1">“> < /表”</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="n">msg_html</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="change-tool"> <h2><span class="section-number">4.12.</span>改变工具<一个class="headerlink" href="#change-tool" title="¶＂>¶</一个></h2><p>这个宏允许更新给定ID的工具，该ID作为机器人加工目的的参数传递。如果没有传递ID作为参数，它将弹出一条消息。这个宏可以与机器人加工项目一起使用，以改变它所模拟的工具。双击机器人加工项目，选择Program Events，并输入SetTool(%1)以获取工具更改事件。</p><div class="literal-block-wrapper docutils container" id="set-milling-tool"> <div class="code-block-caption"> <span class="caption-text">套铣工具</span> <a class="headerlink" href="#set-milling-tool" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏允许更新工具给定的ID作为参数传递</span><span class="c1">#如果没有传入ID作为参数，它将弹出一条消息</span><span class="c1">#该宏可以与机器人加工项目一起使用，以改变其模拟的工具</span><span class="c1">双击机器人加工项目，选择程序事件，并在更改工具事件上输入SetTool(%1)</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="kn">进口</span><span class="nn">sys</span><span class="c1">#允许获取传入的参数参数</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">TOOL_ID</span><span class="o">＝</span><span class="mi">0</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">sys</span><span class="o">．</span><span class="n">argv</span><span class="p">）</span><span class="o">> =</span><span class="mi">2</span><span class="p">：</span><span class="n">TOOL_ID</span><span class="o">＝</span><span class="nb">int</span><span class="p">（</span><span class="n">sys</span><span class="o">．</span><span class="n">argv</span><span class="p">［</span><span class="mi">1</span><span class="p">])</span><span class="k">其他的</span><span class="p">：</span><span class="n">tool_str</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="s2">输入工具编号:</span><span class="se">\ n</span><span class="s2">(例如，对于工具1集1)”</span><span class="p">，</span><span class="n">条目</span><span class="o">＝</span><span class="s1">' 1 '</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">tool_str</span><span class="p">：</span><span class="c1">#没有输入</span><span class="n">辞职</span><span class="p">（）</span><span class="n">TOOL_ID</span><span class="o">＝</span><span class="nb">int</span><span class="p">（</span><span class="n">tool_str</span><span class="p">）</span><span class="c1">#选择一个机器人</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“机器人不可用”</span><span class="p">）</span><span class="c1">#创建工具名称</span><span class="n">tool_name</span><span class="o">＝</span><span class="s1">“工具”</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">TOOL_ID</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“使用机器人:“</span><span class="o">+</span><span class="n">机器人</span><span class="o">．</span><span class="n">的名字</span><span class="p">())</span><span class="nb">打印</span><span class="p">（</span><span class="s2">安装工具:“</span><span class="o">+</span><span class="n">tool_name</span><span class="p">）</span><span class="c1">#选择工具</span><span class="n">工具</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">tool_name</span><span class="p">，</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">工具</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“工具</span><span class="si">% s</span><span class="s2">不存在!”</span><span class="o">％</span><span class="n">tool_name</span><span class="p">）</span><span class="c1">#更新机器人使用该工具</span><span class="n">机器人</span><span class="o">．</span><span class="n">setTool</span><span class="p">（</span><span class="n">工具</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“做!”</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="project-curve-to-surface"> <h2><span class="section-number">4.13.</span>将曲线投影到曲面上<一个class="headerlink" href="#project-curve-to-surface" title="¶＂>¶</一个></h2><p>这个例子将特征(点/曲线)投射到一个曲面上，并计算曲面的法线。这个例子有两个对象:(1)一个具有曲线和/或点的对象;(2)一个具有一个或多个表面的对象。</p><div class="literal-block-wrapper docutils container" id="id3"> <div class="code-block-caption"> <span class="caption-text">将曲线投影到曲面上</span> <a class="headerlink" href="#id3" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个例子有两个对象:</span><span class="c1">1 .有特征的物体(曲线和/或点)</span><span class="c1">2 .有表面的物体(其他特征被忽略)</span><span class="c1">这个例子将特征(点/曲线)投射到参考曲面上，并计算曲面法线</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#设置为True反转法线(翻转法线)</span><span class="n">FlipNormals</span><span class="o">＝</span><span class="kc">假</span><span class="c1">#设置投影类型</span><span class="n">ProjectionType</span><span class="o">＝</span><span class="n">PROJECTION_ALONG_NORMAL_RECALC</span><span class="c1">#可用值包括:</span><span class="c1">#没有曲线投影</span><span class="c1">#投影将是表面上最接近的点</span><span class="c1">投影将沿着法线进行。</span><span class="c1">投影将沿着法线进行。此外，法线将根据表面法线重新计算。</span><span class="c1">#投影将是表面上最近的点，法线将被重新计算</span><span class="c1">法线根据最近投影的表面法线重新计算</span><span class="c1">#-------------------------------------------------------------</span><span class="c1">#要求用户提供对象的特征</span><span class="n">object_features</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">选择具有投影特征的对象(曲线和/或点)</span><span class="p">，</span><span class="n">ITEM_TYPE_OBJECT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">object_features</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#要求用户提供以表面作为参考的对象</span><span class="n">object_surface</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">“选择表面对象来投射特征”</span><span class="p">，</span><span class="n">ITEM_TYPE_OBJECT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">object_surface</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#创建一个表面对象的副本</span><span class="n">object_surface</span><span class="o">．</span><span class="n">复制</span><span class="p">（）</span><span class="n">new_object</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">粘贴</span><span class="p">（</span><span class="n">object_surface</span><span class="o">．</span><span class="n">父</span><span class="p">())</span><span class="n">new_object</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s2">“重新计算法线”</span><span class="p">）</span><span class="n">new_object</span><span class="o">．</span><span class="n">setVisible</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="c1">#隐藏用于创建新对象所需曲线的对象</span><span class="n">object_features</span><span class="o">．</span><span class="n">setVisible</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="n">object_surface</span><span class="o">．</span><span class="n">setVisible</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#关闭渲染(更快)</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#添加所有曲线，按需要投影(遍历所有曲线，直到找不到更多曲线)</span><span class="n">curve_id</span><span class="o">＝</span><span class="mi">0</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="c1">#检索曲线点</span><span class="n">curve_points</span><span class="p">，</span><span class="n">name_feature</span><span class="o">＝</span><span class="n">object_features</span><span class="o">．</span><span class="n">GetPoints</span><span class="p">（</span><span class="n">FEATURE_CURVE</span><span class="p">，</span><span class="n">curve_id</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">name_feature</span><span class="p">）</span><span class="n">curve_id</span><span class="o">＝</span><span class="n">curve_id</span><span class="o">+</span><span class="mi">1</span><span class="n">npoints</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">curve_points</span><span class="p">）</span><span class="k">如果</span><span class="n">npoints</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="k">打破</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“添加曲线</span><span class="si">% s</span><span class="s2">与</span><span class="si">%我</span><span class="s2">点”</span><span class="o">％</span><span class="p">（</span><span class="n">name_feature</span><span class="p">，</span><span class="n">npoints</span><span class="p">）)</span><span class="n">curve_points_proj</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ProjectPoints</span><span class="p">（</span><span class="n">curve_points</span><span class="p">，</span><span class="n">object_surface</span><span class="p">，</span><span class="n">ProjectionType</span><span class="p">）</span><span class="c1">#可选翻转法线(ijk vector)</span><span class="k">如果</span><span class="n">FlipNormals</span><span class="p">：</span><span class="k">为</span><span class="n">ci</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="nb">len</span><span class="p">（</span><span class="n">curve_points_proj</span><span class="p">)):</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">，</span><span class="n">我</span><span class="p">，</span><span class="n">j</span><span class="p">，</span><span class="n">k</span><span class="o">＝</span><span class="n">curve_points_proj</span><span class="p">［</span><span class="n">ci</span><span class="p">］</span><span class="n">curve_points_proj</span><span class="p">［</span><span class="n">ci</span><span class="p">］</span><span class="o">＝</span><span class="p">［</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">，</span><span class="o">-</span><span class="n">我</span><span class="p">，</span><span class="o">-</span><span class="n">j</span><span class="p">，</span><span class="o">-</span><span class="n">k</span><span class="p">］</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddCurve</span><span class="p">（</span><span class="n">curve_points_proj</span><span class="p">，</span><span class="n">new_object</span><span class="p">，</span><span class="kc">真正的</span><span class="p">，</span><span class="n">PROJECTION_NONE</span><span class="p">）</span><span class="c1">#添加所有投影点</span><span class="n">point_list</span><span class="p">，</span><span class="n">name_feature</span><span class="o">＝</span><span class="n">object_features</span><span class="o">．</span><span class="n">GetPoints</span><span class="p">（</span><span class="n">FEATURE_POINT</span><span class="p">）</span><span class="n">npoints</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">point_list</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“添加</span><span class="si">%我</span><span class="s2">点”</span><span class="o">％</span><span class="n">npoints</span><span class="p">）</span><span class="k">如果</span><span class="n">npoints</span><span class="o">></span><span class="mi">0</span><span class="p">：</span><span class="c1"># RDK。AddPoints(point_list, new_object, True, PROJECTION_ALONG_NORMAL_RECALC)</span><span class="n">point_list_proj</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ProjectPoints</span><span class="p">（</span><span class="n">point_list</span><span class="p">，</span><span class="n">object_surface</span><span class="p">，</span><span class="n">ProjectionType</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddPoints</span><span class="p">（</span><span class="n">point_list_proj</span><span class="p">，</span><span class="n">new_object</span><span class="p">，</span><span class="kc">真正的</span><span class="p">，</span><span class="n">PROJECTION_NONE</span><span class="p">）</span><span class="c1"># RDK。添加曲线(curve_points, new_object, True, PROJECTION_NONE)</span><span class="c1">#设置曲线宽度</span><span class="n">new_object</span><span class="o">．</span><span class="n">setValue</span><span class="p">（</span><span class="s1">“显示”</span><span class="p">，</span><span class="s1">“LINEW = 2”</span><span class="p">）</span><span class="c1">设置曲线颜色</span><span class="n">new_object</span><span class="o">．</span><span class="n">setColorCurve</span><span class="p">（[</span><span class="mf">0．0</span><span class="p">，</span><span class="mf">0．5</span><span class="p">，</span><span class="mf">0．5</span><span class="p">])</span><span class="c1">#打开渲染(可选)</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“完成”</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="filter-curve-normals"> <h2><span class="section-number">4.14.</span>过滤器曲线法线<一个class="headerlink" href="#filter-curve-normals" title="¶＂>¶</一个></h2><p>这个宏演示了如何对包含曲线的对象的法线进行平均。这个宏还可以过滤彼此过于接近的点。用户必须选择一个对象，然后使用平均法线创建该对象的副本。</p><div class="literal-block-wrapper docutils container" id="id4"> <div class="code-block-caption"> <span class="caption-text">过滤器曲线法线</span> <a class="headerlink" href="#id4" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏演示了如何对包含曲线的对象的法线进行平均。</span><span class="c1">这个宏还可以过滤彼此太近的点。</span><span class="c1"># use必须选择一个对象，然后创建该对象的副本，并对其法线进行平均。</span><span class="c1">关于RoboDK API的更多信息:</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">#-------------------------------------------------------</span><span class="c1">输入平均过滤器的大小，以样本数量为单位。</span><span class="c1">#如果这个值被设置为-1，它将弹出一条消息，要求用户输入一个值</span><span class="n">FilterNormalSamples</span><span class="o">＝</span><span class="o">-</span><span class="mi">1</span><span class="c1">#样本中</span><span class="c1">输入距离，单位为mm，用于过滤接近点。</span><span class="c1">#例如，如果我们想要一个点，每个点最多2毫米，我们应该输入2。</span><span class="c1">#设置为-1，不过滤点的数量。</span><span class="n">FilterPointDistance</span><span class="o">＝</span><span class="o">-</span><span class="mi">1</span><span class="c1">#在毫米</span><span class="c1"># ------------------------------------------------------</span><span class="c1">#启动RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#要求用户选择对象</span><span class="n">obj</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">“选择对象或工具来过滤曲线”</span><span class="p">）</span><span class="c1">#我们可以选择通过ITEM_TYPE_OBJECT或ITEM_TYPE_TOOL(不是两者都)进行筛选</span><span class="c1">#退出，如果用户选择取消</span><span class="k">如果</span><span class="ow">不</span><span class="n">obj</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#要求用户输入过滤器大小</span><span class="k">如果</span><span class="n">FilterNormalSamples</span><span class="o">< =</span><span class="mi">0</span><span class="p">：</span><span class="n">str_avg_filter</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="s2">输入过滤器大小(用于平均过滤器的点/法线数)。</span><span class="se">\ n</span><span class="s2">例如，如果过滤器大小为10个单位，则使用最接近的10个法线来平均每个法线。”</span><span class="p">，</span><span class="n">条目</span><span class="o">＝</span><span class="s2">“10”</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">str_avg_filter</span><span class="p">：</span><span class="c1">用户选择了取消</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#将用户输入转换为整数</span><span class="n">FilterNormalSamples</span><span class="o">＝</span><span class="nb">int</span><span class="p">（</span><span class="n">str_avg_filter</span><span class="p">）</span><span class="k">如果</span><span class="n">FilterNormalSamples</span><span class="o">< =</span><span class="mi">0</span><span class="p">：</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“无效的过滤值。输入值>= 1"</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="n">味精</span><span class="p">）</span><span class="c1">#遍历所有对象曲线，提取曲线点并平均法线</span><span class="n">curve_id</span><span class="o">＝</span><span class="mi">0</span><span class="n">obj_filtered</span><span class="o">＝</span><span class="kc">没有一个</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">点</span><span class="p">，</span><span class="n">name_feature</span><span class="o">＝</span><span class="n">obj</span><span class="o">．</span><span class="n">GetPoints</span><span class="p">（</span><span class="n">FEATURE_CURVE</span><span class="p">，</span><span class="n">curve_id</span><span class="p">）</span><span class="c1"># points是一个双浮点数数组，其中包含np点和每个点的xyzijk数据</span><span class="c1"># point[np] = [x,y,z,i,j,k] #其中xyz是位置，ijk是工具方向(z轴，通常是表面法线)</span><span class="n">np</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">点</span><span class="p">）</span><span class="c1">#当curve_id超出边界时，返回一个空的双数组</span><span class="k">如果</span><span class="n">np</span><span class="o">= =</span><span class="mi">0</span><span class="ow">或</span><span class="nb">len</span><span class="p">（</span><span class="n">点</span><span class="p">［</span><span class="mi">0</span><span class="p">])</span><span class="o"><</span><span class="mi">6</span><span class="p">：</span><span class="k">打破</span><span class="n">味精</span><span class="o">＝</span><span class="s2">过滤:“</span><span class="o">+</span><span class="n">name_feature</span><span class="nb">打印</span><span class="p">（</span><span class="n">味精</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="n">味精</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span><span class="n">curve_id</span><span class="o">＝</span><span class="n">curve_id</span><span class="o">+</span><span class="mi">1</span><span class="c1">#对每个点，取点范围内的法线平均值[-FilterNormalSamples/2;+ FilterNormalSamples / 2)</span><span class="n">new_normals</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">np</span><span class="p">)：</span><span class="n">id_avg_from</span><span class="o">＝</span><span class="nb">轮</span><span class="p">（</span><span class="nb">马克斯</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="n">我</span><span class="o">-</span><span class="mf">0．5</span><span class="o">＊</span><span class="n">FilterNormalSamples</span><span class="p">）)</span><span class="n">id_avg_to</span><span class="o">＝</span><span class="nb">轮</span><span class="p">（</span><span class="nb">最小值</span><span class="p">（</span><span class="n">np</span><span class="o">-</span><span class="mi">1</span><span class="p">，</span><span class="n">我</span><span class="o">+</span><span class="mf">0．5</span><span class="o">＊</span><span class="n">FilterNormalSamples</span><span class="p">）)</span><span class="c1">#确保我们考虑开始和结束部分(navg通常是FilterNormalSamples，除了在边界附近)</span><span class="n">n_avg</span><span class="o">＝</span><span class="n">id_avg_to</span><span class="o">-</span><span class="n">id_avg_from</span><span class="n">normal_i</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="k">为</span><span class="n">j</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">id_avg_from</span><span class="p">，</span><span class="n">id_avg_to</span><span class="p">)：</span><span class="n">倪</span><span class="o">＝</span><span class="n">点</span><span class="p">［</span><span class="n">j</span><span class="p">］［</span><span class="mi">3.</span><span class="p">：</span><span class="mi">6</span><span class="p">］</span><span class="n">normal_i</span><span class="o">＝</span><span class="n">add3</span><span class="p">（</span><span class="n">normal_i</span><span class="p">，</span><span class="n">倪</span><span class="p">）</span><span class="c1">#正常化</span><span class="n">normal_i</span><span class="o">＝</span><span class="n">normalize3</span><span class="p">（</span><span class="n">normal_i</span><span class="p">）</span><span class="c1">normal_i = mult3(normal_i, 1.0/n_avg)</span><span class="c1">#将新常态添加到列表中</span><span class="n">new_normals</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">normal_i</span><span class="p">）</span><span class="c1">#将法线与点列表结合起来</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">np</span><span class="p">)：</span><span class="n">点</span><span class="p">［</span><span class="n">我</span><span class="p">］［</span><span class="mi">3.</span><span class="p">：</span><span class="mi">6</span><span class="p">］</span><span class="o">＝</span><span class="n">new_normals</span><span class="p">［</span><span class="n">我</span><span class="p">］［</span><span class="mi">0</span><span class="p">：</span><span class="mi">3.</span><span class="p">］</span><span class="c1">#过滤点，如果需要</span><span class="k">如果</span><span class="n">FilterPointDistance</span><span class="o">></span><span class="mi">0</span><span class="p">：</span><span class="n">lastp</span><span class="o">＝</span><span class="kc">没有一个</span><span class="n">points_filtered</span><span class="o">＝</span><span class="p">［］</span><span class="n">points_filtered</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">点</span><span class="p">［</span><span class="mi">0</span><span class="p">])</span><span class="n">lastp</span><span class="o">＝</span><span class="n">点</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="mi">1</span><span class="p">，</span><span class="n">np</span><span class="p">)：</span><span class="k">如果</span><span class="n">距离</span><span class="p">（</span><span class="n">lastp</span><span class="p">，</span><span class="n">点</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="o">></span><span class="n">FilterPointDistance</span><span class="p">：</span><span class="n">points_filtered</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">点</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="n">lastp</span><span class="o">＝</span><span class="n">点</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="n">点</span><span class="o">＝</span><span class="n">points_filtered</span><span class="c1">#对于第一个曲线:创建一个新对象，重命名它，并将它放在原始对象的相同位置</span><span class="k">如果</span><span class="n">obj_filtered</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="n">obj_filtered</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddCurve</span><span class="p">（</span><span class="n">点</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="kc">假</span><span class="p">，</span><span class="n">PROJECTION_NONE</span><span class="p">）</span><span class="n">obj_filtered</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="n">obj</span><span class="o">．</span><span class="n">的名字</span><span class="p">（）</span><span class="o">+</span><span class="s2">“过滤”</span><span class="p">）</span><span class="n">obj_filtered</span><span class="o">．</span><span class="n">setParent</span><span class="p">（</span><span class="n">obj</span><span class="o">．</span><span class="n">父</span><span class="p">())</span><span class="n">obj_filtered</span><span class="o">．</span><span class="n">setGeometryPose</span><span class="p">（</span><span class="n">obj_filtered</span><span class="o">．</span><span class="n">GeometryPose</span><span class="p">())</span><span class="k">其他的</span><span class="p">：</span><span class="c1">添加第一个曲线后，添加以下曲线到相同的对象</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddCurve</span><span class="p">（</span><span class="n">点</span><span class="p">，</span><span class="n">obj_filtered</span><span class="p">，</span><span class="kc">真正的</span><span class="p">，</span><span class="n">PROJECTION_NONE</span><span class="p">）</span><span class="c1">设置曲线显示宽度</span><span class="n">obj_filtered</span><span class="o">．</span><span class="n">setValue</span><span class="p">（</span><span class="s1">“显示”</span><span class="p">，</span><span class="s1">“LINEW = 2”</span><span class="p">）</span><span class="c1">#设置曲线颜色为RGBA值[0-1.0]</span><span class="n">obj_filtered</span><span class="o">．</span><span class="n">setColorCurve</span><span class="p">（[</span><span class="mf">0．0</span><span class="p">，</span><span class="mf">0．5</span><span class="p">，</span><span class="mf">1.0</span><span class="p">，</span><span class="mf">0．8</span><span class="p">])</span></pre> </div> </div> </div> </div> <div class="section" id="change-curve-normals"> <h2><span class="section-number">4.15.</span>变化曲线法线<一个class="headerlink" href="#change-curve-normals" title="¶＂>¶</一个></h2><p>这个例子展示了如何通过改变i, j和k向量为(0,0,1)来改变一个物体的法向曲线，使其指向+Z方向。</p><div class="literal-block-wrapper docutils container" id="id5"> <div class="code-block-caption"> <span class="caption-text">变化曲线法线</span> <a class="headerlink" href="#id5" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">通过改变i,j,k向量为(0,0,1)来改变曲线的法线指向+Z方向</span><span class="c1">#----------------------------------------</span><span class="c1">#启动RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#要求用户选择对象</span><span class="n">obj</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">“选择对象或工具来过滤曲线”</span><span class="p">）</span><span class="c1">#我们可以选择通过ITEM_TYPE_OBJECT或ITEM_TYPE_TOOL(不是两者都)进行筛选</span><span class="c1">#退出，如果用户选择取消</span><span class="k">如果</span><span class="ow">不</span><span class="n">obj</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（）</span><span class="n">curve_list</span><span class="o">＝</span><span class="p">［］</span><span class="n">我</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#遍历所有对象曲线，提取曲线点并在列表中检索曲线</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">curve_points</span><span class="p">，</span><span class="n">name_feature</span><span class="o">＝</span><span class="n">obj</span><span class="o">．</span><span class="n">GetPoints</span><span class="p">（</span><span class="n">FEATURE_CURVE</span><span class="p">，</span><span class="n">我</span><span class="p">）</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">curve_points</span><span class="p">）</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="k">打破</span><span class="n">我</span><span class="o">＝</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="n">curve_list</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">curve_points</span><span class="p">）</span><span class="c1">#检索列表包含[x,y,z,i,j,k]</span><span class="c1">#更改i,j,k向量为0,0,1</span><span class="k">为</span><span class="n">曲线</span><span class="ow">在</span><span class="n">curve_list</span><span class="p">：</span><span class="k">为</span><span class="n">idx</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="nb">len</span><span class="p">（</span><span class="n">曲线</span><span class="p">)):</span><span class="n">我</span><span class="p">，</span><span class="n">j</span><span class="p">，</span><span class="n">k</span><span class="o">＝</span><span class="n">曲线</span><span class="p">［</span><span class="n">idx</span><span class="p">］［</span><span class="mi">3.</span><span class="p">：</span><span class="mi">6</span><span class="p">］</span><span class="n">曲线</span><span class="p">［</span><span class="n">idx</span><span class="p">］［</span><span class="mi">3.</span><span class="p">：</span><span class="mi">6</span><span class="p">］</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">］</span><span class="c1">#打印(new_curve)</span><span class="c1">#添加所有的操纵曲线作为一个新对象</span><span class="n">obj_new</span><span class="o">＝</span><span class="kc">没有一个</span><span class="k">为</span><span class="n">曲线</span><span class="ow">在</span><span class="n">curve_list</span><span class="p">：</span><span class="n">obj_new</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddCurve</span><span class="p">（</span><span class="n">曲线</span><span class="p">，</span><span class="n">obj_new</span><span class="p">，</span><span class="kc">真正的</span><span class="p">，</span><span class="n">PROJECTION_NONE</span><span class="p">）</span><span class="c1">#设置新的对象名称和父对象</span><span class="n">obj_new</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="n">obj</span><span class="o">．</span><span class="n">的名字</span><span class="p">（）</span><span class="o">+</span><span class="s2">“新”</span><span class="p">）</span><span class="n">obj_new</span><span class="o">．</span><span class="n">setParent</span><span class="p">（</span><span class="n">obj</span><span class="o">．</span><span class="n">父</span><span class="p">())</span><span class="n">obj_new</span><span class="o">．</span><span class="n">setGeometryPose</span><span class="p">（</span><span class="n">obj_new</span><span class="o">．</span><span class="n">GeometryPose</span><span class="p">())</span><span class="c1">设置曲线显示宽度</span><span class="n">obj_new</span><span class="o">．</span><span class="n">setValue</span><span class="p">（</span><span class="s1">“显示”</span><span class="p">，</span><span class="s1">“LINEW = 4”</span><span class="p">）</span><span class="c1">#设置曲线颜色为RGBA值[0-1.0]</span><span class="n">obj_new</span><span class="o">．</span><span class="n">setColorCurve</span><span class="p">（[</span><span class="mf">0．0</span><span class="p">，</span><span class="mf">0．5</span><span class="p">，</span><span class="mf">1.0</span><span class="p">，</span><span class="mf">0．8</span><span class="p">])</span><span class="c1">删除第一次检索到的对象上的所有曲线</span><span class="n">obj</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“DeleteCurves”</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="attach-object-to-a-robot-link"> <h2><span class="section-number">4.16.</span>将对象附加到机器人链接<一个class="headerlink" href="#attach-object-to-a-robot-link" title="¶＂>¶</一个></h2><p>这个例子展示了如何将一个对象附加到一个机器人链接。将对象放在首选位置后，就可以在RoboDK站中运行脚本。</p><div class="literal-block-wrapper docutils container" id="id6"> <div class="code-block-caption"> <span class="caption-text">将对象附加到机器人链接</span> <a class="headerlink" href="#id6" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个脚本允许你将一个对象附加到一个机器人链接</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#初始化RoboDK API</span><span class="c1">#选择机器人</span><span class="c1">#添加机器人链接的形状</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个机器人添加一个对象”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s1">“没有机器人。添加一个机器人将这个几何图形附加到一个链接上'</span><span class="p">）</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">价值</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="s1">“进入连接物体的关节:</span><span class="se">\ n</span><span class="s1">＇</span><span class="o">+</span><span class="n">机器人</span><span class="o">．</span><span class="n">的名字</span><span class="p">（）</span><span class="o">+</span><span class="s1">＇</span><span class="se">\ n</span><span class="s1">例如:0是基座，3是关节3'</span><span class="p">，</span><span class="n">条目</span><span class="o">＝</span><span class="s1">“3”</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">价值</span><span class="p">：</span><span class="n">辞职</span><span class="p">（</span><span class="mi">0</span><span class="p">）</span><span class="n">link_id</span><span class="o">＝</span><span class="nb">int</span><span class="p">（</span><span class="n">价值</span><span class="p">）</span><span class="n">robotlink</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">ObjectLink</span><span class="p">（</span><span class="n">link_id</span><span class="p">）</span><span class="k">如果</span><span class="n">robotlink</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">打破</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“无效的链接。选择一个有效的机器人链接"</span><span class="p">）</span><span class="nb">对象</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择要添加的对象”</span><span class="p">，</span><span class="n">ITEM_TYPE_OBJECT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="nb">对象</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s1">对象不选择的</span><span class="p">）</span><span class="c1">#合并对象列表(第一个必须是机器人链接)</span><span class="n">合并</span><span class="o">＝</span><span class="p">［</span><span class="n">robotlink</span><span class="p">，</span><span class="nb">对象</span><span class="p">］</span><span class="c1">#合并对象</span><span class="n">RDK</span><span class="o">．</span><span class="n">MergeItems</span><span class="p">（</span><span class="n">合并</span><span class="p">）</span><span class="c1">#将原始对象设置为不可见(或删除)</span><span class="nb">对象</span><span class="o">．</span><span class="n">setVisible</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1"># object.Delete ()</span></pre> </div> </div> </div> </div> <div class="section" id="move-robot-using-a-keyboard"> <h2><span class="section-number">4.17.</span>使用键盘移动机器人<一个class="headerlink" href="#move-robot-using-a-keyboard" title="¶＂>¶</一个></h2><p>这个例子展示了如何使用键盘移动机器人。这个宏需要作为一个单独的进程来执行，以正确地拦截键盘(不是在RoboDK内部)。这个例子可以扩展到移动机器人使用<一个class="reference external" href="https://github.com/RoboDK/Plug-In-Interface/tree/master/PluginAppLoader/Apps/XboxController">的Xbox控制器</一个>W我我Remote或任何其他输入设备。</p><div class="literal-block-wrapper docutils container" id="move-a-robot-using-the-keyboard"> <div class="code-block-caption"> <span class="caption-text">使用键盘移动机器人</span> <a class="headerlink" href="#move-a-robot-using-the-keyboard" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏允许用键盘移动机器人</span><span class="c1">更多关于RoboDK API的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">输入help("robodk.robolink")或help("robodk.robomath")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#注意:你不需要保留该文件的副本，你的python脚本与工作站一起保存</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#基本矩阵运算</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#箭头键程序示例</span><span class="c1">#买个机器人</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“车站里没有机器人。首先装载一个机器人，然后运行这个程序。”</span><span class="p">）</span><span class="n">暂停</span><span class="p">（</span><span class="mi">5</span><span class="p">）</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“车站里不许有机器人!”</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“使用机器人:</span><span class="si">% s</span><span class="s1">＇</span><span class="o">％</span><span class="n">机器人</span><span class="o">．</span><span class="n">的名字</span><span class="p">())</span><span class="nb">打印</span><span class="p">（</span><span class="s1">使用箭头(左，右，上，下)，Q和A键来移动机器人</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">注意:这只在控制台模式下工作，你必须单独运行PY文件</span><span class="p">）</span><span class="c1">#定义移动增量</span><span class="n">move_speed</span><span class="o">＝</span><span class="mi">10</span><span class="kn">从</span><span class="nn">msvcrt</span><span class="kn">进口</span><span class="n">getch</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">关键</span><span class="o">＝</span><span class="p">（</span><span class="nb">奥德</span><span class="p">（</span><span class="n">getch</span><span class="p">()))</span><span class="n">move_direction</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="c1">#打印(键)</span><span class="k">如果</span><span class="n">关键</span><span class="o">= =</span><span class="mi">75</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“左箭头(Y)”</span><span class="p">）</span><span class="n">move_direction</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="mi">1</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="k">elif</span><span class="n">关键</span><span class="o">= =</span><span class="mi">77</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">右箭头键(Y +) '</span><span class="p">）</span><span class="n">move_direction</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="k">elif</span><span class="n">关键</span><span class="o">= =</span><span class="mi">72</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“箭头(X) '</span><span class="p">）</span><span class="n">move_direction</span><span class="o">＝</span><span class="p">［</span><span class="o">-</span><span class="mi">1</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="k">elif</span><span class="n">关键</span><span class="o">= =</span><span class="mi">80</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“向下箭头(X +)”</span><span class="p">）</span><span class="n">move_direction</span><span class="o">＝</span><span class="p">［</span><span class="mi">1</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="k">elif</span><span class="n">关键</span><span class="o">= =</span><span class="mi">113</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“问(Z +)”</span><span class="p">）</span><span class="n">move_direction</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">］</span><span class="k">elif</span><span class="n">关键</span><span class="o">= =</span><span class="mi">97</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“(Z)”</span><span class="p">）</span><span class="n">move_direction</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="mi">1</span><span class="p">］</span><span class="c1">#确保指定了移动方向</span><span class="k">如果</span><span class="n">规范</span><span class="p">（</span><span class="n">move_direction</span><span class="p">）</span><span class="o">< =</span><span class="mi">0</span><span class="p">：</span><span class="k">继续</span><span class="c1">#根据移动速度计算移动单位为mm</span><span class="n">xyz_move</span><span class="o">＝</span><span class="n">mult3</span><span class="p">（</span><span class="n">move_direction</span><span class="p">，</span><span class="n">move_speed</span><span class="p">）</span><span class="c1">#获取机器人关节</span><span class="n">robot_joints</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="c1">#从关节获取机器人位置(计算正运动学)</span><span class="n">robot_position</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">SolveFK</span><span class="p">（</span><span class="n">robot_joints</span><span class="p">）</span><span class="c1">#获取机器人配置(机器人关节状态)</span><span class="n">robot_config</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsConfig</span><span class="p">（</span><span class="n">robot_joints</span><span class="p">）</span><span class="c1">#计算新的机器人位置</span><span class="n">new_robot_position</span><span class="o">＝</span><span class="n">transl</span><span class="p">（</span><span class="n">xyz_move</span><span class="p">）</span><span class="o">＊</span><span class="n">robot_position</span><span class="c1">#计算新的机器人关节</span><span class="n">new_robot_joints</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">SolveIK</span><span class="p">（</span><span class="n">new_robot_position</span><span class="p">）</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">new_robot_joints</span><span class="o">．</span><span class="n">tolist</span><span class="p">())</span><span class="o"><</span><span class="mi">6</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“没有机器人的解决方案! !新位置太远、够不着或接近奇点。”</span><span class="p">）</span><span class="k">继续</span><span class="c1">#计算新关节的机器人配置</span><span class="n">new_robot_config</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsConfig</span><span class="p">（</span><span class="n">new_robot_joints</span><span class="p">）</span><span class="k">如果</span><span class="n">robot_config</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">! =</span><span class="n">new_robot_config</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="ow">或</span><span class="n">robot_config</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">! =</span><span class="n">new_robot_config</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="ow">或</span><span class="n">robot_config</span><span class="p">［</span><span class="mi">2</span><span class="p">］</span><span class="o">! =</span><span class="n">new_robot_config</span><span class="p">［</span><span class="mi">2</span><span class="p">]:</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“警告! !机器人配置改变! !这将导致意想不到的动作!”</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">robot_config</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">new_robot_config</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="c1">#移动机器人关节到新位置</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">new_robot_joints</span><span class="p">）</span><span class="c1"># robot.MoveL (new_robot_joints)</span></pre> </div> </div> </div> </div> <div class="section" id="connect-to-robots"> <h2><span class="section-number">4.18.</span>连接到机器人<一个class="headerlink" href="#connect-to-robots" title="¶＂>¶</一个></h2><p>本例展示了如何使用机器人驱动程序连接到RoboDK站点中所有可用的机器人，并将机器人移动到RoboDK中设置的位置。这个例子展示了如何同时与多个机器人通信。</p><dl class="simple"> <dt> 更多信息:</dt> <dd> <ul class="simple"> <li><p>使用RoboDK API为Python进行在线编程:<一个class="reference external" href="//www.sinclairbody.com/doc/en/RoboDK-API.html">//www.sinclairbody.com/doc/en/RoboDK-API.html#PythonAPIOnline</一个></p></li> <li><p>机器人司机:<一个class="reference external" href="//www.sinclairbody.com/doc/en/Robot-Drivers.html">//www.sinclairbody.com/doc/en/Robot-Drivers.html#RobotDrivers</一个></p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="move-robots-online"> <div class="code-block-caption"> <span class="caption-text">移动机器人在线</span> <a class="headerlink" href="#move-robots-online" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robodk.robolink")或help("robodk.robomath")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">更多关于RoboDK API的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#注意:你不需要保留该文件的副本，你的python脚本与工作站一起保存</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="c1">#启动RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#收集所有机器人作为项目对象</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemList</span><span class="p">（</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span><span class="c1">#循环遍历所有机器人并连接到机器人</span><span class="n">错误</span><span class="o">＝</span><span class="s1">”</span><span class="n">数</span><span class="o">＝</span><span class="mi">0</span><span class="k">为</span><span class="n">机器人</span><span class="ow">在</span><span class="n">机器人</span><span class="p">：</span><span class="n">数</span><span class="o">＝</span><span class="n">数</span><span class="o">+</span><span class="mi">1</span><span class="c1">#模拟双击强制断开与所有机器人的连接</span><span class="c1">#if count == 0</span><span class="c1"># robot.Disconnect ()</span><span class="c1"># robot.Disconnect ()</span><span class="c1">#暂停(1)</span><span class="c1">#重要的是，每个机器人需要一个新的API连接，以允许在不同的线程中分别移动它们(如果需要)</span><span class="n">rdk</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">机器人</span><span class="o">．</span><span class="n">链接</span><span class="o">＝</span><span class="n">rdk</span><span class="c1">#强制模拟模式，如果我们已经连接到机器人。</span><span class="c1">#然后，收集机器人的关节位置。</span><span class="c1">#这将收集模拟机器人的位置，而不是真正的机器人。</span><span class="n">rdk</span><span class="o">．</span><span class="n">setRunMode</span><span class="p">（</span><span class="n">RUNMODE_SIMULATE</span><span class="p">）</span><span class="n">jnts</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="c1">#连接机器人:</span><span class="c1"># rdk.setRunMode(RUNMODE_RUN_ROBOT) #不需要，因为connect会自动执行此操作</span><span class="c1"># state = robot.ConnectSafe()</span><span class="n">状态</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">连接</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="n">状态</span><span class="p">）</span><span class="c1">#检查连接状态和消息</span><span class="n">状态</span><span class="p">，</span><span class="n">味精</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">ConnectedState</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="n">状态</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">味精</span><span class="p">）</span><span class="k">如果</span><span class="n">状态</span><span class="o">! =</span><span class="n">ROBOTCOM_READY</span><span class="p">：</span><span class="n">错误</span><span class="o">＝</span><span class="n">错误</span><span class="o">+</span><span class="s1">连接的问题:“</span><span class="o">+</span><span class="n">机器人</span><span class="o">．</span><span class="n">的名字</span><span class="p">（）</span><span class="o">+</span><span class="s1">“:”</span><span class="o">+</span><span class="n">味精</span><span class="o">+</span><span class="s1">＇</span><span class="se">\ n</span><span class="s1">＇</span><span class="k">其他的</span><span class="p">：</span><span class="c1">#移动到模拟器中的关节位置:</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">jnts</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span><span class="c1">#显示连接错误，如果有</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">错误</span><span class="p">）</span><span class="o">></span><span class="mi">0</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="n">错误</span><span class="p">）</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="n">错误</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="n">辞职</span><span class="p">（</span><span class="mi">0</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="monitor-joints"> <h2><span class="section-number">4.19.</span>监控关节<一个class="headerlink" href="#monitor-joints" title="¶＂>¶</一个></h2><p>这个例子展示了如何将机器人的模拟位置保存到文本或CSV文件中。</p><div class="literal-block-wrapper docutils container" id="monitor-simulated-joints"> <div class="code-block-caption"> <span class="caption-text">监控模拟关节</span> <a class="headerlink" href="#monitor-simulated-joints" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏将在CSV文件中记录机器人关节(以度为单位)(包括以秒为单位的时间戳)。该文件避免两次记录相同的关节。</span><span class="c1">#提示:使用脚本jointsplay .py沿着记录的关节移动</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#基本矩阵运算</span><span class="kn">从</span><span class="nn">时间</span><span class="kn">进口</span><span class="n">gmtime</span><span class="p">，</span><span class="n">strftime</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#要求用户选择一个机械臂(机制被忽略)</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个机器人”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT_ARM</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“机器人不可用”</span><span class="p">）</span><span class="c1">#在RDK文件所在的文件夹中生成一个文件</span><span class="n">file_path</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">getParam</span><span class="p">（</span><span class="s1">“PATH_OPENSTATION”</span><span class="p">）</span><span class="o">+</span><span class="s1">“/关节-”</span><span class="o">+</span><span class="n">strftime</span><span class="p">（</span><span class="s2">“% Y - % m</span><span class="si">% d</span><span class="s2">% % M - H - % S”</span><span class="p">，</span><span class="n">gmtime</span><span class="p">())</span><span class="o">+</span><span class="s1">. csv”</span><span class="k">def</span><span class="nf">joints_changed</span><span class="p">（</span><span class="n">j - 1</span><span class="p">，</span><span class="n">j2</span><span class="p">，</span><span class="n">宽容</span><span class="o">＝</span><span class="mf">0.0001</span><span class="p">)：</span><span class="sd">如果关节1和关节2不相同，则返回True</span><span class="k">如果</span><span class="n">j - 1</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">j2</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="k">返回</span><span class="kc">真正的</span><span class="k">为</span><span class="n">j - 1</span><span class="p">，</span><span class="n">j2</span><span class="ow">在</span><span class="nb">邮政编码</span><span class="p">（</span><span class="n">j - 1</span><span class="p">，</span><span class="n">j2</span><span class="p">)：</span><span class="k">如果</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">j - 1</span><span class="o">-</span><span class="n">j2</span><span class="p">）</span><span class="o">></span><span class="n">宽容</span><span class="p">：</span><span class="k">返回</span><span class="kc">真正的</span><span class="k">返回</span><span class="kc">假</span><span class="c1">#无限循环记录机器人关节</span><span class="n">joints_last</span><span class="o">＝</span><span class="kc">没有一个</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“记录机器人关节到文件:”</span><span class="o">+</span><span class="n">file_path</span><span class="p">）</span><span class="k">与</span><span class="nb">开放</span><span class="p">（</span><span class="n">file_path</span><span class="p">，</span><span class="s1">“一个”</span><span class="p">）</span><span class="k">作为</span><span class="n">支撑材</span><span class="p">：</span><span class="n">抽搐</span><span class="p">（）</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">时间</span><span class="o">＝</span><span class="n">toc</span><span class="p">（）</span><span class="n">关节</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="o">．</span><span class="n">列表</span><span class="p">（）</span><span class="k">如果</span><span class="n">joints_changed</span><span class="p">（</span><span class="n">关节</span><span class="p">，</span><span class="n">joints_last</span><span class="p">)：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">的时间(s):</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">时间</span><span class="p">）)</span><span class="n">支撑材</span><span class="o">．</span><span class="n">写</span><span class="p">（</span><span class="nb">str</span><span class="p">（</span><span class="n">关节</span><span class="p">) [</span><span class="mi">1</span><span class="p">：</span><span class="o">-</span><span class="mi">1</span><span class="p">］</span><span class="o">+</span><span class="p">（</span><span class="s2">"，</span><span class="si">% .3f</span><span class="s2">＂</span><span class="o">％</span><span class="n">时间</span><span class="p">）</span><span class="o">+</span><span class="s1">＇</span><span class="se">\ n</span><span class="s1">＇</span><span class="p">）</span><span class="n">joints_last</span><span class="o">＝</span><span class="n">关节</span><span class="n">暂停</span><span class="p">（</span><span class="mf">0.01</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="monitor-a-real-ur-robot"> <h2><span class="section-number">4.20.</span>监控一个真正的UR机器人<一个class="headerlink" href="#monitor-a-real-ur-robot" title="¶＂>¶</一个></h2><p>这个例子展示了如何监控连接到PC的通用机器人。除此之外，机器人的位置、速度和加速度可以在125赫兹的频率下进行监测。</p><dl class="simple"> <dt> 更多信息:</dt> <dd> <ul class="simple"> <li><p>机器人司机:<一个class="reference external" href="//www.sinclairbody.com/doc/en/Robot-Drivers.html">//www.sinclairbody.com/doc/en/Robot-Drivers.html#RobotDrivers</一个></p></li> <li><p>使用通用机器人的技巧:<一个class="reference external" href="//www.sinclairbody.com/doc/en/Robots-Universal-Robots.html">//www.sinclairbody.com/doc/en/Robots-Universal-Robots.html#UR</一个></p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="monitor-a-ur-robot"> <div class="code-block-caption"> <span class="caption-text">监控UR机器人</span> <a class="headerlink" href="#monitor-a-ur-robot" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个脚本创建了一个线程来监视一个真正的UR机器人的位置和其他变量</span><span class="c1">#激活此脚本，当机器人移动到一定的公差时，RoboDK将创建一个新的目标</span><span class="c1">＃</span><span class="c1">更多关于RoboDK API的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#按F5运行脚本</span><span class="c1">#或访问://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="kn">进口</span><span class="nn">线程</span><span class="kn">进口</span><span class="nn">套接字</span><span class="kn">进口</span><span class="nn">结构体</span><span class="kn">进口</span><span class="nn">操作系统</span><span class="kn">进口</span><span class="nn">时间</span><span class="c1">#每次机器人位置改变时刷新屏幕</span><span class="n">TOLERANCE_JOINTS_REFRESH</span><span class="o">＝</span><span class="mf">0．1</span><span class="n">RETRIEVE_JOINTS_ONCE</span><span class="o">＝</span><span class="kc">假</span><span class="c1">#如果为True，则只检索一次当前机器人的位置</span><span class="c1">#在给定的公差范围内创建目标</span><span class="n">CREATE_TARGETS</span><span class="o">＝</span><span class="kc">假</span><span class="n">TOLERANCE_JOINTS_NEWTARGET</span><span class="o">＝</span><span class="mi">10</span><span class="c1">#在度</span><span class="n">REFRESH_RATE</span><span class="o">＝</span><span class="mf">0.01</span><span class="c1">#使当前机器人关节可访问的情况下，我们运行它在一个单独的线程</span><span class="k">全球</span><span class="n">ROBOT_JOINTS</span><span class="c1">#根据一定公差检查机器人关节位置是否不同的程序</span><span class="k">def</span><span class="nf">Robot_Joints_Check</span><span class="p">（</span><span class="n">晶澳</span><span class="p">，</span><span class="n">简森-巴顿</span><span class="p">，</span><span class="n">tolerance_deg</span><span class="o">＝</span><span class="mi">1</span><span class="p">)：</span><span class="k">如果</span><span class="n">晶澳</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="k">返回</span><span class="kc">真正的</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="mi">6</span><span class="p">)：</span><span class="k">如果</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">晶澳</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="o">-</span><span class="n">简森-巴顿</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="o">></span><span class="n">tolerance_deg</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">：</span><span class="k">返回</span><span class="kc">真正的</span><span class="k">返回</span><span class="kc">假</span><span class="c1">#########################################################################</span><span class="c1"># Byte转换为指向包内正确的字节数据</span><span class="n">UR_GET_TIME</span><span class="o">＝</span><span class="mi">1</span><span class="n">UR_GET_JOINT_POSITIONS</span><span class="o">＝</span><span class="mi">252</span><span class="n">UR_GET_JOINT_SPEEDS</span><span class="o">＝</span><span class="mi">300</span><span class="n">UR_GET_JOINT_CURRENTS</span><span class="o">＝</span><span class="mi">348</span><span class="n">UR_GET_TCP_FORCES</span><span class="o">＝</span><span class="mi">540</span><span class="c1">根据字节数组获取数据包大小</span><span class="k">def</span><span class="nf">packet_size</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">)：</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">）</span><span class="o"><</span><span class="mi">4</span><span class="p">：</span><span class="k">返回</span><span class="mi">0</span><span class="k">返回</span><span class="n">结构体</span><span class="o">．</span><span class="n">。</span><span class="p">（</span><span class="s2">”!我”</span><span class="p">，</span><span class="n">缓冲区</span><span class="p">，</span><span class="mi">0</span><span class="p">) [</span><span class="mi">0</span><span class="p">］</span><span class="c1">#检查数据包是否完整</span><span class="k">def</span><span class="nf">packet_check</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">)：</span><span class="n">msg_sz</span><span class="o">＝</span><span class="n">packet_size</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">）</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">）</span><span class="o"><</span><span class="n">msg_sz</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“不正确的数据包大小</span><span class="si">%我</span><span class="s2">vs</span><span class="si">%我</span><span class="s2">＂</span><span class="o">％</span><span class="p">（</span><span class="n">msg_sz</span><span class="p">，</span><span class="nb">len</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">))）</span><span class="k">返回</span><span class="kc">假</span><span class="k">返回</span><span class="kc">真正的</span><span class="c1">#从数据包中获取特定信息</span><span class="k">def</span><span class="nf">packet_value</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">，</span><span class="n">抵消</span><span class="p">，</span><span class="n">造船</span><span class="o">＝</span><span class="mi">6</span><span class="p">)：</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">）</span><span class="o"><</span><span class="n">抵消</span><span class="o">+</span><span class="n">造船</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"不可用的偏移(可能是旧的Polyscope版本?):</span><span class="si">%我</span><span class="s2">-</span><span class="si">%我</span><span class="s2">＂</span><span class="o">％</span><span class="p">（</span><span class="nb">len</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">)，</span><span class="n">抵消</span><span class="p">）)</span><span class="k">返回</span><span class="kc">没有一个</span><span class="nb">格式</span><span class="o">＝</span><span class="s1">“!”</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">造船</span><span class="p">)：</span><span class="nb">格式</span><span class="o">+ =</span><span class="s1">' d '</span><span class="k">返回</span><span class="nb">列表</span><span class="p">（</span><span class="n">结构体</span><span class="o">．</span><span class="n">。</span><span class="p">（</span><span class="nb">格式</span><span class="p">，</span><span class="n">缓冲区</span><span class="p">，</span><span class="n">抵消</span><span class="p">）)</span><span class="c1">#返回列表(struct.unpack_from”!dddddd”,但,抵消))</span><span class="c1">#新包到达时采取的措施</span><span class="k">def</span><span class="nf">on_packet</span><span class="p">（</span><span class="n">包</span><span class="p">)：</span><span class="k">全球</span><span class="n">ROBOT_JOINTS</span><span class="c1">从数据包中检索所需信息</span><span class="n">rob_joints_RAD</span><span class="o">＝</span><span class="n">packet_value</span><span class="p">（</span><span class="n">包</span><span class="p">，</span><span class="n">UR_GET_JOINT_POSITIONS</span><span class="p">）</span><span class="n">ROBOT_JOINTS</span><span class="o">＝</span><span class="p">［</span><span class="n">霁</span><span class="o">＊</span><span class="mf">180.0</span><span class="o">/</span><span class="n">π</span><span class="k">为</span><span class="n">霁</span><span class="ow">在</span><span class="n">rob_joints_RAD</span><span class="p">］</span><span class="c1">#ROBOT_SPEED = packet_value(packet, ur_get_joint_speed)</span><span class="c1">#ROBOT_CURRENT = packet_value(packet, UR_GET_JOINT_CURRENTS)</span><span class="c1">#打印(ROBOT_JOINTS)</span><span class="c1">#监视线程从机器人检索信息</span><span class="k">def</span><span class="nf">UR_Monitor</span><span class="p">():</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">rt_socket</span><span class="o">＝</span><span class="n">套接字</span><span class="o">．</span><span class="n">create_connection</span><span class="p">（(</span><span class="n">ROBOT_IP</span><span class="p">，</span><span class="n">ROBOT_PORT</span><span class="p">）)</span><span class="n">缓冲区</span><span class="o">＝</span><span class="sa">b</span><span class="s1">”</span><span class="n">packet_count</span><span class="o">＝</span><span class="mi">0</span><span class="n">packet_time_last</span><span class="o">＝</span><span class="n">时间</span><span class="o">．</span><span class="n">时间</span><span class="p">（）</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">更多的</span><span class="o">＝</span><span class="n">rt_socket</span><span class="o">．</span><span class="n">recv</span><span class="p">（</span><span class="mi">4096</span><span class="p">）</span><span class="k">如果</span><span class="n">更多的</span><span class="p">：</span><span class="n">缓冲区</span><span class="o">＝</span><span class="n">缓冲区</span><span class="o">+</span><span class="n">更多的</span><span class="k">如果</span><span class="n">packet_check</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">)：</span><span class="n">packet_len</span><span class="o">＝</span><span class="n">packet_size</span><span class="p">（</span><span class="n">缓冲区</span><span class="p">）</span><span class="n">包</span><span class="p">，</span><span class="n">缓冲区</span><span class="o">＝</span><span class="n">缓冲区</span><span class="p">[：</span><span class="n">packet_len</span><span class="p">]，</span><span class="n">缓冲区</span><span class="p">［</span><span class="n">packet_len</span><span class="p">:]</span><span class="n">on_packet</span><span class="p">（</span><span class="n">包</span><span class="p">）</span><span class="n">packet_count</span><span class="o">+ =</span><span class="mi">1</span><span class="k">如果</span><span class="n">packet_count</span><span class="o">％</span><span class="mi">125</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="n">t_now</span><span class="o">＝</span><span class="n">时间</span><span class="o">．</span><span class="n">时间</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“监视</span><span class="si">% .1f</span><span class="s2">包/秒”</span><span class="o">％</span><span class="p">（</span><span class="n">packet_count</span><span class="o">/</span><span class="p">（</span><span class="n">t_now</span><span class="o">-</span><span class="n">packet_time_last</span><span class="p">))）</span><span class="n">packet_count</span><span class="o">＝</span><span class="mi">0</span><span class="n">packet_time_last</span><span class="o">＝</span><span class="n">t_now</span><span class="n">rt_socket</span><span class="o">．</span><span class="n">关闭</span><span class="p">（）</span><span class="c1">#########################################################################</span><span class="c1">输入RoboDK IP和端口</span><span class="n">ROBOT_IP</span><span class="o">＝</span><span class="kc">没有一个</span><span class="c1">#“192.168.2.31”</span><span class="n">ROBOT_PORT</span><span class="o">＝</span><span class="mi">30003</span><span class="c1">#启动RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#找回机器人</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个UR机器人来检索当前位置”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#检索机器人的IP:</span><span class="k">如果</span><span class="n">ROBOT_IP</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="n">知识产权</span><span class="p">，</span><span class="n">港口</span><span class="p">，</span><span class="n">路径</span><span class="p">，</span><span class="n">ftpuser</span><span class="p">，</span><span class="n">ftppass</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">ConnectionParams</span><span class="p">（）</span><span class="n">ROBOT_IP</span><span class="o">＝</span><span class="n">知识产权</span><span class="n">ROBOT_JOINTS</span><span class="o">＝</span><span class="kc">没有一个</span><span class="n">last_joints_target</span><span class="o">＝</span><span class="kc">没有一个</span><span class="n">last_joints_refresh</span><span class="o">＝</span><span class="kc">没有一个</span><span class="c1">#启动Robot Monitor线程</span><span class="c1"># q = queue.Queue ()</span><span class="n">t</span><span class="o">＝</span><span class="n">线程</span><span class="o">．</span><span class="n">线程</span><span class="p">（</span><span class="n">目标</span><span class="o">＝</span><span class="n">UR_Monitor</span><span class="p">）</span><span class="n">t</span><span class="o">．</span><span class="n">守护进程</span><span class="o">＝</span><span class="kc">真正的</span><span class="n">t</span><span class="o">．</span><span class="n">开始</span><span class="p">（）</span><span class="c1"># UR_Monitor ()</span><span class="c1">#启动主循环，刷新RoboDK并自动创建目标/程序</span><span class="n">target_count</span><span class="o">＝</span><span class="mi">0</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="c1">#等待一个有效的机器人关节读取</span><span class="k">如果</span><span class="n">ROBOT_JOINTS</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="k">继续</span><span class="c1">#设置机器人到该位置</span><span class="k">如果</span><span class="n">Robot_Joints_Check</span><span class="p">（</span><span class="n">last_joints_refresh</span><span class="p">，</span><span class="n">ROBOT_JOINTS</span><span class="p">，</span><span class="n">TOLERANCE_JOINTS_REFRESH</span><span class="p">)：</span><span class="n">last_joints_refresh</span><span class="o">＝</span><span class="n">ROBOT_JOINTS</span><span class="n">机器人</span><span class="o">．</span><span class="n">setJoints</span><span class="p">（</span><span class="n">ROBOT_JOINTS</span><span class="p">）</span><span class="c1">#如果我们只需要当前位置，请在此停止</span><span class="k">如果</span><span class="n">RETRIEVE_JOINTS_ONCE</span><span class="p">：</span><span class="n">辞职</span><span class="p">（</span><span class="mi">0</span><span class="p">）</span><span class="c1">#检查机器人是否移动到足以创建一个新目标</span><span class="k">如果</span><span class="n">CREATE_TARGETS</span><span class="ow">而且</span><span class="n">Robot_Joints_Check</span><span class="p">（</span><span class="n">last_joints_target</span><span class="p">，</span><span class="n">ROBOT_JOINTS</span><span class="p">，</span><span class="n">TOLERANCE_JOINTS_NEWTARGET</span><span class="p">)：</span><span class="n">last_joints_target</span><span class="o">＝</span><span class="n">ROBOT_JOINTS</span><span class="n">target_count</span><span class="o">＝</span><span class="n">target_count</span><span class="o">+</span><span class="mi">1</span><span class="n">newtarget</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="s1">不</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="n">target_count</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span><span class="c1">#休息一下</span><span class="n">暂停</span><span class="p">（</span><span class="n">REFRESH_RATE</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="pick-and-place"> <h2><span class="section-number">4.21.</span>选择和地点<一个class="headerlink" href="#pick-and-place" title="¶＂>¶</一个></h2><p>这个例子展示了一个使用Fanuc M-710iC/50机器人的高级取放应用程序(来自RoboDK库的例子2)。</p><p>在本例中，Fanuc机器人的所有机器人动作都由Python程序管理。使用Python API，可以在空间站中创建、移动、修改和删除任何对象、参考框架、机器人或其他项目。</p><div class="literal-block-wrapper docutils container" id="example-02-1-pick-and-place-with-python"> <div class="code-block-caption"> <span class="caption-text">示例02-1 -使用python进行选择和放置</span> <a class="headerlink" href="#example-02-1-pick-and-place-with-python" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">这个例子展示了一个使用Fanuc M-710iC/50机器人的高级取放应用程序(来自RoboDK库的例子2)</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信进行模拟和离线/在线编程</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="c1">#设置全局参数</span><span class="n">BALL_DIAMETER</span><span class="o">＝</span><span class="mi">One hundred.</span><span class="c1">一个球的直径</span><span class="n">方法</span><span class="o">＝</span><span class="mi">One hundred.</span><span class="c1">#抓取每个部件的接近距离，单位为mm</span><span class="n">nTCPs</span><span class="o">＝</span><span class="mi">6</span><span class="c1">#工具中TCP的数量</span><span class="c1">#----------------------------------------------</span><span class="c1">#函数定义</span><span class="k">def</span><span class="nf">box_calc</span><span class="p">（</span><span class="n">BALLS_SIDE</span><span class="o">＝</span><span class="mi">4</span><span class="p">，</span><span class="n">BALLS_MAX</span><span class="o">＝</span><span class="kc">没有一个</span><span class="p">)：</span><span class="sd">计算一个点列表(球的中心)，就好像球被存储在一个盒子里一样"""</span><span class="k">如果</span><span class="n">BALLS_MAX</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="n">BALLS_MAX</span><span class="o">＝</span><span class="n">BALLS_SIDE</span><span class="o">**</span><span class="mi">3.</span><span class="n">xyz_list</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">h</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">BALLS_SIDE</span><span class="p">)：</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">BALLS_SIDE</span><span class="p">)：</span><span class="k">为</span><span class="n">j</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">BALLS_SIDE</span><span class="p">)：</span><span class="n">xyz_list</span><span class="o">＝</span><span class="n">xyz_list</span><span class="o">+</span><span class="p">[[(</span><span class="n">我</span><span class="o">+</span><span class="mf">0．5</span><span class="p">）</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="p">，</span><span class="p">（</span><span class="n">j</span><span class="o">+</span><span class="mf">0．5</span><span class="p">）</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="p">，</span><span class="p">（</span><span class="n">h</span><span class="o">+</span><span class="mf">0．5</span><span class="p">）</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="p">]］</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">xyz_list</span><span class="p">）</span><span class="o">> =</span><span class="n">BALLS_MAX</span><span class="p">：</span><span class="k">返回</span><span class="n">xyz_list</span><span class="k">返回</span><span class="n">xyz_list</span><span class="k">def</span><span class="nf">pyramid_calc</span><span class="p">（</span><span class="n">BALLS_SIDE</span><span class="o">＝</span><span class="mi">4</span><span class="p">)：</span><span class="sd">""计算一个点的列表(球的中心)，就好像球被放置在一个金字塔"""</span><span class="c1">#球的数量可以计算为:int(BALLS_SIDE*(BALLS_SIDE+1)*(2*BALLS_SIDE+1)/6)</span><span class="n">BALL_DIAMETER</span><span class="o">＝</span><span class="mi">One hundred.</span><span class="n">xyz_list</span><span class="o">＝</span><span class="p">［］</span><span class="n">sqrt2</span><span class="o">＝</span><span class="mi">2</span><span class="o">**</span><span class="p">（</span><span class="mf">0．5</span><span class="p">）</span><span class="k">为</span><span class="n">h</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">BALLS_SIDE</span><span class="p">)：</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">BALLS_SIDE</span><span class="o">-</span><span class="n">h</span><span class="p">)：</span><span class="k">为</span><span class="n">j</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">BALLS_SIDE</span><span class="o">-</span><span class="n">h</span><span class="p">)：</span><span class="n">高度</span><span class="o">＝</span><span class="n">h</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="o">/</span><span class="n">sqrt2</span><span class="o">+</span><span class="n">BALL_DIAMETER</span><span class="o">/</span><span class="mi">2</span><span class="n">xyz_list</span><span class="o">＝</span><span class="n">xyz_list</span><span class="o">+</span><span class="p">[[</span><span class="n">我</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="o">+</span><span class="p">（</span><span class="n">h</span><span class="o">+</span><span class="mi">1</span><span class="p">）</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="o">＊</span><span class="mf">0．5</span><span class="p">，</span><span class="n">j</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="o">+</span><span class="p">（</span><span class="n">h</span><span class="o">+</span><span class="mi">1</span><span class="p">）</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="o">＊</span><span class="mf">0．5</span><span class="p">，</span><span class="n">高度</span><span class="p">]］</span><span class="k">返回</span><span class="n">xyz_list</span><span class="k">def</span><span class="nf">balls_setup</span><span class="p">（</span><span class="n">框架</span><span class="p">，</span><span class="n">职位</span><span class="p">)：</span><span class="sd">把球的列表放在一个参照系中。引用对象(球)必须事先复制到剪贴板。”＂＂</span><span class="n">nballs</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">职位</span><span class="p">）</span><span class="n">一步</span><span class="o">＝</span><span class="mf">1.0</span><span class="o">/</span><span class="p">（</span><span class="n">nballs</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">nballs</span><span class="p">)：</span><span class="n">newball</span><span class="o">＝</span><span class="n">框架</span><span class="o">．</span><span class="n">粘贴</span><span class="p">（）</span><span class="n">newball</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s1">“球”</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">我</span><span class="p">）)</span><span class="c1">#设置项名称</span><span class="n">newball</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">transl</span><span class="p">（</span><span class="n">职位</span><span class="p">［</span><span class="n">我</span><span class="p">)))</span><span class="c1">#设置项目相对于父元素的位置</span><span class="n">newball</span><span class="o">．</span><span class="n">setVisible</span><span class="p">（</span><span class="kc">真正的</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span><span class="c1">#使项目可见，但隐藏参考框架</span><span class="n">newball</span><span class="o">．</span><span class="n">重新着色</span><span class="p">（[</span><span class="mi">1</span><span class="o">-</span><span class="n">一步</span><span class="o">＊</span><span class="n">我</span><span class="p">，</span><span class="n">一步</span><span class="o">＊</span><span class="n">我</span><span class="p">，</span><span class="mf">0．2</span><span class="p">，</span><span class="mi">1</span><span class="p">])</span><span class="c1">#设置RGBA颜色</span><span class="k">def</span><span class="nf">cleanup_balls</span><span class="p">（</span><span class="n">parentnodes</span><span class="p">)：</span><span class="sd">从提供的父项目列表中删除所有名称以\"ball\"开头的子项目。"＂＂</span><span class="n">删除</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">项</span><span class="ow">在</span><span class="n">parentnodes</span><span class="p">：</span><span class="n">删除</span><span class="o">＝</span><span class="n">删除</span><span class="o">+</span><span class="n">项</span><span class="o">．</span><span class="n">蔡尔兹</span><span class="p">（）</span><span class="k">为</span><span class="n">项</span><span class="ow">在</span><span class="n">删除</span><span class="p">：</span><span class="k">如果</span><span class="n">项</span><span class="o">．</span><span class="n">的名字</span><span class="p">（）</span><span class="o">．</span><span class="n">startswith</span><span class="p">（</span><span class="s1">“球”</span><span class="p">)：</span><span class="n">项</span><span class="o">．</span><span class="n">删除</span><span class="p">（）</span><span class="k">def</span><span class="nf">TCP_On</span><span class="p">（</span><span class="n">toolitem</span><span class="p">，</span><span class="n">tcp_id</span><span class="p">)：</span><span class="sd">"""将最近的对象附加到工具项工具姿势，</span><span class="sd">此外，它将对生成的机器人程序输出适当的函数调用(对TCP_On的调用)”＂＂</span><span class="n">toolitem</span><span class="o">．</span><span class="n">AttachClosest</span><span class="p">（）</span><span class="n">toolitem</span><span class="o">．</span><span class="n">RDK</span><span class="p">（）</span><span class="o">．</span><span class="n">RunMessage</span><span class="p">（</span><span class="s1">“设置空气阀</span><span class="si">%我</span><span class="s1">在“</span><span class="o">％</span><span class="p">（</span><span class="n">tcp_id</span><span class="o">+</span><span class="mi">1</span><span class="p">）)</span><span class="n">toolitem</span><span class="o">．</span><span class="n">RDK</span><span class="p">（）</span><span class="o">．</span><span class="n">调用</span><span class="p">（</span><span class="s1">“TCP_On (</span><span class="si">%我</span><span class="s1">)”</span><span class="o">％</span><span class="p">（</span><span class="n">tcp_id</span><span class="o">+</span><span class="mi">1</span><span class="p">）)</span><span class="k">def</span><span class="nf">TCP_Off</span><span class="p">（</span><span class="n">toolitem</span><span class="p">，</span><span class="n">tcp_id</span><span class="p">，</span><span class="n">itemleave</span><span class="o">＝</span><span class="mi">0</span><span class="p">)：</span><span class="sd">分离附加到工具项工具位姿的最近对象，</span><span class="sd">此外，它将对生成的机器人程序输出适当的函数调用(对TCP_Off的调用)”＂＂</span><span class="n">toolitem</span><span class="o">．</span><span class="n">DetachAll</span><span class="p">（</span><span class="n">itemleave</span><span class="p">）</span><span class="n">toolitem</span><span class="o">．</span><span class="n">RDK</span><span class="p">（）</span><span class="o">．</span><span class="n">RunMessage</span><span class="p">（</span><span class="s1">“设置空气阀</span><span class="si">%我</span><span class="s1">了”</span><span class="o">％</span><span class="p">（</span><span class="n">tcp_id</span><span class="o">+</span><span class="mi">1</span><span class="p">）)</span><span class="n">toolitem</span><span class="o">．</span><span class="n">RDK</span><span class="p">（）</span><span class="o">．</span><span class="n">调用</span><span class="p">（</span><span class="s1">“TCP_Off (</span><span class="si">%我</span><span class="s1">)”</span><span class="o">％</span><span class="p">（</span><span class="n">tcp_id</span><span class="o">+</span><span class="mi">1</span><span class="p">）)</span><span class="c1">#----------------------------------------------------------</span><span class="c1">#程序从这里开始:</span><span class="c1">#任何与RoboDK的互动都必须通过RDK完成:</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#关闭自动渲染(更快)</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1"># RDK.Set_Simulation_Speed (500);#设置模拟速度</span><span class="c1">#从车站树中收集所需的物品</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“Fanuc 50 m - 710 ic /”</span><span class="p">）</span><span class="n">robot_tools</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">蔡尔兹</span><span class="p">（）</span><span class="c1"># robottool = RDK.Item(“MainTool”)</span><span class="n">第一帧</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“表1”</span><span class="p">）</span><span class="n">frame2</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“表2”</span><span class="p">）</span><span class="c1">#复制一个球作为对象(相同的CTRL+C)</span><span class="n">ballref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“参考球”</span><span class="p">）</span><span class="n">ballref</span><span class="o">．</span><span class="n">复制</span><span class="p">（）</span><span class="c1">#运行预定义的工作站程序(在RoboDK中)来替换这两个表</span><span class="n">prog_reset</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“替换对象”</span><span class="p">）</span><span class="n">prog_reset</span><span class="o">．</span><span class="n">调用</span><span class="p">（）</span><span class="c1">#调用自定义过程来删除旧对象</span><span class="n">cleanup_balls</span><span class="p">（[</span><span class="n">第一帧</span><span class="p">，</span><span class="n">frame2</span><span class="p">])</span><span class="c1">#列出放置对象的位置</span><span class="n">frame1_list</span><span class="o">＝</span><span class="n">pyramid_calc</span><span class="p">（</span><span class="mi">4</span><span class="p">）</span><span class="n">frame2_list</span><span class="o">＝</span><span class="n">pyramid_calc</span><span class="p">（</span><span class="mi">4</span><span class="p">）</span><span class="c1">#使用定制过程以编程方式放置对象</span><span class="n">balls_setup</span><span class="p">（</span><span class="n">第一帧</span><span class="p">，</span><span class="n">frame1_list</span><span class="p">）</span><span class="c1">#删除之前生成的工具</span><span class="k">为</span><span class="n">工具</span><span class="ow">在</span><span class="n">robot_tools</span><span class="p">：</span><span class="k">如果</span><span class="n">工具</span><span class="o">．</span><span class="n">的名字</span><span class="p">（）</span><span class="o">．</span><span class="n">startswith</span><span class="p">（</span><span class="s1">“TCP”</span><span class="p">)：</span><span class="n">工具</span><span class="o">．</span><span class="n">删除</span><span class="p">（）</span><span class="c1">#计算6个吸盘的吸盘工具的工具架</span><span class="n">TCP_list</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">nTCPs</span><span class="p">)：</span><span class="n">TCPi_pose</span><span class="o">＝</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">One hundred.</span><span class="p">）</span><span class="o">＊</span><span class="n">rotz</span><span class="p">（(</span><span class="mi">360</span><span class="o">/</span><span class="n">nTCPs</span><span class="p">）</span><span class="o">＊</span><span class="n">我</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">）</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">125</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">）</span><span class="o">＊</span><span class="n">roty</span><span class="p">（</span><span class="n">π</span><span class="o">/</span><span class="mi">2</span><span class="p">）</span><span class="n">TCPi</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">AddTool</span><span class="p">（</span><span class="n">TCPi_pose</span><span class="p">，</span><span class="s1">“TCP</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">）)</span><span class="n">TCP_list</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">TCPi</span><span class="p">）</span><span class="n">TCP_0</span><span class="o">＝</span><span class="n">TCP_list</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="c1">#打开自动渲染</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="c1">#移动球</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">TCP_list</span><span class="p">［</span><span class="mi">0</span><span class="p">])</span><span class="n">nballs_frame1</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">frame1_list</span><span class="p">）</span><span class="n">nballs_frame2</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">frame2_list</span><span class="p">）</span><span class="n">idTake</span><span class="o">＝</span><span class="n">nballs_frame1</span><span class="o">-</span><span class="mi">1</span><span class="n">idLeave</span><span class="o">＝</span><span class="mi">0</span><span class="n">idTCP</span><span class="o">＝</span><span class="mi">0</span><span class="n">target_app_frame</span><span class="o">＝</span><span class="n">transl</span><span class="p">（</span><span class="mi">2</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="p">，</span><span class="mi">2</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="p">，</span><span class="mi">4</span><span class="o">＊</span><span class="n">BALL_DIAMETER</span><span class="p">）</span><span class="o">＊</span><span class="n">roty</span><span class="p">（</span><span class="n">π</span><span class="p">）</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="n">方法</span><span class="p">）</span><span class="k">而</span><span class="n">idTake</span><span class="o">> =</span><span class="mi">0</span><span class="p">：</span><span class="c1"># ------------------------------------------------------------------</span><span class="c1">第一要务:尽可能多地抓住球</span><span class="c1">#现在工具是空的，所以尽可能多的取球(最多6 -> nTCPs)</span><span class="n">ntake</span><span class="o">＝</span><span class="nb">最小值</span><span class="p">（</span><span class="n">nTCPs</span><span class="p">，</span><span class="n">idTake</span><span class="o">+</span><span class="mi">1</span><span class="p">）</span><span class="c1">#方法到帧1</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">第一帧</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">TCP_0</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（[</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">10</span><span class="p">，</span><span class="o">-</span><span class="mi">200</span><span class="p">])</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">target_app_frame</span><span class="p">）</span><span class="c1">#从第一帧抓取球</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">ntake</span><span class="p">)：</span><span class="n">TCPi</span><span class="o">＝</span><span class="n">TCP_list</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">TCPi</span><span class="p">）</span><span class="c1">#计算目标wrt frame1:需要绕Y旋转，因为Z轴和X轴是倒置的</span><span class="n">目标</span><span class="o">＝</span><span class="n">transl</span><span class="p">（</span><span class="n">frame1_list</span><span class="p">［</span><span class="n">idTake</span><span class="p">])</span><span class="o">＊</span><span class="n">roty</span><span class="p">（</span><span class="n">π</span><span class="p">）</span><span class="o">＊</span><span class="n">rotx</span><span class="p">（</span><span class="mi">30.</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">）</span><span class="n">target_app</span><span class="o">＝</span><span class="n">目标</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="n">方法</span><span class="p">）</span><span class="n">idTake</span><span class="o">＝</span><span class="n">idTake</span><span class="o">-</span><span class="mi">1</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">target_app</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="n">TCP_On</span><span class="p">（</span><span class="n">TCPi</span><span class="p">，</span><span class="n">我</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">target_app</span><span class="p">）</span><span class="c1"># ------------------------------------------------------------------</span><span class="c1">#第二优先级:卸载工具</span><span class="c1">#方法到框架2，并将工具球放入表2</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">TCP_0</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">target_app_frame</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（[</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">10</span><span class="p">，</span><span class="o">-</span><span class="mi">200</span><span class="p">])</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">frame2</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">target_app_frame</span><span class="p">）</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">ntake</span><span class="p">)：</span><span class="n">TCPi</span><span class="o">＝</span><span class="n">TCP_list</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">TCPi</span><span class="p">）</span><span class="k">如果</span><span class="n">idLeave</span><span class="o">></span><span class="n">nballs_frame2</span><span class="o">-</span><span class="mi">1</span><span class="p">：</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“表2中没有放置物品的空间”</span><span class="p">）</span><span class="c1">#计算目标wrt帧1:需要绕Y旋转180度，因为Z轴和X轴是倒置的</span><span class="n">目标</span><span class="o">＝</span><span class="n">transl</span><span class="p">（</span><span class="n">frame2_list</span><span class="p">［</span><span class="n">idLeave</span><span class="p">])</span><span class="o">＊</span><span class="n">roty</span><span class="p">（</span><span class="n">π</span><span class="p">）</span><span class="o">＊</span><span class="n">rotx</span><span class="p">（</span><span class="mi">30.</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">）</span><span class="n">target_app</span><span class="o">＝</span><span class="n">目标</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="n">方法</span><span class="p">）</span><span class="n">idLeave</span><span class="o">＝</span><span class="n">idLeave</span><span class="o">+</span><span class="mi">1</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">target_app</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="n">TCP_Off</span><span class="p">（</span><span class="n">TCPi</span><span class="p">，</span><span class="n">我</span><span class="p">，</span><span class="n">frame2</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">target_app</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">target_app_frame</span><span class="p">）</span><span class="c1">当机器人完成后，搬回家</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（[</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">10</span><span class="p">，</span><span class="o">-</span><span class="mi">200</span><span class="p">])</span></pre> </div> </div> </div> </div> <div class="section" id="update-machining-tools"> <h2><span class="section-number">4.22.</span>更新加工工具<一个class="headerlink" href="#update-machining-tools" title="¶＂>¶</一个></h2><p>这个脚本将更新所有在工具名称中有长度标志的工具(例如:<em>工具L220.551</em>)就参考工具而言。参考工具必须有参考长度(例如:Calib Point L164.033)。这是有用的指定一个僵持或定义一个特定的铣刀相对于参考工具。</p><我米g alt="_images / Tool-Point-Offset.png＂src="//www.sinclairbody.com/doc/en/PythonAPI/_images/Tool-Point-Offset.png"> <div class="literal-block-wrapper docutils container" id="update-robot-machining-tools"> <div class="code-block-caption"> <span class="caption-text">更新机器人加工工具</span> <a class="headerlink" href="#update-robot-machining-tools" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">该宏将更新所有在工具名称(tool L220.551)中带有长度标志的引用工具。</span><span class="c1">参考工具必须有参考长度(例如:Calib Point L164.033)。</span><span class="c1">#这是有用的指定一个僵持或定义一个特定的铣刀相对于参考工具。</span><span class="c1">定义第一个长度为0的工具示例:主轴L0，它将被放置在刀架的根部</span><span class="c1">＃</span><span class="c1">更多关于RoboDK API的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">更多信息请访问:</span><span class="c1"># //www.sinclairbody.com/doc/en/PythonAPI/robodk.html robolink-py</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#参考工具的名称(RoboDK树中的名称)</span><span class="c1">名称必须包含以mm为单位的长度</span><span class="n">TOOL_NAME_REF</span><span class="o">＝</span><span class="s1">“L164.033 Calib点”</span><span class="c1">根据工具名称和L关键字获取标称工具长度</span><span class="k">def</span><span class="nf">get_len_tool</span><span class="p">（</span><span class="n">toolname</span><span class="p">)：</span><span class="n">toolnamelist</span><span class="o">＝</span><span class="n">toolname</span><span class="o">．</span><span class="n">分裂</span><span class="p">（</span><span class="s2">”“</span><span class="p">）</span><span class="k">为</span><span class="n">w</span><span class="ow">在</span><span class="n">toolnamelist</span><span class="p">：</span><span class="k">如果</span><span class="n">w</span><span class="o">．</span><span class="n">startswith</span><span class="p">（</span><span class="s2">“L”</span><span class="p">)：</span><span class="k">试一试</span><span class="p">：</span><span class="n">len_tcp_definition</span><span class="o">＝</span><span class="nb">浮动</span><span class="p">（</span><span class="n">w</span><span class="p">［</span><span class="mi">1</span><span class="p">:])</span><span class="k">返回</span><span class="n">len_tcp_definition</span><span class="k">除了</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“无法转换单词:”</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">w</span><span class="p">）)</span><span class="k">继续</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“警告!未知的长度”</span><span class="p">）</span><span class="k">返回</span><span class="kc">没有一个</span><span class="c1">#启动API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#检索引用工具并确保它存在</span><span class="n">tcpref1</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">TOOL_NAME_REF</span><span class="p">，</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">tcpref1</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s1">'引用TCP不存在'</span><span class="p">）</span><span class="c1">#获取参考长度</span><span class="n">len_ref</span><span class="o">＝</span><span class="n">get_len_tool</span><span class="p">（</span><span class="n">tcpref1</span><span class="o">．</span><span class="n">的名字</span><span class="p">())</span><span class="k">如果</span><span class="n">len_ref</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"引用长度未指定，假定为0 "</span><span class="p">）</span><span class="n">len_ref</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#检索两个工具的姿势</span><span class="n">pose1</span><span class="o">＝</span><span class="n">tcpref1</span><span class="o">．</span><span class="n">PoseTool</span><span class="p">（）</span><span class="c1">#遍历所有工具</span><span class="k">为</span><span class="n">tcpref2</span><span class="ow">在</span><span class="n">tcpref1</span><span class="o">．</span><span class="n">父</span><span class="p">（）</span><span class="o">．</span><span class="n">蔡尔兹</span><span class="p">():</span><span class="k">如果</span><span class="n">tcpref2</span><span class="o">．</span><span class="n">类型</span><span class="p">（）</span><span class="o">! =</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">：</span><span class="c1">#不是工具项，跳过</span><span class="k">继续</span><span class="k">如果</span><span class="n">tcpref1</span><span class="o">= =</span><span class="n">tcpref2</span><span class="p">：</span><span class="c1">#这是相同的工具，跳过</span><span class="k">继续</span><span class="c1">#获取工具姿势</span><span class="n">pose2</span><span class="o">＝</span><span class="n">tcpref2</span><span class="o">．</span><span class="n">PoseTool</span><span class="p">（）</span><span class="c1">#检索当前关系:</span><span class="n">pose_shift</span><span class="o">＝</span><span class="n">invH</span><span class="p">（</span><span class="n">pose1</span><span class="p">）</span><span class="o">＊</span><span class="n">pose2</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">，</span><span class="n">w</span><span class="p">，</span><span class="n">p</span><span class="p">，</span><span class="n">r</span><span class="o">＝</span><span class="n">Pose_2_TxyzRxyz</span><span class="p">（</span><span class="n">pose_shift</span><span class="p">）</span><span class="c1">保持Z轴新偏移量的变量</span><span class="n">newZ</span><span class="o">＝</span><span class="kc">没有一个</span><span class="n">toolname</span><span class="o">＝</span><span class="n">tcpref2</span><span class="o">．</span><span class="n">的名字</span><span class="p">（）</span><span class="n">len_tcp_definition</span><span class="o">＝</span><span class="n">get_len_tool</span><span class="p">（</span><span class="n">toolname</span><span class="p">）</span><span class="k">如果</span><span class="n">len_tcp_definition</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"没有L长度的跳过工具:"</span><span class="o">+</span><span class="n">toolname</span><span class="p">）</span><span class="k">继续</span><span class="c1">#根据“L”命名计算偏移量</span><span class="n">nominal_offset</span><span class="o">＝</span><span class="n">len_tcp_definition</span><span class="o">-</span><span class="n">len_ref</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">消息</span><span class="o">＝</span><span class="s1">的工具:</span><span class="se">\ n</span><span class="si">% s</span><span class="se">\ n \ n</span><span class="s1">输入新的Z偏移量(mm)</span><span class="se">\ n</span><span class="s1">当前偏移量是:</span><span class="si">% .3f</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">toolname</span><span class="p">，</span><span class="n">z</span><span class="p">）</span><span class="k">如果</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">nominal_offset</span><span class="o">-</span><span class="n">z</span><span class="p">）</span><span class="o">></span><span class="mf">0.001</span><span class="p">：</span><span class="n">消息</span><span class="o">+ =</span><span class="s1">＇</span><span class="se">\ n \ n</span><span class="s1">注意:</span><span class="se">\ n</span><span class="s1">名义抵消(</span><span class="si">% .3f</span><span class="s1">-</span><span class="si">% .3f</span><span class="s1">)：</span><span class="si">% .3f</span><span class="s1">毫米</span><span class="se">\ n</span><span class="s1">vs。</span><span class="se">\ n</span><span class="s1">当前偏移量:</span><span class="si">% .3f</span><span class="s1">毫米</span><span class="se">\ n</span><span class="s1">不匹配的</span><span class="o">％</span><span class="p">（</span><span class="n">len_tcp_definition</span><span class="p">，</span><span class="n">len_ref</span><span class="p">，</span><span class="n">nominal_offset</span><span class="p">，</span><span class="n">z</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="n">消息</span><span class="o">+ =</span><span class="s1">＇</span><span class="se">\ n</span><span class="s1">抵消目前比赛的</span><span class="k">如果</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">x</span><span class="p">）</span><span class="o">></span><span class="mf">0.001</span><span class="ow">或</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">y</span><span class="p">）</span><span class="o">></span><span class="mf">0.001</span><span class="ow">或</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">w</span><span class="p">）</span><span class="o">></span><span class="mf">0.001</span><span class="ow">或</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">p</span><span class="p">）</span><span class="o">></span><span class="mf">0.001</span><span class="ow">或</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">r</span><span class="p">）</span><span class="o">></span><span class="mf">0.001</span><span class="p">：</span><span class="n">消息</span><span class="o">+ =</span><span class="s1">＇</span><span class="se">\ n \ n</span><span class="s1">重要的是:当前偏移量:</span><span class="se">\ n</span><span class="s1">[X, Y, Z, W, P, R] = [</span><span class="si">% .2f</span><span class="s1">，</span><span class="si">% .2f</span><span class="s1">，</span><span class="si">% .2f</span><span class="s1">，</span><span class="si">% .2f</span><span class="s1">，</span><span class="si">% .2f</span><span class="s1">，</span><span class="si">% .2f</span><span class="s1">]“</span><span class="o">％</span><span class="p">（</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">，</span><span class="n">w</span><span class="p">，</span><span class="n">p</span><span class="p">，</span><span class="n">r</span><span class="p">）</span><span class="n">价值</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="n">消息</span><span class="p">，</span><span class="n">条目</span><span class="o">＝</span><span class="p">（</span><span class="s1">＇</span><span class="si">% .3f</span><span class="s1">-</span><span class="si">% .3f</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">len_tcp_definition</span><span class="p">，</span><span class="n">len_ref</span><span class="p">))）</span><span class="k">如果</span><span class="n">价值</span><span class="ow">是</span><span class="kc">假</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“被用户取消”</span><span class="p">）</span><span class="c1">#退出()#停止</span><span class="k">打破</span><span class="c1">#转到下一步</span><span class="k">试一试</span><span class="p">：</span><span class="n">newZ</span><span class="o">＝</span><span class="nb">eval</span><span class="p">（</span><span class="n">价值</span><span class="p">）</span><span class="c1">#浮动(值)</span><span class="k">打破</span><span class="k">除了</span><span class="ne">ValueError</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“这不是数字，再试一次”</span><span class="p">）</span><span class="c1">#如果计算出偏移量，更新工具</span><span class="k">如果</span><span class="n">newZ</span><span class="ow">是</span><span class="ow">不</span><span class="kc">没有一个</span><span class="p">：</span><span class="n">pose_newtool</span><span class="o">＝</span><span class="n">pose1</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="n">newZ</span><span class="p">）</span><span class="n">tcpref2</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">pose_newtool</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“完成。提出设置为:“</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">pose_newtool</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="project-tcp-to-axis"> <h2><span class="section-number">4.23.</span>项目TCP到Axis<一个class="headerlink" href="#project-tcp-to-axis" title="¶＂>¶</一个></h2><p>该脚本将一个工具(TCP)投射到由另外两个校准工具(定义一个轴的两个TCP)定义的轴上。该脚本还将工具的方向(Z轴)对齐，以匹配校准的轴。在更新TCP之前，将显示一个弹出窗口提供工具错误。</p><p>如果需要精确计算主轴的点和轴(例如，用于机器人加工或切割)，则此脚本非常有用。</p><我米g alt="_images / Tool-Projection.png＂src="//www.sinclairbody.com/doc/en/PythonAPI/_images/Tool-Projection.png"> <div class="literal-block-wrapper docutils container" id="tool-tcp-to-axis-projection"> <div class="code-block-caption"> <span class="caption-text">工具(TCP)向轴投影</span> <a class="headerlink" href="#tool-tcp-to-axis-projection" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#该脚本将一个TCP投射到由其他两个TCP定义的轴上，</span><span class="c1">#调整TCP的位置和Z轴沿两条校准TCP定义的直线</span><span class="c1">＃</span><span class="c1">更多关于RoboDK API的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">更多信息请访问:</span><span class="c1"># //www.sinclairbody.com/doc/en/PythonAPI/robodk.html robolink-py</span><span class="c1">输入校准的参考工具(Z+定义为Point1到Point2)</span><span class="n">AXIS_POINT_1</span><span class="o">＝</span><span class="s1">“CalibTool 1”</span><span class="n">AXIS_POINT_2</span><span class="o">＝</span><span class="s1">《CalibTool 2》</span><span class="c1">#设置以下变量为False，不移动TCP</span><span class="c1">#(只调整Z轴方向)</span><span class="n">PROJECT_POINT</span><span class="o">＝</span><span class="kc">真正的</span><span class="c1">#-----------------------------------------------------------------</span><span class="c1">#-----------------------------------------------------------------</span><span class="c1">#-----------------------------------------------------------------</span><span class="c1">#-----------------------------------------------------------------</span><span class="c1">#-----------------------------------------------------------------</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#基本矩阵运算</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#获取TCP到项目</span><span class="n">tcpitem</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择工具校准Z轴”</span><span class="p">，</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">tcpitem</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（）</span><span class="n">H_TCP</span><span class="o">＝</span><span class="n">tcpitem</span><span class="o">．</span><span class="n">PoseTool</span><span class="p">（）</span><span class="n">P_TCP</span><span class="o">＝</span><span class="n">H_TCP</span><span class="o">．</span><span class="n">Pos</span><span class="p">（）</span><span class="c1">#获取主轴轴</span><span class="n">tcp_item_1</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">AXIS_POINT_1</span><span class="p">，</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">）</span><span class="n">tcp_item_2</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">AXIS_POINT_2</span><span class="p">，</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">tcp_item_1</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">"定义第一个校准TCP为:</span><span class="si">% s</span><span class="s2">＂</span><span class="o">％</span><span class="n">AXIS_POINT_1</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">tcp_item_2</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">"定义第二个校准TCP为:</span><span class="si">% s</span><span class="s2">＂</span><span class="o">％</span><span class="n">AXIS_POINT_2</span><span class="p">）</span><span class="n">axis_p1</span><span class="o">＝</span><span class="n">tcp_item_1</span><span class="o">．</span><span class="n">PoseTool</span><span class="p">（）</span><span class="o">．</span><span class="n">Pos</span><span class="p">（）</span><span class="n">axis_p2</span><span class="o">＝</span><span class="n">tcp_item_2</span><span class="o">．</span><span class="n">PoseTool</span><span class="p">（）</span><span class="o">．</span><span class="n">Pos</span><span class="p">（）</span><span class="c1"># P_TCP的手动输入:</span><span class="c1"># p_tcp = [-51.240000， -94.004000, 266.281000, 60.150000, 0.000000， -26.760000] # [2,0,10]</span><span class="c1"># H_TCP = Motoman_2_Pose(P_TCP)</span><span class="c1">#主轴轴可替代手动输入</span><span class="c1"># axis_p1 = (-43.74331, -83.59345, 259.19644) # (0, 0, 0)</span><span class="c1"># axis_p2 = (-56.48556, -107.99492, 274.96115) # [0, 0, 1]</span><span class="n">axis_v12</span><span class="o">＝</span><span class="n">normalize3</span><span class="p">（</span><span class="n">subs3</span><span class="p">（</span><span class="n">axis_p2</span><span class="p">，</span><span class="n">axis_p1</span><span class="p">）)</span><span class="c1"># TCP计算</span><span class="n">TCP_OK</span><span class="o">＝</span><span class="n">proj_pt_2_line</span><span class="p">（</span><span class="n">P_TCP</span><span class="p">，</span><span class="n">axis_p1</span><span class="p">，</span><span class="n">axis_v12</span><span class="p">）</span><span class="n">TCP_verror</span><span class="o">＝</span><span class="n">subs3</span><span class="p">（</span><span class="n">P_TCP</span><span class="p">，</span><span class="n">TCP_OK</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">投射TCP到主轴轴:</span><span class="se">\ n</span><span class="s1">[X, Y, Z] = [</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">]毫米的</span><span class="o">％</span><span class="p">（</span><span class="n">TCP_OK</span><span class="p">［</span><span class="mi">0</span><span class="p">]，</span><span class="n">TCP_OK</span><span class="p">［</span><span class="mi">1</span><span class="p">]，</span><span class="n">TCP_OK</span><span class="p">［</span><span class="mi">2</span><span class="p">)))</span><span class="n">msg_proj_error</span><span class="o">＝</span><span class="s1">'投影误差=</span><span class="si">% .3f</span><span class="s1">毫米的</span><span class="o">％</span><span class="n">规范</span><span class="p">（</span><span class="n">TCP_verror</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">msg_proj_error</span><span class="p">）</span><span class="c1"># TCP参考帧调整(正确的Z轴)</span><span class="n">TCP_Yvect</span><span class="o">＝</span><span class="n">H_TCP</span><span class="o">．</span><span class="n">v</span><span class="p">（）</span><span class="n">TCP_Zvect</span><span class="o">＝</span><span class="n">H_TCP</span><span class="o">．</span><span class="n">VZ</span><span class="p">（）</span><span class="n">angle_error</span><span class="o">＝</span><span class="n">angle3</span><span class="p">（</span><span class="n">axis_v12</span><span class="p">，</span><span class="n">TCP_Zvect</span><span class="p">）</span><span class="o">＊</span><span class="mi">180</span><span class="o">/</span><span class="n">π</span><span class="n">msg_angle_error</span><span class="o">＝</span><span class="s1">’Z角误差=</span><span class="si">% .3f</span><span class="s1">度的</span><span class="o">％</span><span class="n">angle_error</span><span class="nb">打印</span><span class="p">（</span><span class="n">msg_angle_error</span><span class="p">）</span><span class="n">H_TCP_OK</span><span class="o">＝</span><span class="n">眼睛</span><span class="p">（</span><span class="mi">4</span><span class="p">）</span><span class="k">如果</span><span class="n">PROJECT_POINT</span><span class="p">：</span><span class="n">H_TCP_OK</span><span class="p">［</span><span class="mi">0</span><span class="p">：</span><span class="mi">3.</span><span class="p">，</span><span class="mi">3.</span><span class="p">］</span><span class="o">＝</span><span class="n">TCP_OK</span><span class="k">其他的</span><span class="p">：</span><span class="n">H_TCP_OK</span><span class="p">［</span><span class="mi">0</span><span class="p">：</span><span class="mi">3.</span><span class="p">，</span><span class="mi">3.</span><span class="p">］</span><span class="o">＝</span><span class="n">P_TCP</span><span class="n">H_TCP_OK</span><span class="p">［</span><span class="mi">0</span><span class="p">：</span><span class="mi">3.</span><span class="p">，</span><span class="mi">2</span><span class="p">］</span><span class="o">＝</span><span class="n">axis_v12</span><span class="n">x_axis</span><span class="o">＝</span><span class="n">normalize3</span><span class="p">（</span><span class="n">交叉</span><span class="p">（</span><span class="n">TCP_Yvect</span><span class="p">，</span><span class="n">axis_v12</span><span class="p">）)</span><span class="n">y_axis</span><span class="o">＝</span><span class="n">normalize3</span><span class="p">（</span><span class="n">交叉</span><span class="p">（</span><span class="n">axis_v12</span><span class="p">，</span><span class="n">x_axis</span><span class="p">）)</span><span class="n">H_TCP_OK</span><span class="p">［</span><span class="mi">0</span><span class="p">：</span><span class="mi">3.</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">＝</span><span class="n">x_axis</span><span class="n">H_TCP_OK</span><span class="p">［</span><span class="mi">0</span><span class="p">：</span><span class="mi">3.</span><span class="p">，</span><span class="mi">1</span><span class="p">］</span><span class="o">＝</span><span class="n">y_axis</span><span class="n">TCP_OK</span><span class="o">＝</span><span class="n">Pose_2_Motoman</span><span class="p">（</span><span class="n">H_TCP_OK</span><span class="p">）</span><span class="n">msg_newtcp</span><span class="o">＝</span><span class="s1">'更新TCP [X,Y,Z,w,p,r] = [</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">]“</span><span class="o">％</span><span class="p">（</span><span class="n">TCP_OK</span><span class="p">［</span><span class="mi">0</span><span class="p">]，</span><span class="n">TCP_OK</span><span class="p">［</span><span class="mi">1</span><span class="p">]，</span><span class="n">TCP_OK</span><span class="p">［</span><span class="mi">2</span><span class="p">]，</span><span class="n">TCP_OK</span><span class="p">［</span><span class="mi">3.</span><span class="p">]，</span><span class="n">TCP_OK</span><span class="p">［</span><span class="mi">4</span><span class="p">]，</span><span class="n">TCP_OK</span><span class="p">［</span><span class="mi">5</span><span class="p">])</span><span class="nb">打印</span><span class="p">（</span><span class="n">msg_newtcp</span><span class="p">）</span><span class="c1">#要求用户更新TCP</span><span class="n">回答</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="n">msg_newtcp</span><span class="o">+</span><span class="s1">＇</span><span class="se">\ n \ n</span><span class="s1">＇</span><span class="o">+</span><span class="n">msg_proj_error</span><span class="o">+</span><span class="s1">＇</span><span class="se">\ n</span><span class="s1">＇</span><span class="o">+</span><span class="n">msg_angle_error</span><span class="o">+</span><span class="s1">＇</span><span class="se">\ n \ n</span><span class="s1">更新TCP ?”</span><span class="p">）</span><span class="k">如果</span><span class="n">回答</span><span class="o">= =</span><span class="kc">真正的</span><span class="p">：</span><span class="n">tcpitem</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">H_TCP_OK</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="robot-machining-settings"> <h2><span class="section-number">4.24.</span>机器人加工设置<一个class="headerlink" href="#robot-machining-settings" title="¶＂>¶</一个></h2><p>这个例子展示了如何使用RoboDK API修改与机器人加工和程序事件相关的设置。</p><p>双击机器人加工项目、曲线跟踪项目、点跟踪项目或3D打印项目，可查看设置。</p><p>选择<em>项目活动</em>看事件。</p><p>下一节将展示如何更改轴的优化设置(当机器人与外部轴结合时可能需要)。</p><我米g alt="_images / RobotMachining.png＂src="//www.sinclairbody.com/doc/en/PythonAPI/_images/RobotMachining.png"> <p>可以使用参数/命令将变量检索或设置为dict或JSON字符串<strong>加工</strong>而且<strong>ProgEvents</strong>如下例所示。</p><div class="literal-block-wrapper docutils container" id="update-robot-machining-settings"> <div class="code-block-caption"> <span class="caption-text">更新机器人加工设置</span> <a class="headerlink" href="#update-robot-machining-settings" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个例子展示了如何使用RoboDK API修改与机器人加工和程序事件相关的设置。</span><span class="c1">双击机器人加工项目、曲线跟踪项目、点跟踪项目或3D打印项目查看设置。</span><span class="c1">#选择*程序事件*查看事件。</span><span class="c1">更多信息请点击这里:</span><span class="c1"># //www.sinclairbody.com/doc/en/PythonAPI/examples.html robot-machining-settings</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="c1"># JSON工具</span><span class="kn">进口</span><span class="nn">json</span><span class="c1">#要求用户选择一个机器人加工项目</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">米</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个机器人加工项目来改变方法/撤回”</span><span class="p">，</span><span class="n">ITEM_TYPE_MACHINING</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">米</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“添加机器人加工项目，曲线跟踪或点跟踪”</span><span class="p">）</span><span class="c1">#获取该机器人加工项目使用的机器人:</span><span class="n">机器人</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">机器人</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"未选择机器人:为该机器人加工项目选择一个机器人"</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#--------------------------------------------</span><span class="c1">#获取或设置首选起始关节:</span><span class="n">关节</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="n">关节</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsHome</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“首选开始关节:“</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">关节</span><span class="o">．</span><span class="n">列表</span><span class="p">())</span><span class="n">米</span><span class="o">．</span><span class="n">setJoints</span><span class="p">（</span><span class="n">关节</span><span class="p">）</span><span class="c1">#获取或设置工具姿势的路径:</span><span class="n">path2tool</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“工具姿势路径:”</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">path2tool</span><span class="p">）</span><span class="n">米</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">path2tool</span><span class="p">）</span><span class="c1">#获取或设置工具/参考框架:</span><span class="n">工具</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“使用工具”:</span><span class="o">+</span><span class="n">工具</span><span class="o">．</span><span class="n">的名字</span><span class="p">())</span><span class="n">框架</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">使用引用:“</span><span class="o">+</span><span class="n">框架</span><span class="o">．</span><span class="n">的名字</span><span class="p">())</span><span class="c1"># m.setPoseFrame(框架)</span><span class="c1"># m.setPoseTool(工具)</span><span class="c1">#--------------------------------------------</span><span class="c1">获取或设置机器人加工参数</span><span class="c1">读取所选加工项目的程序事件设置</span><span class="n">machiningsettings</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“加工”</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“机器人加工设置”:</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">json</span><span class="o">．</span><span class="n">转储</span><span class="p">（</span><span class="n">machiningsettings</span><span class="p">，</span><span class="n">缩进</span><span class="o">＝</span><span class="mi">4</span><span class="p">）)</span><span class="c1">#--------------------------------------------</span><span class="c1">读取所选加工项目的程序事件设置</span><span class="n">progevents</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“ProgEvents”</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“程序”事件:</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">json</span><span class="o">．</span><span class="n">转储</span><span class="p">（</span><span class="n">progevents</span><span class="p">，</span><span class="n">缩进</span><span class="o">＝</span><span class="mi">4</span><span class="p">）)</span><span class="c1">#读取默认使用的程序事件设置</span><span class="c1">#站= RDK.ActiveStation ()</span><span class="c1"># json_data = station.setParam(“ProgEvents”)</span><span class="c1"># json_object = json.loads (json_data)</span><span class="c1">#打印(json。转储（json_object, indent=4))</span><span class="c1">#机器人加工设置示例字典</span><span class="n">MachiningSettings</span><span class="o">＝</span><span class="p">｛</span><span class="s2">“算法”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="c1"># 0:刀具方向变化最小，1:刀具方向遵循路径</span><span class="s2">“ApproachRetractAll”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“自动更新”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“AvoidCollisions”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“FollowAngle”</span><span class="p">：</span><span class="mi">45</span><span class="p">，</span><span class="s2">“FollowAngleOn”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“FollowRealign”</span><span class="p">：</span><span class="mi">10</span><span class="p">，</span><span class="s2">“FollowRealignOn”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“FollowStep”</span><span class="p">：</span><span class="mi">90</span><span class="p">，</span><span class="s2">“FollowStepOn”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“JoinCurvesTol”</span><span class="p">：</span><span class="mf">0．5</span><span class="p">，</span><span class="s2">“OrientXaxis2_X”</span><span class="p">：</span><span class="o">-</span><span class="mi">2</span><span class="p">，</span><span class="s2">“OrientXaxis2_Y”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“OrientXaxis2_Z”</span><span class="p">：</span><span class="mi">2</span><span class="p">，</span><span class="s2">“OrientXaxis_X”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“OrientXaxis_Y”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“OrientXaxis_Z”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“PointApproach”</span><span class="p">：</span><span class="mi">20.</span><span class="p">，</span><span class="s2">“RapidApproachRetract”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“RotZ_Range”</span><span class="p">：</span><span class="mi">180</span><span class="p">，</span><span class="s2">“RotZ_Step”</span><span class="p">：</span><span class="mi">20.</span><span class="p">，</span><span class="s2">“SpeedOperation”</span><span class="p">：</span><span class="mi">50</span><span class="p">，</span><span class="s2">“SpeedRapid”</span><span class="p">：</span><span class="mi">1000</span><span class="p">，</span><span class="s2">“TrackActive”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“TrackOffset”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“TrackVector_X”</span><span class="p">：</span><span class="o">-</span><span class="mi">2</span><span class="p">，</span><span class="s2">“TrackVector_Y”</span><span class="p">：</span><span class="o">-</span><span class="mi">2</span><span class="p">，</span><span class="s2">“TrackVector_Z”</span><span class="p">：</span><span class="o">-</span><span class="mi">2</span><span class="p">，</span><span class="s2">“TurntableActive”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“TurntableOffset”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“TurntableRZcomp”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“VisibleNormals”</span><span class="p">：</span><span class="mi">0</span><span class="p">｝</span><span class="c1">程序事件的示例字典</span><span class="n">MachiningProgEvents</span><span class="o">＝</span><span class="p">｛</span><span class="s2">“CallAction”</span><span class="p">：</span><span class="s2">“onPoint”</span><span class="p">，</span><span class="s2">“CallActionOn”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“CallApproach”</span><span class="p">：</span><span class="s2">“onApproach”</span><span class="p">，</span><span class="s2">“CallApproachOn”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“CallPathFinish”</span><span class="p">：</span><span class="s2">“SpindleOff”</span><span class="p">，</span><span class="s2">“CallPathFinishOn”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“CallPathStart”</span><span class="p">：</span><span class="s2">“SpindleOn”</span><span class="p">，</span><span class="s2">“CallPathStartOn”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“CallProgFinish”</span><span class="p">：</span><span class="s2">“onFinish”</span><span class="p">，</span><span class="s2">“CallProgFinishOn”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“CallProgStart”</span><span class="p">：</span><span class="s2">“ChangeTool(%) %工具”</span><span class="p">，</span><span class="s2">“CallProgStartOn”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“CallRetract”</span><span class="p">：</span><span class="s2">“onRetract”</span><span class="p">，</span><span class="s2">“CallRetractOn”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“挤压机”</span><span class="p">：</span><span class="s2">“挤出机(% 1)”</span><span class="p">，</span><span class="s2">“IO_Off”</span><span class="p">：</span><span class="s2">“默认”</span><span class="p">，</span><span class="s2">“IO_OffMotion”</span><span class="p">：</span><span class="s2">“OutOffMov(% 1)”</span><span class="p">，</span><span class="s2">“IO_On”</span><span class="p">：</span><span class="s2">“默认”</span><span class="p">，</span><span class="s2">“IO_OnMotion”</span><span class="p">：</span><span class="s2">“OutOnMov(% 1)”</span><span class="p">，</span><span class="s2">“Mcode”</span><span class="p">：</span><span class="s2">“M_RunCode(% 1)”</span><span class="p">，</span><span class="s2">“RapidSpeed”</span><span class="p">：</span><span class="mi">1000</span><span class="p">，</span><span class="c1">#快速移动到/离开路径</span><span class="s2">“四舍五入”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="c1">#混合半径</span><span class="s2">“RoundingOn”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="s2">“SpindleCCW”</span><span class="p">：</span><span class="s2">＂＂</span><span class="p">，</span><span class="s2">“SpindleCW”</span><span class="p">：</span><span class="s2">＂＂</span><span class="p">，</span><span class="s2">“SpindleRPM”</span><span class="p">：</span><span class="s2">“SetRPM(% 1)”</span><span class="p">，</span><span class="s2">“ToolChange”</span><span class="p">：</span><span class="s2">“SetTool(% 1)”</span><span class="p">｝</span><span class="c1">#更新一个值，例如，使法线不可见</span><span class="n">MachiningUpdate</span><span class="o">＝</span><span class="p">{}</span><span class="n">MachiningUpdate</span><span class="p">［</span><span class="s2">“VisibleNormals”</span><span class="p">］</span><span class="o">＝</span><span class="mi">0</span><span class="n">MachiningUpdate</span><span class="p">［</span><span class="s2">“自动更新”</span><span class="p">］</span><span class="o">＝</span><span class="mi">0</span><span class="n">MachiningUpdate</span><span class="p">［</span><span class="s2">“RotZ_Range”</span><span class="p">］</span><span class="o">＝</span><span class="mi">0</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“更新机器人加工设置”</span><span class="p">）</span><span class="n">状态</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“加工”</span><span class="p">，</span><span class="n">MachiningUpdate</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">状态</span><span class="p">）</span><span class="c1">#更新一些值，例如，设置自定义工具更改和设置弧开始和弧结束命令</span><span class="n">ProgEventsUpdate</span><span class="o">＝</span><span class="p">{}</span><span class="n">ProgEventsUpdate</span><span class="p">［</span><span class="s2">“ToolChange”</span><span class="p">］</span><span class="o">＝</span><span class="s2">“ChangeTool(% 1)”</span><span class="n">ProgEventsUpdate</span><span class="p">［</span><span class="s2">“CallPathStart”</span><span class="p">］</span><span class="o">＝</span><span class="s2">“ArcStart(1)”</span><span class="n">ProgEventsUpdate</span><span class="p">［</span><span class="s2">“CallPathStartOn”</span><span class="p">］</span><span class="o">＝</span><span class="mi">1</span><span class="n">ProgEventsUpdate</span><span class="p">［</span><span class="s2">“CallPathFinish”</span><span class="p">］</span><span class="o">＝</span><span class="s2">“ArcEnd()”</span><span class="n">ProgEventsUpdate</span><span class="p">［</span><span class="s2">“CallPathFinishOn”</span><span class="p">］</span><span class="o">＝</span><span class="mi">1</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“更新程序事件”</span><span class="p">）</span><span class="n">状态</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“ProgEvents”</span><span class="p">，</span><span class="n">ProgEventsUpdate</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">状态</span><span class="p">）</span><span class="c1">#---------------------------------------------------------------------------</span><span class="c1">本节演示如何更改机器人加工项目的进近/收回设置</span><span class="c1">单位为毫米和度</span><span class="c1">更多的例子:C:/RoboDK/Library/宏/ sampleapproachwithdraw .py</span><span class="c1">#应用切线方法并缩回(单位:mm)</span><span class="n">米</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“ApproachRetract”</span><span class="p">，</span><span class="s2">“切50”</span><span class="p">）</span><span class="c1"># m。集Param("Approach", "Tangent 50")</span><span class="c1"># m。集Param("Retract", "Tangent 50")</span><span class="c1"># m。集Param("Retract", "Side 100") # side approach</span><span class="c1"># m。集Param("Approach", "XYZ 50 60 70") # XYZ offset</span><span class="c1"># m。集Param("Approach", "NTS 50 60 70") #Normal/Tangent/Side Coordinates</span><span class="c1"># m。集Param("ApproachRetract", "ArcN 50 100") # Normal arc (diameter/angle)</span><span class="n">米</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“UpdatePath”</span><span class="p">）</span><span class="c1">#重新计算路径</span><span class="c1">#更新加工项目(验证机器人的可行性)</span><span class="n">状态</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">更新</span><span class="p">（）</span><span class="c1">#获取生成的机器人程序</span><span class="n">掠夺</span><span class="o">＝</span><span class="n">米</span><span class="o">．</span><span class="n">getLink</span><span class="p">（</span><span class="n">ITEM_TYPE_PROGRAM</span><span class="p">）</span><span class="c1">#运行程序模拟</span><span class="n">掠夺</span><span class="o">．</span><span class="n">调用</span><span class="p">（）</span><span class="c1">#将程序文件保存到指定文件夹</span><span class="c1"># program.MakeProgram (" " " C: / Path-to-Folder / " " ")</span></pre> </div> </div> </div> </div> <div class="section" id="axes-optimization-settings"> <h2><span class="section-number">4.25.</span>轴的优化设置<一个class="headerlink" href="#axes-optimization-settings" title="¶＂>¶</一个></h2><p>这个例子展示了如何使用RoboDK API和JSON字符串读取或修改Axes Optimization设置。您可以在机器人加工菜单中选择“轴优化”或机器人参数，查看轴优化设置。可以手动或使用API更新附加到机器人或机器人加工项目的轴优化设置。</p><我米g alt="_images / AxesOptimization.png＂src="//www.sinclairbody.com/doc/en/PythonAPI/_images/AxesOptimization.png"> <p>可以使用参数/命令将变量检索或设置为dict或JSON字符串<strong>OptimAxes</strong>如下例所示。</p><div class="literal-block-wrapper docutils container" id="update-axes-optimization-settings"> <div class="code-block-caption"> <span class="caption-text">更新轴优化设置</span> <a class="headerlink" href="#update-axes-optimization-settings" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个例子展示了如何使用RoboDK API和JSON字符串读取或修改Axes Optimization设置。</span><span class="c1">在机器人加工菜单中选择“轴优化”或机器人参数，可查看轴优化设置。</span><span class="c1">#可以手动或使用API更新附加到机器人或机器人加工项目的轴优化设置。</span><span class="c1">＃</span><span class="c1">更多关于RoboDK API的信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">更多信息请访问:</span><span class="c1"># //www.sinclairbody.com/doc/en/PythonAPI/robodk.html robolink-py</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># JSON工具</span><span class="kn">进口</span><span class="nn">json</span><span class="c1">#启动RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#要求用户选择一个机器人手臂(6轴机器人，可以有外轴)</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">“选择机械臂”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT_ARM</span><span class="p">）</span><span class="c1">#默认优化设置测试模板</span><span class="n">AxesOptimSettings</span><span class="o">＝</span><span class="p">｛</span><span class="c1">#优化参数:</span><span class="s2">“活跃”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="c1">#使用通用轴优化:0=禁用或1=启用</span><span class="s2">“算法”</span><span class="p">：</span><span class="mi">2</span><span class="p">，</span><span class="c1">#优化算法使用:1=Nelder Mead, 2=Samples, 3=Samples+Nelder Mead</span><span class="s2">“麦克斯特”</span><span class="p">：</span><span class="mi">650</span><span class="p">，</span><span class="c1">#马克斯。的迭代次数</span><span class="s2">“托尔”</span><span class="p">：</span><span class="mf">0.0016</span><span class="p">，</span><span class="c1">#容忍停止迭代</span><span class="c1">#绝对参考关节(double):</span><span class="s2">“AbsJnt_1”</span><span class="p">：</span><span class="mf">104.17</span><span class="p">，</span><span class="s2">“AbsJnt_2”</span><span class="p">：</span><span class="mf">11.22</span><span class="p">，</span><span class="s2">“AbsJnt_3”</span><span class="p">：</span><span class="mf">15.97</span><span class="p">，</span><span class="s2">“AbsJnt_4”</span><span class="p">：</span><span class="o">-</span><span class="mf">87.48</span><span class="p">，</span><span class="s2">“AbsJnt_5”</span><span class="p">：</span><span class="o">-</span><span class="mf">75.36</span><span class="p">，</span><span class="s2">“AbsJnt_6”</span><span class="p">：</span><span class="mf">63.03</span><span class="p">，</span><span class="s2">“AbsJnt_7”</span><span class="p">：</span><span class="mf">174.13</span><span class="p">，</span><span class="s2">“AbsJnt_8”</span><span class="p">：</span><span class="mf">173.60</span><span class="p">，</span><span class="s2">“AbsJnt_9”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="c1">#使用绝对参考关节(0:否，1:是):</span><span class="s2">“AbsOn_1”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“AbsOn_2”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“AbsOn_3”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“AbsOn_4”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“AbsOn_5”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“AbsOn_6”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“AbsOn_7”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“AbsOn_8”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“AbsOn_9”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="c1">绝对参考关节重量(双):</span><span class="s2">“AbsW_1”</span><span class="p">：</span><span class="mi">One hundred.</span><span class="p">，</span><span class="s2">“AbsW_2”</span><span class="p">：</span><span class="mi">One hundred.</span><span class="p">，</span><span class="s2">“AbsW_3”</span><span class="p">：</span><span class="mi">One hundred.</span><span class="p">，</span><span class="s2">“AbsW_4”</span><span class="p">：</span><span class="mi">89</span><span class="p">，</span><span class="s2">“AbsW_5”</span><span class="p">：</span><span class="mi">90</span><span class="p">，</span><span class="s2">“AbsW_6”</span><span class="p">：</span><span class="mi">92</span><span class="p">，</span><span class="s2">“AbsW_7”</span><span class="p">：</span><span class="mi">92</span><span class="p">，</span><span class="s2">“AbsW_8”</span><span class="p">：</span><span class="mi">96</span><span class="p">，</span><span class="s2">“AbsW_9”</span><span class="p">：</span><span class="mi">50</span><span class="p">，</span><span class="c1">#用于相对关节运动平滑(0:否，1:是):</span><span class="s2">“RelOn_1”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“RelOn_2”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“RelOn_3”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“RelOn_4”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“RelOn_5”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“RelOn_6”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“RelOn_7”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“RelOn_8”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="s2">“RelOn_9”</span><span class="p">：</span><span class="mi">1</span><span class="p">，</span><span class="c1">#相对关节运动的重量(双):</span><span class="s2">“RelW_1”</span><span class="p">：</span><span class="mi">5</span><span class="p">，</span><span class="s2">“RelW_2”</span><span class="p">：</span><span class="mi">47</span><span class="p">，</span><span class="s2">“RelW_3”</span><span class="p">：</span><span class="mi">44</span><span class="p">，</span><span class="s2">“RelW_4”</span><span class="p">：</span><span class="mi">43</span><span class="p">，</span><span class="s2">“RelW_5”</span><span class="p">：</span><span class="mi">36</span><span class="p">，</span><span class="s2">“RelW_6”</span><span class="p">：</span><span class="mi">47</span><span class="p">，</span><span class="s2">“RelW_7”</span><span class="p">：</span><span class="mi">53</span><span class="p">，</span><span class="s2">“RelW_8”</span><span class="p">：</span><span class="mi">59</span><span class="p">，</span><span class="s2">“RelW_9”</span><span class="p">：</span><span class="mi">0</span><span class="p">，</span><span class="p">｝</span><span class="c1">#更新一个值，例如，使它激活:</span><span class="n">更新</span><span class="o">＝</span><span class="p">{}</span><span class="n">更新</span><span class="p">［</span><span class="s2">“活跃”</span><span class="p">］</span><span class="o">＝</span><span class="mi">1</span><span class="n">json_str</span><span class="o">＝</span><span class="n">json</span><span class="o">．</span><span class="n">转储</span><span class="p">（</span><span class="n">更新</span><span class="p">）</span><span class="n">状态</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“OptimAxes”</span><span class="p">，</span><span class="n">json_str</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">状态</span><span class="p">）</span><span class="c1">进行部分或全部更新的示例</span><span class="n">数</span><span class="o">＝</span><span class="mi">1</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="mi">7</span><span class="p">)：</span><span class="c1">#部分更新</span><span class="n">更新</span><span class="o">＝</span><span class="p">{}</span><span class="n">更新</span><span class="p">［</span><span class="s2">“AbsJnt_”</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">）]</span><span class="o">＝</span><span class="p">（</span><span class="n">数</span><span class="o">+</span><span class="n">我</span><span class="p">）</span><span class="o">＊</span><span class="mi">4</span><span class="n">更新</span><span class="p">［</span><span class="s2">“AbsOn_”</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">）]</span><span class="o">＝</span><span class="n">数</span><span class="o">％</span><span class="mi">2</span><span class="n">更新</span><span class="p">［</span><span class="s2">“AbsW_”</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">）]</span><span class="o">＝</span><span class="p">（</span><span class="n">数</span><span class="o">+</span><span class="n">我</span><span class="p">）</span><span class="n">json_str</span><span class="o">＝</span><span class="n">json</span><span class="o">．</span><span class="n">转储</span><span class="p">（</span><span class="n">更新</span><span class="p">）</span><span class="n">状态</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“OptimAxes”</span><span class="p">，</span><span class="n">json_str</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">状态</span><span class="p">）</span><span class="c1">#完整更新</span><span class="c1"># OptimAxes_TEST[“RefJoint_”+ str (i + 1) =(计数+ i) * 4</span><span class="c1">#OptimAxes_TEST["RefWeight_" + str(i+1)] = (count+i)</span><span class="c1">#OptimAxes_TEST["RefOn_" + str(i+1)] = count % 2</span><span class="c1">#完整更新</span><span class="c1">#打印(机器人。setParam（“OptimAxes”，str（AxesOptimSettings))）</span><span class="n">数</span><span class="o">＝</span><span class="n">数</span><span class="o">+</span><span class="mi">1</span><span class="c1">#读设置</span><span class="n">json_data</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“OptimAxes”</span><span class="p">）</span><span class="n">json_object</span><span class="o">＝</span><span class="n">json</span><span class="o">．</span><span class="n">加载</span><span class="p">（</span><span class="n">json_data</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">json</span><span class="o">．</span><span class="n">转储</span><span class="p">（</span><span class="n">json_object</span><span class="p">，</span><span class="n">缩进</span><span class="o">＝</span><span class="mi">4</span><span class="p">）)</span><span class="n">暂停</span><span class="p">（</span><span class="mf">0．2</span><span class="p">）</span><span class="c1">读取当前轴的优化设置:</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">json_data</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“OptimAxes”</span><span class="p">）</span><span class="n">json_object</span><span class="o">＝</span><span class="n">json</span><span class="o">．</span><span class="n">加载</span><span class="p">（</span><span class="n">json_data</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">json</span><span class="o">．</span><span class="n">转储</span><span class="p">（</span><span class="n">json_object</span><span class="p">，</span><span class="n">缩进</span><span class="o">＝</span><span class="mi">4</span><span class="p">）)</span><span class="n">暂停</span><span class="p">（</span><span class="mf">0．2</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="modify-program-instructions"> <h2><span class="section-number">4.26.</span>修改程序指令<一个class="headerlink" href="#modify-program-instructions" title="¶＂>¶</一个></h2><p>这个例子展示了如何修改程序指令。</p><p>此示例遍历所选程序，更改速度、删除任何暂停指令并添加自定义程序调用。</p><div class="literal-block-wrapper docutils container" id="id7"> <div class="code-block-caption"> <span class="caption-text">修改程序指令</span> <a class="headerlink" href="#id7" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个例子展示了如何修改程序指令</span><span class="c1">参见:</span><span class="c1"># //www.sinclairbody.com/doc/en/PythonAPI/robodk.html robodk.robolink.Robolink.AddProgram</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">进口</span><span class="nn">json</span><span class="c1">#启动RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#让用户选择一个程序:</span><span class="n">掠夺</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">“选择要修改的程序”</span><span class="p">，</span><span class="n">ITEM_TYPE_PROGRAM</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">掠夺</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"操作取消或无节目可用"</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#要求用户输入一个函数调用，该函数将在每次移动后添加:</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“程序选择:”</span><span class="o">+</span><span class="n">掠夺</span><span class="o">．</span><span class="n">的名字</span><span class="p">())</span><span class="c1">#迭代所有指令(index start为0，你也可以使用-1作为最后一条指令)</span><span class="n">ins_count</span><span class="o">＝</span><span class="n">掠夺</span><span class="o">．</span><span class="n">InstructionCount</span><span class="p">（）</span><span class="n">ins_id</span><span class="o">＝</span><span class="mi">0</span><span class="k">而</span><span class="n">ins_id</span><span class="o"><</span><span class="n">ins_count</span><span class="p">：</span><span class="c1">获取与指令相关的特定数据</span><span class="c1">#该操作总是返回一个dict (json)</span><span class="n">instruction_dict</span><span class="o">＝</span><span class="n">掠夺</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="n">ins_id</span><span class="p">）</span><span class="c1">#打印指令数据</span><span class="c1"># indented_values = json。转储（我n结构体我on_dict, indent=4)</span><span class="nb">打印</span><span class="p">（</span><span class="s2">＂</span><span class="se">\ n \ n</span><span class="s2">指令:“</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">ins_id</span><span class="p">）)</span><span class="nb">打印</span><span class="p">（</span><span class="n">instruction_dict</span><span class="p">）</span><span class="c1">#注意:每条指令的类型都是唯一的，不能更改。</span><span class="c1">#然而，将Type值设置为-1将删除指令(与InstructionDelete()相同)</span><span class="k">如果</span><span class="n">instruction_dict</span><span class="p">［</span><span class="s1">“类型”</span><span class="p">］</span><span class="o">= =</span><span class="n">INS_TYPE_CHANGESPEED</span><span class="p">：</span><span class="c1">#降低速度:</span><span class="n">newvalues</span><span class="o">＝</span><span class="p">｛</span><span class="s1">“速度”</span><span class="p">：</span><span class="mi">50</span><span class="p">｝</span><span class="k">如果</span><span class="n">instruction_dict</span><span class="p">［</span><span class="s1">“速度”</span><span class="p">］</span><span class="o">></span><span class="mi">50</span><span class="p">：</span><span class="n">new_speed</span><span class="o">＝</span><span class="mf">0．8</span><span class="o">＊</span><span class="n">instruction_dict</span><span class="p">［</span><span class="s1">“速度”</span><span class="p">］</span><span class="n">newvalues</span><span class="o">＝</span><span class="p">｛</span><span class="s1">“速度”</span><span class="p">：</span><span class="n">new_speed</span><span class="p">｝</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“减少速度:</span><span class="si">% .3f</span><span class="s2">＂</span><span class="o">％</span><span class="n">new_speed</span><span class="p">）</span><span class="c1">#更新指令数据</span><span class="n">掠夺</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="n">ins_id</span><span class="p">，</span><span class="n">newvalues</span><span class="p">）</span><span class="c1">如果不提供新名称，# RoboDK可能会更改指令名称</span><span class="k">elif</span><span class="n">instruction_dict</span><span class="p">［</span><span class="s1">“类型”</span><span class="p">］</span><span class="o">= =</span><span class="n">INS_TYPE_CODE</span><span class="p">：</span><span class="c1">#选择移动指令作为添加新指令的参考</span><span class="n">掠夺</span><span class="o">．</span><span class="n">InstructionSelect</span><span class="p">（</span><span class="n">ins_id</span><span class="p">）</span><span class="c1">#添加一个新的程序调用</span><span class="n">掠夺</span><span class="o">．</span><span class="n">RunInstruction</span><span class="p">（</span><span class="s2">“职位”</span><span class="o">+</span><span class="n">instruction_dict</span><span class="p">［</span><span class="s1">“代码”</span><span class="p">]，</span><span class="n">INSTRUCTION_CALL_PROGRAM</span><span class="p">）</span><span class="c1">#重要:我们刚刚添加了一条新指令，所以请确保我们跳过这个指令索引!</span><span class="n">ins_id</span><span class="o">＝</span><span class="n">ins_id</span><span class="o">+</span><span class="mi">1</span><span class="k">elif</span><span class="n">instruction_dict</span><span class="p">［</span><span class="s1">“类型”</span><span class="p">］</span><span class="o">= =</span><span class="n">INS_TYPE_PAUSE</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“Deletint暂停指令”</span><span class="p">）</span><span class="n">掠夺</span><span class="o">．</span><span class="n">InstructionDelete</span><span class="p">（</span><span class="n">ins_id</span><span class="p">）</span><span class="c1">删除指令的另一种方法:</span><span class="c1"># delete_command ={“类型”:1}</span><span class="c1">#掠夺。集Param(ins_id, delete_command)</span><span class="c1">#重要:我们刚刚删除了一条指令，所以请确保我们重新计算了指令索引</span><span class="n">ins_id</span><span class="o">＝</span><span class="n">ins_id</span><span class="o">-</span><span class="mi">1</span><span class="k">elif</span><span class="n">instruction_dict</span><span class="p">［</span><span class="s1">“类型”</span><span class="p">］</span><span class="o">= =</span><span class="n">INS_TYPE_MOVE</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">移动指令:使用setInstruction来修改目标</span><span class="p">）</span><span class="c1">#ins_name, ins_type, move_type, isjointtarget, pose，关节= prog.Instruction(ins_id)</span><span class="c1">#掠夺。集Instruction(ins_id, ins_name, ins_type, move_type, isjointtarget, pose, joints)</span><span class="n">ins_id</span><span class="o">＝</span><span class="n">ins_id</span><span class="o">+</span><span class="mi">1</span><span class="c1">#删除为新指令自动创建的选择</span><span class="n">RDK</span><span class="o">．</span><span class="n">setSelection</span><span class="p">([])</span></pre> </div> </div> </div> </div> <div class="section" id="drawing-an-svg-image"> <h2><span class="section-number">4.27.</span>绘制SVG图像<一个class="headerlink" href="#drawing-an-svg-image" title="¶＂>¶</一个></h2><p>为机器人编程，给出SVG图像来模拟绘图应用程序。本例中使用的是ABB IRB 4600-20/2.50。</p><p>3.．D HTML模拟这个例子:<一个class="reference external" href="//www.sinclairbody.com/simulations/Robot-Drawing.html">//www.sinclairbody.com/simulations/Robot-Drawing.html</一个></p><div class="literal-block-wrapper docutils container" id="example-03-drawing-with-a-robot"> <div class="code-block-caption"> <span class="caption-text">例03 -用机器人画画</span> <a class="headerlink" href="#example-03-drawing-with-a-robot" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">一个机器人被赋予SVG图像来模拟绘图应用程序。本例中使用的是ABB IRB 4600-20/2.50。</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信进行模拟和离线/在线编程</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#工业机器人的机器人工具箱世界杯2022美洲预选赛直播</span><span class="kn">进口</span><span class="nn">sys</span><span class="kn">进口</span><span class="nn">操作系统</span><span class="kn">进口</span><span class="nn">再保险</span><span class="c1">#--------------------------------------------------------------------------------</span><span class="c1">#函数定义:</span><span class="k">def</span><span class="nf">point2D_2_pose</span><span class="p">（</span><span class="n">点</span><span class="p">，</span><span class="n">切</span><span class="p">)：</span><span class="sd">"将二维点转换为XY平面上的三维姿势(4x4齐次矩阵)"＂＂</span><span class="k">返回</span><span class="n">transl</span><span class="p">（</span><span class="n">点</span><span class="o">．</span><span class="n">x</span><span class="p">，</span><span class="n">点</span><span class="o">．</span><span class="n">y</span><span class="p">，</span><span class="mi">0</span><span class="p">）</span><span class="o">＊</span><span class="n">rotz</span><span class="p">（</span><span class="n">切</span><span class="o">．</span><span class="n">角</span><span class="p">())</span><span class="k">def</span><span class="nf">svg_draw_quick</span><span class="p">（</span><span class="n">svg_img</span><span class="p">，</span><span class="n">董事会</span><span class="p">，</span><span class="n">pix_ref</span><span class="p">)：</span><span class="sd">“快速显示图像结果，无需检查机器人的运动。”＂＂</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="n">数</span><span class="o">＝</span><span class="mi">0</span><span class="k">为</span><span class="n">路径</span><span class="ow">在</span><span class="n">svg_img</span><span class="p">：</span><span class="n">数</span><span class="o">＝</span><span class="n">数</span><span class="o">+</span><span class="mi">1</span><span class="c1">#使用像素参考设置路径颜色，设置像素宽度和副本作为参考</span><span class="n">pix_ref</span><span class="o">．</span><span class="n">重新着色</span><span class="p">（</span><span class="n">路径</span><span class="o">．</span><span class="n">fill_color</span><span class="p">）</span><span class="n">np</span><span class="o">＝</span><span class="n">路径</span><span class="o">．</span><span class="n">nPoints</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“画路径</span><span class="si">%我</span><span class="s1">/</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">数</span><span class="p">，</span><span class="nb">len</span><span class="p">（</span><span class="n">svg_img</span><span class="p">))）</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">np</span><span class="p">)：</span><span class="n">p_i</span><span class="o">＝</span><span class="n">路径</span><span class="o">．</span><span class="n">getPoint</span><span class="p">（</span><span class="n">我</span><span class="p">）</span><span class="n">v_i</span><span class="o">＝</span><span class="n">路径</span><span class="o">．</span><span class="n">getVector</span><span class="p">（</span><span class="n">我</span><span class="p">）</span><span class="n">pt_pose</span><span class="o">＝</span><span class="n">point2D_2_pose</span><span class="p">（</span><span class="n">p_i</span><span class="p">，</span><span class="n">v_i</span><span class="p">）</span><span class="c1">#将像素几何图形添加到绘图板对象，在计算的像素位姿</span><span class="n">董事会</span><span class="o">．</span><span class="n">AddGeometry</span><span class="p">（</span><span class="n">pix_ref</span><span class="p">，</span><span class="n">pt_pose</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="k">def</span><span class="nf">svg_draw_robot</span><span class="p">（</span><span class="n">svg_img</span><span class="p">，</span><span class="n">董事会</span><span class="p">，</span><span class="n">pix_ref</span><span class="p">，</span><span class="n">item_frame</span><span class="p">，</span><span class="n">item_tool</span><span class="p">，</span><span class="n">机器人</span><span class="p">)：</span><span class="sd">"""用机器人绘制图像。它比svg_draw_quick慢，但它确保了图像可以用机器人绘制。”＂＂</span><span class="n">方法</span><span class="o">＝</span><span class="mi">One hundred.</span><span class="c1">#每条路径的接近距离(单位为MM)</span><span class="n">home_joints</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">90</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="c1">#家庭关节，in deg</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">item_frame</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">item_tool</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">home_joints</span><span class="p">）</span><span class="c1">#根据home位置的工具方向获取目标方向</span><span class="n">orient_frame2tool</span><span class="o">＝</span><span class="n">invH</span><span class="p">（</span><span class="n">item_frame</span><span class="o">．</span><span class="n">构成</span><span class="p">())</span><span class="o">＊</span><span class="n">机器人</span><span class="o">．</span><span class="n">SolveFK</span><span class="p">（</span><span class="n">home_joints</span><span class="p">）</span><span class="o">＊</span><span class="n">item_tool</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="n">orient_frame2tool</span><span class="p">［</span><span class="mi">0</span><span class="p">：</span><span class="mi">3.</span><span class="p">，</span><span class="mi">3.</span><span class="p">］</span><span class="o">＝</span><span class="n">垫</span><span class="p">（[</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">])</span><span class="c1"># alternative: orient_frame2tool = roty(pi)</span><span class="k">为</span><span class="n">路径</span><span class="ow">在</span><span class="n">svg_img</span><span class="p">：</span><span class="c1">#使用像素参考设置路径颜色，设置像素宽度和副本作为参考</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“画</span><span class="si">% s</span><span class="s1">， RGB颜色= [</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">]“</span><span class="o">％</span><span class="p">（</span><span class="n">路径</span><span class="o">．</span><span class="n">idname</span><span class="p">，</span><span class="n">路径</span><span class="o">．</span><span class="n">fill_color</span><span class="p">［</span><span class="mi">0</span><span class="p">]，</span><span class="n">路径</span><span class="o">．</span><span class="n">fill_color</span><span class="p">［</span><span class="mi">1</span><span class="p">]，</span><span class="n">路径</span><span class="o">．</span><span class="n">fill_color</span><span class="p">［</span><span class="mi">2</span><span class="p">)))</span><span class="n">pix_ref</span><span class="o">．</span><span class="n">重新着色</span><span class="p">（</span><span class="n">路径</span><span class="o">．</span><span class="n">fill_color</span><span class="p">）</span><span class="n">np</span><span class="o">＝</span><span class="n">路径</span><span class="o">．</span><span class="n">nPoints</span><span class="p">（）</span><span class="c1">#机器人移动:接近第一个目标</span><span class="n">p_0</span><span class="o">＝</span><span class="n">路径</span><span class="o">．</span><span class="n">getPoint</span><span class="p">（</span><span class="mi">0</span><span class="p">）</span><span class="n">target0</span><span class="o">＝</span><span class="n">transl</span><span class="p">（</span><span class="n">p_0</span><span class="o">．</span><span class="n">x</span><span class="p">，</span><span class="n">p_0</span><span class="o">．</span><span class="n">y</span><span class="p">，</span><span class="mi">0</span><span class="p">）</span><span class="o">＊</span><span class="n">orient_frame2tool</span><span class="n">target0_app</span><span class="o">＝</span><span class="n">target0</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="n">方法</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">target0_app</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">RunMessage</span><span class="p">（</span><span class="s1">“画</span><span class="si">% s</span><span class="s1">＇</span><span class="o">％</span><span class="n">路径</span><span class="o">．</span><span class="n">idname</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">调用</span><span class="p">（</span><span class="s1">“SetColorRGB (</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">，</span><span class="si">% .3f</span><span class="s1">)”</span><span class="o">％</span><span class="p">（</span><span class="n">路径</span><span class="o">．</span><span class="n">fill_color</span><span class="p">［</span><span class="mi">0</span><span class="p">]，</span><span class="n">路径</span><span class="o">．</span><span class="n">fill_color</span><span class="p">［</span><span class="mi">1</span><span class="p">]，</span><span class="n">路径</span><span class="o">．</span><span class="n">fill_color</span><span class="p">［</span><span class="mi">2</span><span class="p">)))</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">np</span><span class="p">)：</span><span class="n">p_i</span><span class="o">＝</span><span class="n">路径</span><span class="o">．</span><span class="n">getPoint</span><span class="p">（</span><span class="n">我</span><span class="p">）</span><span class="n">v_i</span><span class="o">＝</span><span class="n">路径</span><span class="o">．</span><span class="n">getVector</span><span class="p">（</span><span class="n">我</span><span class="p">）</span><span class="n">pt_pose</span><span class="o">＝</span><span class="n">point2D_2_pose</span><span class="p">（</span><span class="n">p_i</span><span class="p">，</span><span class="n">v_i</span><span class="p">）</span><span class="c1">#机器人运动:</span><span class="n">目标</span><span class="o">＝</span><span class="n">transl</span><span class="p">（</span><span class="n">p_i</span><span class="o">．</span><span class="n">x</span><span class="p">，</span><span class="n">p_i</span><span class="o">．</span><span class="n">y</span><span class="p">，</span><span class="mi">0</span><span class="p">）</span><span class="o">＊</span><span class="n">orient_frame2tool</span><span class="c1">#保持工具方向不变</span><span class="c1">#target = pt_pose*orient_frame2tool #沿着路径移动工具(轴6可能达到极限)</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="c1">#创建一个新的像素对象与计算的像素姿势</span><span class="n">董事会</span><span class="o">．</span><span class="n">AddGeometry</span><span class="p">（</span><span class="n">pix_ref</span><span class="p">，</span><span class="n">pt_pose</span><span class="p">）</span><span class="n">target_app</span><span class="o">＝</span><span class="n">目标</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="n">方法</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">target_app</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">home_joints</span><span class="p">）</span><span class="c1">#--------------------------------------------------------------------------------</span><span class="c1">#程序开始</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#定位并导入svgpy模块</span><span class="n">path_stationfile</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">getParam</span><span class="p">（</span><span class="s1">“PATH_OPENSTATION”</span><span class="p">）</span><span class="n">sys</span><span class="o">．</span><span class="n">路径</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">操作系统</span><span class="o">．</span><span class="n">路径</span><span class="o">．</span><span class="n">abspath</span><span class="p">（</span><span class="n">path_stationfile</span><span class="p">）)</span><span class="c1">#临时添加导入站点模块的路径</span><span class="kn">从</span><span class="nn">svgpy.svg</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#选择要绘制的文件</span><span class="n">svgfile</span><span class="o">＝</span><span class="n">path_stationfile</span><span class="o">+</span><span class="s1">' /世界map.svg '</span><span class="c1">#svgfile = path_stationfile + '/RoboDK text.svg'</span><span class="c1">#导入SVG文件</span><span class="n">svgdata</span><span class="o">＝</span><span class="n">svg_load</span><span class="p">（</span><span class="n">svgfile</span><span class="p">）</span><span class="n">IMAGE_SIZE</span><span class="o">＝</span><span class="n">点</span><span class="p">（</span><span class="mi">1000</span><span class="p">，</span><span class="mi">2000</span><span class="p">）</span><span class="c1">#图片大小(单位:MM</span><span class="n">MM_X_PIXEL</span><span class="o">＝</span><span class="mi">10</span><span class="c1">#单位为mm的路径将被切割取决于像素大小</span><span class="n">svgdata</span><span class="o">．</span><span class="n">calc_polygon_fit</span><span class="p">（</span><span class="n">IMAGE_SIZE</span><span class="p">，</span><span class="n">MM_X_PIXEL</span><span class="p">）</span><span class="n">size_img</span><span class="o">＝</span><span class="n">svgdata</span><span class="o">．</span><span class="n">size_poly</span><span class="p">（）</span><span class="c1">返回当前多边形的大小</span><span class="c1">#获取机器人、框架和工具对象</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“ABB IRB 4600 - 20/2.50”</span><span class="p">）</span><span class="n">framedraw</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“帧画”</span><span class="p">）</span><span class="n">tooldraw</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“工具”</span><span class="p">）</span><span class="c1">#获取要绘制的像素参考</span><span class="n">pixel_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“像素”</span><span class="p">）</span><span class="c1">#删除之前的图片</span><span class="n">图像</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“董事会和形象”</span><span class="p">）</span><span class="k">如果</span><span class="n">图像</span><span class="o">．</span><span class="n">有效的</span><span class="p">（）</span><span class="ow">而且</span><span class="n">图像</span><span class="o">．</span><span class="n">类型</span><span class="p">（）</span><span class="o">= =</span><span class="n">ITEM_TYPE_OBJECT</span><span class="p">：</span><span class="n">图像</span><span class="o">．</span><span class="n">删除</span><span class="p">（）</span><span class="c1">#在对象参考黑板250mm的基础上制作一个画板</span><span class="n">board_1m</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">黑板上250毫米的</span><span class="p">）</span><span class="n">board_1m</span><span class="o">．</span><span class="n">复制</span><span class="p">（）</span><span class="n">board_draw</span><span class="o">＝</span><span class="n">framedraw</span><span class="o">．</span><span class="n">粘贴</span><span class="p">（）</span><span class="n">board_draw</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s1">“董事会和形象”</span><span class="p">）</span><span class="n">board_draw</span><span class="o">．</span><span class="n">规模</span><span class="p">（[</span><span class="n">size_img</span><span class="o">．</span><span class="n">x</span><span class="o">/</span><span class="mi">250</span><span class="p">，</span><span class="n">size_img</span><span class="o">．</span><span class="n">y</span><span class="o">/</span><span class="mi">250</span><span class="p">，</span><span class="mi">1</span><span class="p">])</span><span class="c1">#调整板尺寸为图片大小(scale)</span><span class="c1">#快速显示最终结果，而不检查机器人的运动:</span><span class="c1"># svg_draw_quick (svgdata board_draw pixel_ref)</span><span class="c1">#用机器人绘制图像:</span><span class="n">svg_draw_robot</span><span class="p">（</span><span class="n">svgdata</span><span class="p">，</span><span class="n">board_draw</span><span class="p">，</span><span class="n">pixel_ref</span><span class="p">，</span><span class="n">framedraw</span><span class="p">，</span><span class="n">tooldraw</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="synchronize-3-robots"> <h2><span class="section-number">4.28.</span>同步3机器人<一个class="headerlink" href="#synchronize-3-robots" title="¶＂>¶</一个></h2><p>这个例子展示了如何同时同步多个机器人。这些机器人可以使用Python线程同步给定的关键点。此示例类似于<一个class="reference internal" href="#weldexample"><span class="std std-ref">2022世界杯8强赛时间</span></a>但更新后支持同时移动多个机器人。这些机器人可以使用适当的机器人驱动程序连接到计算机，并从模拟机器人切换到移动真正的机器人。</p><div class="literal-block-wrapper docutils container" id="offline-programming-3-robots-simultaneously"> <div class="code-block-caption"> <span class="caption-text">2022世界杯8强赛时间离线编程- 3个机器人同时</span> <a class="headerlink" href="#offline-programming-3-robots-simultaneously" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">#这个例子展示了如何同时同步多个机器人</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信，用于离线/在线编程</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="kn">进口</span><span class="nn">线程</span><span class="kn">进口</span><span class="nn">队列</span><span class="c1">#----------------------------------------------</span><span class="c1">#函数定义和全局变量声明</span><span class="c1">#用于同步机器人运动的全局变量</span><span class="c1">这些变量由SyncSet()和SynchWait()管理</span><span class="n">SYNC_COUNT</span><span class="o">＝</span><span class="mi">0</span><span class="n">SYNC_TOTAL</span><span class="o">＝</span><span class="mi">0</span><span class="n">SYNC_ID</span><span class="o">＝</span><span class="mi">0</span><span class="n">锁</span><span class="o">＝</span><span class="n">线程</span><span class="o">．</span><span class="n">锁</span><span class="p">（）</span><span class="k">def</span><span class="nf">SyncSet</span><span class="p">（</span><span class="n">total_sync</span><span class="p">)：</span><span class="sd">SyncSet将设置必须一起同步的机器人程序(线程)的总数。</span><span class="sd">每调用一次SyncSet, SYNC_ID就加1。”＂＂</span><span class="k">全球</span><span class="n">SYNC_COUNT</span><span class="k">全球</span><span class="n">SYNC_TOTAL</span><span class="k">全球</span><span class="n">SYNC_ID</span><span class="k">与</span><span class="n">锁</span><span class="p">：</span><span class="n">SYNC_COUNT</span><span class="o">＝</span><span class="mi">0</span><span class="n">SYNC_TOTAL</span><span class="o">＝</span><span class="n">total_sync</span><span class="n">SYNC_ID</span><span class="o">＝</span><span class="n">SYNC_ID</span><span class="o">+</span><span class="mi">1</span><span class="c1">#打印(“SyncSet”)</span><span class="k">def</span><span class="nf">SyncWait</span><span class="p">():</span><span class="sd">"""SyncWait将在必要时阻塞机器人的动作，并按顺序同步这些动作。</span><span class="sd">使用SyncSet(nrobots)来定义必须同步多少个机器人。”＂＂</span><span class="k">全球</span><span class="n">SYNC_COUNT</span><span class="c1">保存一个带有同步事件id的本地变量</span><span class="n">sync_id</span><span class="o">＝</span><span class="n">SYNC_ID</span><span class="k">与</span><span class="n">锁</span><span class="p">：</span><span class="c1">#增加同步线程的数量</span><span class="n">SYNC_COUNT</span><span class="o">+ =</span><span class="mi">1</span><span class="c1">如果所有线程都达到SyncWait (SYNC_COUNT = SYNC_TOTAL)，则移动到下一个同步事件。</span><span class="k">如果</span><span class="n">SYNC_COUNT</span><span class="o">> =</span><span class="n">SYNC_TOTAL</span><span class="p">：</span><span class="n">SyncSet</span><span class="p">（</span><span class="n">SYNC_TOTAL</span><span class="p">）</span><span class="k">返回</span><span class="c1">#等待同步集前进</span><span class="k">而</span><span class="n">sync_id</span><span class="o">> =</span><span class="n">SYNC_ID</span><span class="p">：</span><span class="n">时间</span><span class="o">．</span><span class="n">睡眠</span><span class="p">（</span><span class="mf">0.0001</span><span class="p">）</span><span class="c1">移动每个机器人的主要程序</span><span class="k">def</span><span class="nf">DoWeld</span><span class="p">（</span><span class="n">问</span><span class="p">，</span><span class="n">robotname</span><span class="p">)：</span><span class="c1">#任何与RoboDK的互动都必须通过Robolink()完成</span><span class="c1">#每个机器人动作都需要一个新的Robolink()对象(新的通信链接)。</span><span class="c1">两个机器人不能通过同一个通信链路移动。</span><span class="n">rdk</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#获取机器人项目:</span><span class="n">机器人</span><span class="o">＝</span><span class="n">rdk</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">robotname</span><span class="p">）</span><span class="c1">#获取home关节目标</span><span class="n">首页</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsHome</span><span class="p">（）</span><span class="c1">#获取参考焊接目标:</span><span class="n">目标</span><span class="o">＝</span><span class="n">rdk</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“目标”</span><span class="p">）</span><span class="c1">#获取参考框架并将其设置为机器人</span><span class="n">参考</span><span class="o">＝</span><span class="n">目标</span><span class="o">．</span><span class="n">父</span><span class="p">（）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">参考</span><span class="p">）</span><span class="c1">#获取目标的姿势(4x4矩阵):</span><span class="n">poseref</span><span class="o">＝</span><span class="n">目标</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="n">pose_approach</span><span class="o">＝</span><span class="n">poseref</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="mi">One hundred.</span><span class="p">）</span><span class="c1">#移动机器人到home，然后到中心:</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">首页</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">pose_approach</span><span class="p">）</span><span class="n">SyncWait</span><span class="p">（）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="c1">#在中心周围做一个六边形:</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="mi">7</span><span class="p">)：</span><span class="n">盎</span><span class="o">＝</span><span class="n">我</span><span class="o">＊</span><span class="mi">2</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">6</span><span class="c1">#角度:0,60,120，…</span><span class="n">posei</span><span class="o">＝</span><span class="n">poseref</span><span class="o">＊</span><span class="n">rotz</span><span class="p">（</span><span class="n">盎</span><span class="p">）</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">200</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">）</span><span class="o">＊</span><span class="n">rotz</span><span class="p">（</span><span class="o">-</span><span class="n">盎</span><span class="p">）</span><span class="n">SyncWait</span><span class="p">（）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">posei</span><span class="p">）</span><span class="c1">#移动到中间，然后回家:</span><span class="n">SyncWait</span><span class="p">（）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">pose_approach</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">首页</span><span class="p">）</span><span class="n">问</span><span class="o">．</span><span class="n">把</span><span class="p">（</span><span class="s1">“机器人</span><span class="si">% s</span><span class="s1">完成的</span><span class="o">％</span><span class="n">robotname</span><span class="p">）</span><span class="c1">#----------------------------------------</span><span class="c1"># Python程序启动</span><span class="c1">#检索RoboDK站点中所有可用的机器人(作为名称列表)</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemList</span><span class="p">（</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">机器人</span><span class="p">）</span><span class="c1">#检索需要同步的机器人数量</span><span class="n">nrobots</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">机器人</span><span class="p">）</span><span class="n">SyncSet</span><span class="p">（</span><span class="n">nrobots</span><span class="p">）</span><span class="c1">队列允许线程之间共享消息</span><span class="n">问</span><span class="o">＝</span><span class="n">队列</span><span class="o">．</span><span class="n">队列</span><span class="p">（）</span><span class="c1">#为所有机器人启动DoWeld程序。每个机器人将在单独的线程上运行。</span><span class="n">线程</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">nrobots</span><span class="p">)：</span><span class="n">robotname</span><span class="o">＝</span><span class="n">机器人</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="n">t</span><span class="o">＝</span><span class="n">线程</span><span class="o">．</span><span class="n">线程</span><span class="p">（</span><span class="n">目标</span><span class="o">＝</span><span class="n">DoWeld</span><span class="p">，</span><span class="n">arg游戏</span><span class="o">＝</span><span class="p">（</span><span class="n">问</span><span class="p">，</span><span class="n">robotname</span><span class="p">）)</span><span class="n">t</span><span class="o">．</span><span class="n">守护进程</span><span class="o">＝</span><span class="kc">真正的</span><span class="n">t</span><span class="o">．</span><span class="n">开始</span><span class="p">（）</span><span class="n">线程</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">t</span><span class="p">）</span><span class="c1">#等待每个头完成</span><span class="k">为</span><span class="n">x</span><span class="ow">在</span><span class="n">线程</span><span class="p">：</span><span class="n">x</span><span class="o">．</span><span class="n">加入</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="n">问</span><span class="o">．</span><span class="n">得到</span><span class="p">())</span><span class="nb">打印</span><span class="p">（</span><span class="s1">主程序完成的</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="robot-model-dh"> <h2><span class="section-number">4.29.</span>机器人模型(DH)<一个class="headerlink" href="#robot-model-dh" title="¶＂>¶</一个></h2><p>这个例子使用Python的RoboDK API对ABB IRB 120机器人的正运动学和逆运动学建模。参考帧是根据站中现有的机器人放置的。</p><div class="literal-block-wrapper docutils container" id="robot-model-mirror-test"> <div class="code-block-caption"> <span class="caption-text">机器人模型-镜子测试</span> <a class="headerlink" href="#robot-model-mirror-test" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">#本例使用Python的RoboDK API对ABB IRB 120机器人的正运动学和逆运动学建模</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信进行模拟和离线/在线编程</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="c1">#----------------------------------------------</span><span class="c1">#函数定义</span><span class="k">def</span><span class="nf">FK_Robot</span><span class="p">（</span><span class="n">dh_table</span><span class="p">，</span><span class="n">关节</span><span class="p">)：</span><span class="sd">"""计算机器人的正运动学。</span><span class="sd">Dh_table必须以mm和弧度为单位，关节数组必须以度为单位。＂＂</span><span class="n">赤潮</span><span class="o">＝</span><span class="p">［］</span><span class="n">Hrel</span><span class="o">＝</span><span class="p">［］</span><span class="n">nlinks</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">dh_table</span><span class="p">）</span><span class="n">HiAbs</span><span class="o">＝</span><span class="n">眼睛</span><span class="p">（</span><span class="mi">4</span><span class="p">）</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">nlinks</span><span class="p">)：</span><span class="p">［</span><span class="n">rz</span><span class="p">，</span><span class="n">tx</span><span class="p">，</span><span class="n">tz</span><span class="p">，</span><span class="n">处方</span><span class="p">］</span><span class="o">＝</span><span class="n">dh_table</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="n">rz</span><span class="o">＝</span><span class="n">rz</span><span class="o">+</span><span class="n">关节</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="n">嗨</span><span class="o">＝</span><span class="n">dh</span><span class="p">（</span><span class="n">rz</span><span class="p">，</span><span class="n">tx</span><span class="p">，</span><span class="n">tz</span><span class="p">，</span><span class="n">处方</span><span class="p">）</span><span class="n">HiAbs</span><span class="o">＝</span><span class="n">HiAbs</span><span class="o">＊</span><span class="n">嗨</span><span class="n">Hrel</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">嗨</span><span class="p">）</span><span class="n">赤潮</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">HiAbs</span><span class="p">）</span><span class="k">返回</span><span class="p">［</span><span class="n">HiAbs</span><span class="p">，</span><span class="n">赤潮</span><span class="p">，</span><span class="n">Hrel</span><span class="p">］</span><span class="k">def</span><span class="nf">Frames_setup_absolute</span><span class="p">（</span><span class="n">frameparent</span><span class="p">，</span><span class="n">nframes</span><span class="p">)：</span><span class="sd">添加nframes参考帧到framparent中</span><span class="n">帧</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">nframes</span><span class="p">)：</span><span class="n">newframe</span><span class="o">＝</span><span class="n">frameparent</span><span class="o">．</span><span class="n">RDK</span><span class="p">（）</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="s1">的框架</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">)，</span><span class="n">frameparent</span><span class="p">）</span><span class="n">newframe</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">One hundred.</span><span class="o">＊</span><span class="n">我</span><span class="p">）)</span><span class="n">帧</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">newframe</span><span class="p">）</span><span class="k">返回</span><span class="n">帧</span><span class="k">def</span><span class="nf">Frames_setup_relative</span><span class="p">（</span><span class="n">frameparent</span><span class="p">，</span><span class="n">nframes</span><span class="p">)：</span><span class="sd">添加级联到父帧的nframes参考帧</span><span class="n">帧</span><span class="o">＝</span><span class="p">［］</span><span class="n">父</span><span class="o">＝</span><span class="n">frameparent</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">nframes</span><span class="p">)：</span><span class="n">newframe</span><span class="o">＝</span><span class="n">frameparent</span><span class="o">．</span><span class="n">RDK</span><span class="p">（）</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="s1">的框架</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">)，</span><span class="n">父</span><span class="p">）</span><span class="n">父</span><span class="o">＝</span><span class="n">newframe</span><span class="n">newframe</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">One hundred.</span><span class="p">）)</span><span class="n">帧</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">newframe</span><span class="p">）</span><span class="k">返回</span><span class="n">帧</span><span class="k">def</span><span class="nf">Set_Items_Pose</span><span class="p">（</span><span class="n">itemlist</span><span class="p">，</span><span class="n">poselist</span><span class="p">)：</span><span class="sd">设置itemlist中每个项目的姿势(3D位置)"""</span><span class="k">为</span><span class="n">项</span><span class="p">，</span><span class="n">构成</span><span class="ow">在</span><span class="nb">邮政编码</span><span class="p">（</span><span class="n">itemlist</span><span class="p">，</span><span class="n">poselist</span><span class="p">)：</span><span class="n">项</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">构成</span><span class="p">）</span><span class="k">def</span><span class="nf">are_equal</span><span class="p">（</span><span class="n">j - 1</span><span class="p">，</span><span class="n">j2</span><span class="p">)：</span><span class="sd">如果j1和j2相等返回True，否则返回False</span><span class="k">如果</span><span class="n">j - 1</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">j2</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="k">返回</span><span class="kc">假</span><span class="n">sum_diffs_abs</span><span class="o">＝</span><span class="nb">总和</span><span class="p">（</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">一个</span><span class="o">-</span><span class="n">b</span><span class="p">）</span><span class="k">为</span><span class="n">一个</span><span class="p">，</span><span class="n">b</span><span class="ow">在</span><span class="nb">邮政编码</span><span class="p">（</span><span class="n">j - 1</span><span class="p">，</span><span class="n">j2</span><span class="p">）)</span><span class="k">如果</span><span class="n">sum_diffs_abs</span><span class="o">></span><span class="mf">1 e - 3</span><span class="p">：</span><span class="k">返回</span><span class="kc">假</span><span class="k">返回</span><span class="kc">真正的</span><span class="c1">#----------------------------------------------------------</span><span class="c1">#程序从这里开始:</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#-----------------------------------------------------</span><span class="c1">#机器人的DH表:ABB IRB 120-3/0.6</span><span class="n">DH_Table</span><span class="o">＝</span><span class="p">［］</span><span class="c1"># rZ (theta)， tX, tZ, rX (alpha)</span><span class="n">DH_Table</span><span class="o">．</span><span class="n">附加</span><span class="p">（[</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">290</span><span class="p">，</span><span class="o">-</span><span class="mi">90</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">])</span><span class="n">DH_Table</span><span class="o">．</span><span class="n">附加</span><span class="p">（[</span><span class="o">-</span><span class="mi">90</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">，</span><span class="mi">270</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">])</span><span class="n">DH_Table</span><span class="o">．</span><span class="n">附加</span><span class="p">（[</span><span class="mi">0</span><span class="p">，</span><span class="mi">70</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="mi">90</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">])</span><span class="n">DH_Table</span><span class="o">．</span><span class="n">附加</span><span class="p">（[</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">302</span><span class="p">，</span><span class="mi">90</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">])</span><span class="n">DH_Table</span><span class="o">．</span><span class="n">附加</span><span class="p">（[</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="mi">90</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">])</span><span class="n">DH_Table</span><span class="o">．</span><span class="n">附加</span><span class="p">（[</span><span class="mi">180</span><span class="o">＊</span><span class="n">π</span><span class="o">/</span><span class="mi">180</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">72</span><span class="p">，</span><span class="mi">0</span><span class="p">])</span><span class="c1">#自由度:(ABB IRB 120-3/0.6为6)</span><span class="n">自由度</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">DH_Table</span><span class="p">）</span><span class="c1">#获取机器人:</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“ABB IRB 120 - 3/0.6”</span><span class="p">）</span><span class="c1">#清除以前测试中包含“镜像测试”的所有项目</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">删除</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“机器人基地”</span><span class="p">）</span><span class="c1">#确保项目被找到</span><span class="k">如果</span><span class="ow">不</span><span class="n">删除</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">打破</span><span class="c1">#只删除帧</span><span class="k">如果</span><span class="n">删除</span><span class="o">．</span><span class="n">类型</span><span class="p">（）</span><span class="o">= =</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">的删除:</span><span class="o">+</span><span class="n">删除</span><span class="o">．</span><span class="n">的名字</span><span class="p">())</span><span class="n">删除</span><span class="o">．</span><span class="n">删除</span><span class="p">（）</span><span class="c1">#设置测试的父帧</span><span class="n">parent_frameabs</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="s1">“机器人基座(绝对框架)”</span><span class="p">）</span><span class="n">parent_framerel</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="s1">“机器人基座(相对框架)”</span><span class="p">）</span><span class="c1">#设置测试的子帧</span><span class="n">frames_abs</span><span class="o">＝</span><span class="n">Frames_setup_absolute</span><span class="p">（</span><span class="n">parent_frameabs</span><span class="p">，</span><span class="n">自由度</span><span class="p">）</span><span class="n">frames_rel</span><span class="o">＝</span><span class="n">Frames_setup_relative</span><span class="p">（</span><span class="n">parent_framerel</span><span class="p">，</span><span class="n">自由度</span><span class="p">）</span><span class="c1">#记得最后一个机器人关节在必要时进行更新</span><span class="n">last_joints</span><span class="o">＝</span><span class="kc">没有一个</span><span class="c1">#无限循环</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="c1">#获取当前机器人关节作为浮动数组(list)</span><span class="n">关节</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="o">．</span><span class="n">tolist</span><span class="p">（）</span><span class="c1">#如果关节与以前相同，则不更新</span><span class="k">如果</span><span class="n">are_equal</span><span class="p">（</span><span class="n">关节</span><span class="p">，</span><span class="n">last_joints</span><span class="p">)：</span><span class="k">继续</span><span class="c1">#如果关节改变，计算该位置的正运动学</span><span class="p">［</span><span class="n">Hrobot</span><span class="p">，</span><span class="n">HabsList</span><span class="p">，</span><span class="n">HrelList</span><span class="p">］</span><span class="o">＝</span><span class="n">FK_Robot</span><span class="p">（</span><span class="n">DH_Table</span><span class="p">，</span><span class="n">关节</span><span class="p">）</span><span class="c1">#在我们更新所有帧时关闭渲染:</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#更新所有帧</span><span class="n">Set_Items_Pose</span><span class="p">（</span><span class="n">frames_abs</span><span class="p">，</span><span class="n">HabsList</span><span class="p">）</span><span class="n">Set_Items_Pose</span><span class="p">（</span><span class="n">frames_rel</span><span class="p">，</span><span class="n">HrelList</span><span class="p">）</span><span class="c1"># render并打开渲染</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="c1">#记住最后一个机器人关节</span><span class="n">last_joints</span><span class="o">＝</span><span class="n">关节</span><span class="nb">打印</span><span class="p">（</span><span class="s1">当前机器人关节:“</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">关节</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“机器人的姿态(正运动学):”</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">Hrobot</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">＇</span><span class="se">\ n \ n</span><span class="s1">＇</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="camera-live-stream"> <h2><span class="section-number">4.30.</span>摄像头直播<一个class="headerlink" href="#camera-live-stream" title="¶＂>¶</一个></h2><p>这个例子演示了使用Python的RoboDK API管理2D相机的一些基本功能。它创建或重用一个现有的相机，设置其参数，使用两种不同的方法获得图像，并将其作为实时流显示给用户。这是计算机视觉算法的一个很好的起点。</p><div class="literal-block-wrapper docutils container" id="id8"> <div class="code-block-caption"> <span class="caption-text">摄像头直播</span> <a class="headerlink" href="#id8" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robodk.robolink")或help("robodk.robomath")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">#这个例子演示了使用Python的RoboDK API处理2D相机的一些基本函数。</span><span class="c1">#它创建/重用一个现有的相机，设置它的参数，使用两种不同的方法获得图像，并将其作为直播流显示给用户。</span><span class="c1">#这是计算机视觉算法的一个很好的起点。</span><span class="c1">＃</span><span class="kn">从</span><span class="nn">robodk</span><span class="kn">进口</span><span class="n">robolink</span><span class="c1"># RoboDK API</span><span class="kn">从</span><span class="nn">robodk</span><span class="kn">进口</span><span class="n">robomath</span><span class="c1">#机器人工具箱</span><span class="n">RDK</span><span class="o">＝</span><span class="n">robolink</span><span class="o">．</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1"># OpenCV是一个开源的计算机视觉工具包，你可以用它来过滤和分析图像</span><span class="n">robolink</span><span class="o">．</span><span class="n">import_install</span><span class="p">（</span><span class="s1">“cv2”</span><span class="p">，</span><span class="s1">“opencv-python”</span><span class="p">，</span><span class="n">RDK</span><span class="p">）</span><span class="n">robolink</span><span class="o">．</span><span class="n">import_install</span><span class="p">（</span><span class="s1">“numpy”</span><span class="p">，</span><span class="n">RDK</span><span class="p">）</span><span class="kn">进口</span><span class="nn">numpy</span><span class="k">作为</span><span class="nn">np</span><span class="kn">进口</span><span class="nn">cv2</span><span class="k">作为</span><span class="nn">简历</span><span class="n">CAM_NAME</span><span class="o">＝</span><span class="s1">“我的镜头”</span><span class="n">CAM_PARAMS</span><span class="o">＝</span><span class="s1">的大小= 640 x480 '</span><span class="c1">更多选项，请参见//www.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.robolink.Robolink.Cam2D_Add</span><span class="n">WINDOW_NAME</span><span class="o">＝</span><span class="s1">我的相机饲料的</span><span class="c1">#----------------------------------</span><span class="c1">#获取相机项目</span><span class="n">cam_item</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">CAM_NAME</span><span class="p">，</span><span class="n">robolink</span><span class="o">．</span><span class="n">ITEM_TYPE_CAMERA</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cam_item</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">cam_item</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="n">CAM_NAME</span><span class="o">+</span><span class="s1">“帧”</span><span class="p">)，</span><span class="n">CAM_PARAMS</span><span class="p">）</span><span class="n">cam_item</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="n">CAM_NAME</span><span class="p">）</span><span class="n">cam_item</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s1">“开放”</span><span class="p">，</span><span class="mi">1</span><span class="p">）</span><span class="c1">#----------------------------------</span><span class="c1">#创建一个实时feed</span><span class="k">而</span><span class="n">cam_item</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s1">“isOpen”</span><span class="p">）</span><span class="o">= =</span><span class="s1">' 1 '</span><span class="p">：</span><span class="c1">#----------------------------------</span><span class="c1">#方法1:通过socket获取相机图像</span><span class="n">img_socket</span><span class="o">＝</span><span class="kc">没有一个</span><span class="n">bytes_img</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Snapshot</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">cam_item</span><span class="p">）</span><span class="k">如果</span><span class="nb">isinstance</span><span class="p">（</span><span class="n">bytes_img</span><span class="p">，</span><span class="nb">字节</span><span class="p">）</span><span class="ow">而且</span><span class="n">bytes_img</span><span class="o">! =</span><span class="sa">b</span><span class="s1">”</span><span class="p">：</span><span class="n">nparr</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">frombuffer</span><span class="p">（</span><span class="n">bytes_img</span><span class="p">，</span><span class="n">np</span><span class="o">．</span><span class="n">uint8</span><span class="p">）</span><span class="n">img_socket</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">imdecode</span><span class="p">（</span><span class="n">nparr</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">IMREAD_COLOR</span><span class="p">）</span><span class="k">如果</span><span class="n">img_socket</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="k">打破</span><span class="c1">#----------------------------------</span><span class="c1">#方法2:从磁盘获取相机图像</span><span class="n">img_png</span><span class="o">＝</span><span class="kc">没有一个</span><span class="kn">进口</span><span class="nn">tempfile</span><span class="k">与</span><span class="n">tempfile</span><span class="o">．</span><span class="n">TemporaryDirectory</span><span class="p">（</span><span class="n">前缀</span><span class="o">＝</span><span class="s1">“robodk_”</span><span class="p">）</span><span class="k">作为</span><span class="n">道明</span><span class="p">：</span><span class="n">特遣部队</span><span class="o">＝</span><span class="n">道明</span><span class="o">+</span><span class="s1">' / temp.png '</span><span class="k">如果</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Snapshot</span><span class="p">（</span><span class="n">特遣部队</span><span class="p">，</span><span class="n">cam_item</span><span class="p">）</span><span class="o">= =</span><span class="mi">1</span><span class="p">：</span><span class="n">img_png</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">imread</span><span class="p">（</span><span class="n">特遣部队</span><span class="p">）</span><span class="k">如果</span><span class="n">img_png</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="k">打破</span><span class="c1">#----------------------------------</span><span class="c1">#向世界展示!</span><span class="n">简历</span><span class="o">．</span><span class="n">imshow</span><span class="p">（</span><span class="n">WINDOW_NAME</span><span class="p">，</span><span class="n">img_socket</span><span class="p">）</span><span class="n">关键</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">waitKey</span><span class="p">（</span><span class="mi">1</span><span class="p">）</span><span class="k">如果</span><span class="n">关键</span><span class="o">= =</span><span class="mi">27</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户按下ESC，退出</span><span class="k">如果</span><span class="n">简历</span><span class="o">．</span><span class="n">getWindowProperty</span><span class="p">（</span><span class="n">WINDOW_NAME</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">WND_PROP_VISIBLE</span><span class="p">）</span><span class="o"><</span><span class="mi">1</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户关闭主窗口，退出</span><span class="c1">#关闭预览和摄像头。确保调用cam_item。setParam（“开放”，1）before reusing a camera!</span><span class="n">简历</span><span class="o">．</span><span class="n">destroyAllWindows</span><span class="p">（）</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Close</span><span class="p">（</span><span class="n">cam_item</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="camera-calibration"> <h2><span class="section-number">4.31.</span>摄像机标定<一个class="headerlink" href="#camera-calibration" title="¶＂>¶</一个></h2><p>这个例子展示了如何使用OpenCV找到一个相机的内在和外在属性。打印棋盘，并采取一系列至少5个图像，同时移动棋盘。你可以在这里找到更多的信息<一个class="reference external" href="https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html">OpenCV校准教程</一个>．</p><一个class="reference internal image-reference" href="https://raw.githubusercontent.com/opencv/opencv/master/doc/pattern.png"><img alt="https://raw.githubusercontent.com/opencv/opencv/master/doc/pattern.png＂class="align-center" src="https://raw.githubusercontent.com/opencv/opencv/master/doc/pattern.png" style="width: 400px;"></a> <div class="literal-block-wrapper docutils container" id="opencv-camera-calibration"> <div class="code-block-caption"> <span class="caption-text">OpenCV -摄像机校准</span> <a class="headerlink" href="#opencv-camera-calibration" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">#使用棋盘和一系列图像找到一个相机的内在和外在属性。</span><span class="c1">关于相机校准的更多细节:https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html</span><span class="c1">#你可以打印这个板的字母格式:https://github.com/opencv/opencv/blob/master/doc/pattern.png</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">进口</span><span class="nn">cv2</span><span class="k">作为</span><span class="nn">简历</span><span class="kn">进口</span><span class="nn">numpy</span><span class="k">作为</span><span class="nn">np</span><span class="kn">进口</span><span class="nn">一团</span><span class="c1">#----------------------------------------------</span><span class="c1">#您可以为您的板编辑这些设置</span><span class="n">SQUARES_X</span><span class="o">＝</span><span class="mi">10</span><span class="c1">#沿X轴的正方形数</span><span class="n">SQUARES_Y</span><span class="o">＝</span><span class="mi">7</span><span class="c1">#沿Y轴的正方形数</span><span class="n">模式</span><span class="o">＝</span><span class="p">（</span><span class="n">SQUARES_X</span><span class="o">-</span><span class="mi">1</span><span class="p">，</span><span class="n">SQUARES_Y</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="n">SQUARE_LENGTH</span><span class="o">＝</span><span class="mf">23.0</span><span class="c1"># mm，一个正方形的长度</span><span class="c1">#----------------------------------------------</span><span class="c1">#获取图片</span><span class="n">images_dir</span><span class="o">＝</span><span class="n">getSaveFolder</span><span class="p">（</span><span class="n">popup_msg</span><span class="o">＝</span><span class="s1">“选择图片的目录”</span><span class="p">）</span><span class="n">图片</span><span class="o">＝</span><span class="n">一团</span><span class="o">．</span><span class="n">一团</span><span class="p">（</span><span class="s1">＇</span><span class="si">% s</span><span class="s1">/ * . png”</span><span class="o">％</span><span class="n">images_dir</span><span class="p">）</span><span class="o">+</span><span class="n">一团</span><span class="o">．</span><span class="n">一团</span><span class="p">（</span><span class="s1">＇</span><span class="si">% s</span><span class="s1">/ * . jpg”</span><span class="o">％</span><span class="n">images_dir</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#解析图片</span><span class="n">frame_size</span><span class="o">＝</span><span class="kc">没有一个</span><span class="n">obj_points</span><span class="o">＝</span><span class="p">［］</span><span class="c1">#现实世界空间中的3D点</span><span class="n">img_points</span><span class="o">＝</span><span class="p">［］</span><span class="c1">#图像平面的2D点。</span><span class="n">objp</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">0</span><span class="p">（(</span><span class="n">模式</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">＊</span><span class="n">模式</span><span class="p">［</span><span class="mi">1</span><span class="p">]，</span><span class="mi">3.</span><span class="p">)，</span><span class="n">np</span><span class="o">．</span><span class="n">float32</span><span class="p">）</span><span class="c1">#对象点(0,0,0),(1,0,0),(2 0 0)……(8 5 0)</span><span class="n">objp</span><span class="p">(:,</span><span class="p">：</span><span class="mi">2</span><span class="p">］</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">mgrid</span><span class="p">［</span><span class="mi">0</span><span class="p">：</span><span class="n">模式</span><span class="p">［</span><span class="mi">0</span><span class="p">]，</span><span class="mi">0</span><span class="p">：</span><span class="n">模式</span><span class="p">［</span><span class="mi">1</span><span class="p">]］</span><span class="o">．</span><span class="n">T</span><span class="o">．</span><span class="n">重塑</span><span class="p">（</span><span class="o">-</span><span class="mi">1</span><span class="p">，</span><span class="mi">2</span><span class="p">）</span><span class="o">＊</span><span class="n">SQUARE_LENGTH</span><span class="k">为</span><span class="n">图像</span><span class="ow">在</span><span class="n">图片</span><span class="p">：</span><span class="c1">#读取图像为灰度</span><span class="n">img</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">imread</span><span class="p">（</span><span class="n">图像</span><span class="p">）</span><span class="n">灰色的</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">cvtColor</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">COLOR_BGR2GRAY</span><span class="p">）</span><span class="n">frame_size</span><span class="o">＝</span><span class="n">灰色的</span><span class="o">．</span><span class="n">形状</span><span class="p">(::</span><span class="o">-</span><span class="mi">1</span><span class="p">］</span><span class="c1">#找到棋盘角</span><span class="n">受潮湿腐烂</span><span class="p">，</span><span class="n">角落</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">findChessboardCorners</span><span class="p">（</span><span class="n">灰色的</span><span class="p">，</span><span class="n">模式</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">）</span><span class="c1">#如果找到，添加对象点，图像点(在细化后)</span><span class="k">如果</span><span class="n">受潮湿腐烂</span><span class="o">= =</span><span class="kc">真正的</span><span class="p">：</span><span class="n">rcorners</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">cornerSubPix</span><span class="p">（</span><span class="n">灰色的</span><span class="p">，</span><span class="n">角落</span><span class="p">，</span><span class="p">（</span><span class="mi">11</span><span class="p">，</span><span class="mi">11</span><span class="p">)，</span><span class="p">（</span><span class="o">-</span><span class="mi">1</span><span class="p">，</span><span class="o">-</span><span class="mi">1</span><span class="p">)，</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">TERM_CRITERIA_EPS</span><span class="o">+</span><span class="n">简历</span><span class="o">．</span><span class="n">TERM_CRITERIA_MAX_ITER</span><span class="p">，</span><span class="mi">30.</span><span class="p">，</span><span class="mf">0.001</span><span class="p">）)</span><span class="n">img_points</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">rcorners</span><span class="p">）</span><span class="n">obj_points</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">objp</span><span class="p">）</span><span class="c1">#绘制并显示角</span><span class="n">简历</span><span class="o">．</span><span class="n">drawChessboardCorners</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">模式</span><span class="p">，</span><span class="n">rcorners</span><span class="p">，</span><span class="n">受潮湿腐烂</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">imshow</span><span class="p">（</span><span class="s1">原始图像的</span><span class="p">，</span><span class="n">img</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">waitKey</span><span class="p">（</span><span class="mi">250</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">destroyAllWindows</span><span class="p">（）</span><span class="c1">#----------------------------------------------</span><span class="c1">#获取校准后的相机参数</span><span class="n">rms_err</span><span class="p">，</span><span class="n">calib_mtx</span><span class="p">，</span><span class="n">dist_coeffs</span><span class="p">，</span><span class="n">rvecs</span><span class="p">，</span><span class="n">tvecs</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">calibrateCamera</span><span class="p">（</span><span class="n">obj_points</span><span class="p">，</span><span class="n">img_points</span><span class="p">，</span><span class="n">frame_size</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“整体RMS重投影误差:</span><span class="si">% 0.3度</span><span class="s1">＇</span><span class="o">％</span><span class="n">rms_err</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#保存参数</span><span class="n">文件</span><span class="o">＝</span><span class="n">getSaveFileName</span><span class="p">（</span><span class="n">strfile</span><span class="o">＝</span><span class="s1">“RoboDK-Camera-Settings.yaml”</span><span class="p">，</span><span class="n">defaultextension</span><span class="o">＝</span><span class="s1">“.yaml”</span><span class="p">，</span><span class="n">文件类型</span><span class="o">＝</span><span class="p">((</span><span class="s1">YAML文件的</span><span class="p">，</span><span class="s1">“.yaml”</span><span class="p">)))</span><span class="n">cv_file</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">FileStorage</span><span class="p">（</span><span class="n">文件</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">FILE_STORAGE_WRITE</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cv_file</span><span class="o">．</span><span class="n">isOpened</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s1">“未能保存校准文件”</span><span class="p">）</span><span class="n">cv_file</span><span class="o">．</span><span class="n">写</span><span class="p">（</span><span class="s2">“camera_matrix”</span><span class="p">，</span><span class="n">calib_mtx</span><span class="p">）</span><span class="n">cv_file</span><span class="o">．</span><span class="n">写</span><span class="p">（</span><span class="s2">“dist_coeff”</span><span class="p">，</span><span class="n">dist_coeffs</span><span class="p">）</span><span class="n">cv_file</span><span class="o">．</span><span class="n">写</span><span class="p">（</span><span class="s2">“camera_size”</span><span class="p">，</span><span class="n">frame_size</span><span class="p">）</span><span class="n">cv_file</span><span class="o">．</span><span class="n">释放</span><span class="p">（）</span></pre> </div> </div> </div> </div> <div class="section" id="camera-pose"> <h2><span class="section-number">4.32.</span>相机的姿势<一个class="headerlink" href="#camera-pose" title="¶＂>¶</一个></h2><p>这个例子展示了如何使用OpenCV估计一个相机姿势。你需要一个校准的相机来估计相机的姿势，参见前面的例子。你可以在<一个class="reference external" href="https://docs.opencv.org/master/df/d4a/tutorial_charuco_detection.html">OpenCV ChArUco教程</一个>．</p><我米g alt="摄像机构成的例子＂class="align-center" src="//www.sinclairbody.com/doc/en/PythonAPI/_images/CameraPose.png"> <p>打印<一个class="reference external" href="https://docs.opencv.org/master/charucoboard.jpg">charucoboard</一个>用信件格式，放在相机前面。</p><一个class="reference internal image-reference" href="//www.sinclairbody.com/doc/en/PythonAPI/_images/charucoboard.jpg"><img alt="https://docs.opencv.org/master/charucoboard.jpg＂class="align-center" src="//www.sinclairbody.com/doc/en/PythonAPI/_images/charucoboard.jpg" style="width: 60%;"></a> <div class="literal-block-wrapper docutils container" id="opencv-camera-pose"> <div class="code-block-caption"> <span class="caption-text">OpenCV -相机姿势</span> <a class="headerlink" href="#opencv-camera-pose" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">#使用OpenCV和ChArUco板估计一个相机姿势。</span><span class="c1">更多ChArUco董事会详情:https://docs.opencv.org/master/df/d4a/tutorial_charuco_detection.html</span><span class="c1">#你可以打印这个板的字母格式:https://docs.opencv.org/master/charucoboard.jpg</span><span class="c1">#相机标定需要姿态估计，见//www.sinclairbody.com/doc/en/PythonAPI/examples.html#camera-calibration</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">进口</span><span class="nn">cv2</span><span class="k">作为</span><span class="nn">简历</span><span class="kn">进口</span><span class="nn">numpy</span><span class="k">作为</span><span class="nn">np</span><span class="c1">#----------------------------------------------</span><span class="c1">#如果您有多个设备，请相应更改</span><span class="n">DEVICE_ID</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#您可以为您的板编辑这些设置</span><span class="n">SQUARES_X</span><span class="o">＝</span><span class="mi">5</span><span class="c1">#沿X轴的正方形数</span><span class="n">SQUARES_Y</span><span class="o">＝</span><span class="mi">7</span><span class="c1">#沿Y轴的正方形数</span><span class="n">SQUARE_LENGTH</span><span class="o">＝</span><span class="mf">35.0</span><span class="c1"># mm，一个正方形的长度</span><span class="n">MARKER_LENGTH</span><span class="o">＝</span><span class="mf">23.0</span><span class="c1"># mm，一个记号笔的长度</span><span class="n">DICTIONNARY</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">getPredefinedDictionary</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">DICT_6X6_250</span><span class="p">）</span><span class="c1">#预定义的字典250 6x6位标记</span><span class="n">CHARUCOBOARD</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">CharucoBoard_create</span><span class="p">（</span><span class="n">SQUARES_X</span><span class="p">，</span><span class="n">SQUARES_Y</span><span class="p">，</span><span class="n">SQUARE_LENGTH</span><span class="p">，</span><span class="n">MARKER_LENGTH</span><span class="p">，</span><span class="n">DICTIONNARY</span><span class="p">）</span><span class="c1">#相机设置</span><span class="n">CAMERA_WIDTH</span><span class="o">＝</span><span class="mi">1920</span><span class="c1"># px</span><span class="n">CAMERA_HEIGHT</span><span class="o">＝</span><span class="mi">1080</span><span class="c1"># px</span><span class="n">CAMERA_APERTURE</span><span class="o">＝</span><span class="mf">2．0</span><span class="c1">#毫米</span><span class="c1">#----------------------------------------------</span><span class="c1">#链接到RoboDK</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#拿起相机</span><span class="n">捕获</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">VideoCapture</span><span class="p">（</span><span class="n">DEVICE_ID</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">捕获</span><span class="o">．</span><span class="n">isOpened</span><span class="p">():</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">"所选设备id [</span><span class="si">{0}</span><span class="s2">无法打开。确保摄像头已经插好，没有其他应用正在使用它。”</span><span class="o">．</span><span class="n">格式</span><span class="p">（</span><span class="n">DEVICE_ID</span><span class="p">）)</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#设置相机分辨率。如果没有找到该分辨率，它将默认为下一个可用的分辨率。</span><span class="n">捕获</span><span class="o">．</span><span class="n">集</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">CAP_PROP_FRAME_WIDTH</span><span class="p">，</span><span class="n">CAMERA_WIDTH</span><span class="p">）</span><span class="n">捕获</span><span class="o">．</span><span class="n">集</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">CAP_PROP_FRAME_HEIGHT</span><span class="p">，</span><span class="n">CAMERA_HEIGHT</span><span class="p">）</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="o">＝</span><span class="nb">int</span><span class="p">（</span><span class="n">捕获</span><span class="o">．</span><span class="n">得到</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">CAP_PROP_FRAME_WIDTH</span><span class="p">))，</span><span class="nb">int</span><span class="p">（</span><span class="n">捕获</span><span class="o">．</span><span class="n">得到</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">CAP_PROP_FRAME_HEIGHT</span><span class="p">）)</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“相机分辨率:</span><span class="si">{0}</span><span class="s1">，</span><span class="si">{1}</span><span class="s1">＇</span><span class="o">．</span><span class="n">格式</span><span class="p">（</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="p">）)</span><span class="c1">#----------------------------------------------</span><span class="c1">#获取相机标定参数</span><span class="c1">#见//www.sinclairbody.com/doc/en/PythonAPI/examples.html #相机校正</span><span class="n">文件</span><span class="o">＝</span><span class="n">getOpenFileName</span><span class="p">（</span><span class="n">strfile</span><span class="o">＝</span><span class="s1">“RoboDK-Camera-Settings.yaml”</span><span class="p">，</span><span class="n">strtitle</span><span class="o">＝</span><span class="s1">“打开校准设置文件。”</span><span class="p">，</span><span class="n">defaultextension</span><span class="o">＝</span><span class="s1">“.yaml”</span><span class="p">，</span><span class="n">文件类型</span><span class="o">＝</span><span class="p">((</span><span class="s1">YAML文件的</span><span class="p">，</span><span class="s1">“.yaml”</span><span class="p">)))</span><span class="n">cv_file</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">FileStorage</span><span class="p">（</span><span class="n">文件</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">FILE_STORAGE_READ</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cv_file</span><span class="o">．</span><span class="n">isOpened</span><span class="p">():</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“处理校准文件失败”</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="n">CAMERA_MTX</span><span class="o">＝</span><span class="n">cv_file</span><span class="o">．</span><span class="n">getNode</span><span class="p">（</span><span class="s2">“camera_matrix”</span><span class="p">）</span><span class="o">．</span><span class="n">垫</span><span class="p">（）</span><span class="n">DIST_COEFFS</span><span class="o">＝</span><span class="n">cv_file</span><span class="o">．</span><span class="n">getNode</span><span class="p">（</span><span class="s2">“dist_coeff”</span><span class="p">）</span><span class="o">．</span><span class="n">垫</span><span class="p">（）</span><span class="n">CALIB_SIZE</span><span class="o">＝</span><span class="n">cv_file</span><span class="o">．</span><span class="n">getNode</span><span class="p">（</span><span class="s2">“camera_size”</span><span class="p">）</span><span class="o">．</span><span class="n">垫</span><span class="p">（）</span><span class="o">．</span><span class="n">astype</span><span class="p">（</span><span class="nb">int</span><span class="p">）</span><span class="n">cv_file</span><span class="o">．</span><span class="n">释放</span><span class="p">（）</span><span class="c1">#如果标定的相机分辨率和当前分辨率不一致，近似相机矩阵</span><span class="n">c_width</span><span class="p">，</span><span class="n">c_height</span><span class="o">＝</span><span class="n">CALIB_SIZE</span><span class="k">如果</span><span class="p">（</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="p">）</span><span class="o">! =</span><span class="p">（</span><span class="n">c_width</span><span class="p">，</span><span class="n">c_height</span><span class="p">)：</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">校准分辨率和当前分辨率不同。将使用近似的校准矩阵。”</span><span class="p">）</span><span class="n">w_ratio</span><span class="o">＝</span><span class="p">（</span><span class="n">宽度</span><span class="o">/</span><span class="n">c_width</span><span class="p">）</span><span class="c1"># (dimx' / dimx)</span><span class="n">h_ratio</span><span class="o">＝</span><span class="p">（</span><span class="n">高度</span><span class="o">/</span><span class="n">c_height</span><span class="p">）</span><span class="c1"># (dimy' / dimy)</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">0</span><span class="p">］［</span><span class="mi">0</span><span class="p">］</span><span class="o">＝</span><span class="n">w_ratio</span><span class="o">＊</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">0</span><span class="p">］［</span><span class="mi">0</span><span class="p">］</span><span class="c1"># fx' = (dimx' / dimx) * fx</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">1</span><span class="p">］［</span><span class="mi">1</span><span class="p">］</span><span class="o">＝</span><span class="n">h_ratio</span><span class="o">＊</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">1</span><span class="p">］［</span><span class="mi">1</span><span class="p">］</span><span class="c1"># fy' = (dimy' / dimy) * fy</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">0</span><span class="p">］［</span><span class="mi">2</span><span class="p">］</span><span class="o">＝</span><span class="n">w_ratio</span><span class="o">＊</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">0</span><span class="p">］［</span><span class="mi">2</span><span class="p">］</span><span class="c1"># cx' = (dimx' / dimx) * cx</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">1</span><span class="p">］［</span><span class="mi">2</span><span class="p">］</span><span class="o">＝</span><span class="n">h_ratio</span><span class="o">＊</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">1</span><span class="p">］［</span><span class="mi">2</span><span class="p">］</span><span class="c1"># cy' = (dimy' / dimy) * cy</span><span class="c1">#假设孔径为2毫米，如果需要更新</span><span class="n">fovx</span><span class="p">，</span><span class="n">fovy</span><span class="p">，</span><span class="n">focal_length</span><span class="p">，</span><span class="n">p_point</span><span class="p">，</span><span class="n">比</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">calibrationMatrixValues</span><span class="p">（</span><span class="n">CAMERA_MTX</span><span class="p">，</span><span class="p">（</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="p">)，</span><span class="n">CAMERA_APERTURE</span><span class="p">，</span><span class="n">CAMERA_APERTURE</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#关闭相机窗口，如果有的话</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Close</span><span class="p">（</span><span class="mi">0</span><span class="p">）</span><span class="c1">#创建charuco帧的姿态估计</span><span class="n">board_frame_name</span><span class="o">＝</span><span class="s1">“ChArUco框架”</span><span class="n">board_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">board_frame_name</span><span class="p">，</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">board_ref</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">board_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="n">board_frame_name</span><span class="p">）</span><span class="c1">#创建一个框架以连接相机</span><span class="n">cam_frame_name</span><span class="o">＝</span><span class="s1">“相机帧”</span><span class="n">cam_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">cam_frame_name</span><span class="p">，</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cam_ref</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">cam_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="n">cam_frame_name</span><span class="p">）</span><span class="n">cam_ref</span><span class="o">．</span><span class="n">setParent</span><span class="p">（</span><span class="n">board_ref</span><span class="p">）</span><span class="c1">#模拟摄像机</span><span class="n">cam_name</span><span class="o">＝</span><span class="s1">“相机”</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">cam_name</span><span class="p">，</span><span class="n">ITEM_TYPE_CAMERA</span><span class="p">）</span><span class="k">如果</span><span class="n">cam_id</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">cam_id</span><span class="o">．</span><span class="n">删除</span><span class="p">（）</span><span class="c1">#重复使用同一个相机不能正确应用设置</span><span class="n">camera_settings</span><span class="o">＝</span><span class="s1">' FOCAL_LENGHT =</span><span class="si">{0:0.0f}</span><span class="s1">FOV =</span><span class="si">{1:0.0f}</span><span class="s1">快照=</span><span class="si">{2:0.0f}</span><span class="s1">x</span><span class="si">{3:0.0f}</span><span class="s1">大小=</span><span class="si">{2:0.0f}</span><span class="s1">x</span><span class="si">{3:0.0f}</span><span class="s1">＇</span><span class="o">．</span><span class="n">格式</span><span class="p">（</span><span class="n">focal_length</span><span class="p">，</span><span class="n">fovy</span><span class="p">，</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="p">）</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">cam_ref</span><span class="p">，</span><span class="n">camera_settings</span><span class="p">）</span><span class="n">cam_id</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="n">cam_name</span><span class="p">）</span><span class="n">cam_id</span><span class="o">．</span><span class="n">setParent</span><span class="p">（</span><span class="n">cam_ref</span><span class="p">）</span><span class="c1">#创建输出窗口</span><span class="n">preview_window</span><span class="o">＝</span><span class="s1">“相机窗口”</span><span class="n">简历</span><span class="o">．</span><span class="n">namedWindow</span><span class="p">（</span><span class="n">preview_window</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">WINDOW_KEEPRATIO</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">resizeWindow</span><span class="p">（</span><span class="n">preview_window</span><span class="p">，</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#找到相机姿势</span><span class="k">而</span><span class="n">捕获</span><span class="o">．</span><span class="n">isOpened</span><span class="p">():</span><span class="c1">#从相机获取图像</span><span class="n">成功</span><span class="p">，</span><span class="n">图像</span><span class="o">＝</span><span class="n">捕获</span><span class="o">．</span><span class="n">读</span><span class="p">（）</span><span class="k">如果</span><span class="ow">不</span><span class="n">成功</span><span class="ow">或</span><span class="n">图像</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="k">继续</span><span class="c1">#找到黑板标记</span><span class="n">mcorners</span><span class="p">，</span><span class="n">mids</span><span class="p">，</span><span class="n">＿</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">detectMarkers</span><span class="p">（</span><span class="n">图像</span><span class="p">，</span><span class="n">DICTIONNARY</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="n">CAMERA_MTX</span><span class="p">，</span><span class="n">DIST_COEFFS</span><span class="p">）</span><span class="k">如果</span><span class="n">mids</span><span class="ow">是</span><span class="ow">不</span><span class="kc">没有一个</span><span class="ow">而且</span><span class="nb">len</span><span class="p">（</span><span class="n">mids</span><span class="p">）</span><span class="o">></span><span class="mi">0</span><span class="p">：</span><span class="c1">#从标记插入charuco角</span><span class="n">数</span><span class="p">，</span><span class="n">角落</span><span class="p">，</span><span class="n">id</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">interpolateCornersCharuco</span><span class="p">（</span><span class="n">mcorners</span><span class="p">，</span><span class="n">mids</span><span class="p">，</span><span class="n">图像</span><span class="p">，</span><span class="n">CHARUCOBOARD</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="n">CAMERA_MTX</span><span class="p">，</span><span class="n">DIST_COEFFS</span><span class="p">，</span><span class="mi">2</span><span class="p">）</span><span class="k">如果</span><span class="n">数</span><span class="o">></span><span class="mi">0</span><span class="ow">而且</span><span class="nb">len</span><span class="p">（</span><span class="n">id</span><span class="p">）</span><span class="o">></span><span class="mi">0</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“检测到角落:</span><span class="si">%我</span><span class="s1">id:</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="nb">len</span><span class="p">（</span><span class="n">角落</span><span class="p">)，</span><span class="nb">len</span><span class="p">（</span><span class="n">id</span><span class="p">))）</span><span class="c1">#在图像上绘制角</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">drawDetectedCornersCharuco</span><span class="p">（</span><span class="n">图像</span><span class="p">，</span><span class="n">角落</span><span class="p">，</span><span class="n">id</span><span class="p">）</span><span class="c1">#估计charuco板的姿势</span><span class="n">成功</span><span class="p">，</span><span class="n">rvec</span><span class="p">，</span><span class="n">tvec</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">estimatePoseCharucoBoard</span><span class="p">（</span><span class="n">角落</span><span class="p">，</span><span class="n">id</span><span class="p">，</span><span class="n">CHARUCOBOARD</span><span class="p">，</span><span class="n">CAMERA_MTX</span><span class="p">，</span><span class="n">DIST_COEFFS</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span><span class="k">如果</span><span class="n">成功</span><span class="p">：</span><span class="c1">#在图像上绘制轴</span><span class="n">图像</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">drawAxis</span><span class="p">（</span><span class="n">图像</span><span class="p">，</span><span class="n">CAMERA_MTX</span><span class="p">，</span><span class="n">DIST_COEFFS</span><span class="p">，</span><span class="n">rvec</span><span class="p">，</span><span class="n">tvec</span><span class="p">，</span><span class="mf">One hundred.</span><span class="p">）</span><span class="c1">#你可以过滤需要找到多少标记，以更新如下姿势</span><span class="n">board_size</span><span class="o">＝</span><span class="n">CHARUCOBOARD</span><span class="o">．</span><span class="n">getChessboardSize</span><span class="p">（）</span><span class="n">min_corners</span><span class="o">＝</span><span class="nb">int</span><span class="p">（(</span><span class="n">board_size</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="o">＊</span><span class="p">（</span><span class="n">board_size</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="o">＊</span><span class="mf">0．5</span><span class="p">）</span><span class="c1">#占总数的%</span><span class="k">如果</span><span class="n">角落</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">> =</span><span class="n">min_corners</span><span class="ow">而且</span><span class="n">id</span><span class="o">．</span><span class="n">大小</span><span class="o">> =</span><span class="n">min_corners</span><span class="p">：</span><span class="c1">#找到相机姿势</span><span class="n">rmat</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">罗德里格斯</span><span class="p">（</span><span class="n">rvec</span><span class="p">) [</span><span class="mi">0</span><span class="p">］</span><span class="n">camera_position</span><span class="o">＝</span><span class="o">-</span><span class="n">np</span><span class="o">．</span><span class="n">矩阵</span><span class="p">（</span><span class="n">rmat</span><span class="p">）</span><span class="o">．</span><span class="n">T</span><span class="o">＊</span><span class="n">np</span><span class="o">．</span><span class="n">矩阵</span><span class="p">（</span><span class="n">tvec</span><span class="p">）</span><span class="n">cam_xyz</span><span class="o">＝</span><span class="n">camera_position</span><span class="o">．</span><span class="n">T</span><span class="o">．</span><span class="n">tolist</span><span class="p">() (</span><span class="mi">0</span><span class="p">］</span><span class="n">vx</span><span class="p">，</span><span class="n">v</span><span class="p">，</span><span class="n">vz</span><span class="o">＝</span><span class="n">rmat</span><span class="o">．</span><span class="n">tolist</span><span class="p">（）</span><span class="c1">#为RoboDK建立相机姿势</span><span class="n">构成</span><span class="o">＝</span><span class="n">眼睛</span><span class="p">（</span><span class="mi">4</span><span class="p">）</span><span class="n">构成</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">cam_xyz</span><span class="p">）</span><span class="n">构成</span><span class="o">．</span><span class="n">setVX</span><span class="p">（</span><span class="n">vx</span><span class="p">）</span><span class="n">构成</span><span class="o">．</span><span class="n">setVY</span><span class="p">（</span><span class="n">v</span><span class="p">）</span><span class="n">构成</span><span class="o">．</span><span class="n">setVZ</span><span class="p">（</span><span class="n">vz</span><span class="p">）</span><span class="c1">#更新RoboDK中的姿势</span><span class="n">cam_ref</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">构成</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#显示charuco板</span><span class="n">简历</span><span class="o">．</span><span class="n">imshow</span><span class="p">（</span><span class="n">preview_window</span><span class="p">，</span><span class="n">图像</span><span class="p">）</span><span class="n">关键</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">waitKey</span><span class="p">（</span><span class="mi">1</span><span class="p">）</span><span class="k">如果</span><span class="n">关键</span><span class="o">= =</span><span class="mi">27</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户按下ESC，退出</span><span class="k">如果</span><span class="n">简历</span><span class="o">．</span><span class="n">getWindowProperty</span><span class="p">（</span><span class="n">preview_window</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">WND_PROP_VISIBLE</span><span class="p">）</span><span class="o"><</span><span class="mi">1</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户关闭主窗口，退出</span><span class="c1">#释放设备</span><span class="n">捕获</span><span class="o">．</span><span class="n">释放</span><span class="p">（）</span><span class="n">简历</span><span class="o">．</span><span class="n">destroyAllWindows</span><span class="p">（）</span></pre> </div> </div> </div> </div> <div class="section" id="augmented-reality"> <h2><span class="section-number">4.33.</span>增强现实<一个class="headerlink" href="#augmented-reality" title="¶＂>¶</一个></h2><p>这个例子展示了如何使用OpenCV将来自RoboDK的增强现实应用到输入相机feed上。你需要一个校准的相机来估计相机的姿势，参见前面的例子。</p><我米g alt="增强现实＂class="align-center" src="//www.sinclairbody.com/doc/en/PythonAPI/_images/AugReality.png"> <div class="literal-block-wrapper docutils container" id="opencv-augmented-reality"> <div class="code-block-caption"> <span class="caption-text">OpenCV -增强现实</span> <a class="headerlink" href="#opencv-augmented-reality" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">#使用OpenCV和ChArUco板应用增强现实。</span><span class="c1">更多ChArUco董事会详情:https://docs.opencv.org/master/df/d4a/tutorial_charuco_detection.html</span><span class="c1">#你可以打印这个板的字母格式:https://docs.opencv.org/master/charucoboard.jpg</span><span class="c1">#相机标定需要姿态估计，见//www.sinclairbody.com/doc/en/PythonAPI/examples.html#camera-calibration</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">进口</span><span class="nn">cv2</span><span class="k">作为</span><span class="nn">简历</span><span class="kn">进口</span><span class="nn">numpy</span><span class="k">作为</span><span class="nn">np</span><span class="c1">#----------------------------------------------</span><span class="c1">#如果您有多个设备，请相应更改</span><span class="n">DEVICE_ID</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#您可以为您的板编辑这些设置</span><span class="n">SQUARES_X</span><span class="o">＝</span><span class="mi">5</span><span class="c1">#沿X轴的正方形数</span><span class="n">SQUARES_Y</span><span class="o">＝</span><span class="mi">7</span><span class="c1">#沿Y轴的正方形数</span><span class="n">SQUARE_LENGTH</span><span class="o">＝</span><span class="mf">35.0</span><span class="c1"># mm，一个正方形的长度</span><span class="n">MARKER_LENGTH</span><span class="o">＝</span><span class="mf">23.0</span><span class="c1"># mm，一个记号笔的长度</span><span class="n">规模</span><span class="o">＝</span><span class="mi">1</span><span class="c1">#如果你不希望有一个1:1的比例，你可能想编辑这个。</span><span class="n">DICTIONNARY</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">getPredefinedDictionary</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">DICT_6X6_250</span><span class="p">）</span><span class="c1">#预定义的字典250 6x6位标记</span><span class="n">CHARUCOBOARD</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">CharucoBoard_create</span><span class="p">（</span><span class="n">SQUARES_X</span><span class="p">，</span><span class="n">SQUARES_Y</span><span class="p">，</span><span class="n">SQUARE_LENGTH</span><span class="o">/</span><span class="n">规模</span><span class="p">，</span><span class="n">MARKER_LENGTH</span><span class="o">/</span><span class="n">规模</span><span class="p">，</span><span class="n">DICTIONNARY</span><span class="p">）</span><span class="c1">#相机设置</span><span class="n">CAMERA_WIDTH</span><span class="o">＝</span><span class="mi">1920</span><span class="c1"># px</span><span class="n">CAMERA_HEIGHT</span><span class="o">＝</span><span class="mi">1080</span><span class="c1"># px</span><span class="n">CAMERA_APERTURE</span><span class="o">＝</span><span class="mf">2．0</span><span class="c1">#毫米</span><span class="c1">#----------------------------------------------</span><span class="c1">将RoboDK图像与输入图像合并的实用函数</span><span class="k">def</span><span class="nf">merge_img</span><span class="p">（</span><span class="n">img_bg</span><span class="p">，</span><span class="n">img_fg</span><span class="p">)：</span><span class="c1"># AR图像的掩模和反掩模</span><span class="n">＿</span><span class="p">，</span><span class="n">面具</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">阈值</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">cvtColor</span><span class="p">（</span><span class="n">img_fg</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">COLOR_BGR2GRAY</span><span class="p">)，</span><span class="mi">10</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">THRESH_BINARY</span><span class="p">）</span><span class="n">mask_inv</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">bitwise_not</span><span class="p">（</span><span class="n">面具</span><span class="p">）</span><span class="c1">#环境图像AR区域熄灭</span><span class="n">img1_bg</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">bitwise_and</span><span class="p">（</span><span class="n">img_bg</span><span class="p">，</span><span class="n">img_bg</span><span class="p">，</span><span class="n">面具</span><span class="o">＝</span><span class="n">mask_inv</span><span class="p">）</span><span class="c1">#从AR图像中取出AR区域</span><span class="n">img2_fg</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">bitwise_and</span><span class="p">（</span><span class="n">img_fg</span><span class="p">，</span><span class="n">img_fg</span><span class="p">，</span><span class="n">面具</span><span class="o">＝</span><span class="n">面具</span><span class="p">）</span><span class="c1">#合并</span><span class="k">返回</span><span class="n">简历</span><span class="o">．</span><span class="n">添加</span><span class="p">（</span><span class="n">img1_bg</span><span class="p">，</span><span class="n">img2_fg</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#链接到RoboDK</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#拿起相机</span><span class="n">捕获</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">VideoCapture</span><span class="p">（</span><span class="n">DEVICE_ID</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">捕获</span><span class="o">．</span><span class="n">isOpened</span><span class="p">():</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">"所选设备id [</span><span class="si">{0}</span><span class="s2">无法打开。确保摄像头已经插好，没有其他应用正在使用它。”</span><span class="o">．</span><span class="n">格式</span><span class="p">（</span><span class="n">DEVICE_ID</span><span class="p">）)</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#设置相机分辨率。如果没有找到该分辨率，它将默认为下一个可用的分辨率。</span><span class="n">捕获</span><span class="o">．</span><span class="n">集</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">CAP_PROP_FRAME_WIDTH</span><span class="p">，</span><span class="n">CAMERA_WIDTH</span><span class="p">）</span><span class="n">捕获</span><span class="o">．</span><span class="n">集</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">CAP_PROP_FRAME_HEIGHT</span><span class="p">，</span><span class="n">CAMERA_HEIGHT</span><span class="p">）</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="o">＝</span><span class="nb">int</span><span class="p">（</span><span class="n">捕获</span><span class="o">．</span><span class="n">得到</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">CAP_PROP_FRAME_WIDTH</span><span class="p">))，</span><span class="nb">int</span><span class="p">（</span><span class="n">捕获</span><span class="o">．</span><span class="n">得到</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">CAP_PROP_FRAME_HEIGHT</span><span class="p">）)</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“相机分辨率:</span><span class="si">{0}</span><span class="s1">，</span><span class="si">{1}</span><span class="s1">＇</span><span class="o">．</span><span class="n">格式</span><span class="p">（</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="p">）)</span><span class="c1">#----------------------------------------------</span><span class="c1">#获取相机标定参数</span><span class="n">文件</span><span class="o">＝</span><span class="n">getOpenFileName</span><span class="p">（</span><span class="n">strfile</span><span class="o">＝</span><span class="s1">“RoboDK-Camera-Settings.yaml”</span><span class="p">，</span><span class="n">strtitle</span><span class="o">＝</span><span class="s1">“打开校准设置文件。”</span><span class="p">，</span><span class="n">defaultextension</span><span class="o">＝</span><span class="s1">“.yaml”</span><span class="p">，</span><span class="n">文件类型</span><span class="o">＝</span><span class="p">((</span><span class="s1">YAML文件的</span><span class="p">，</span><span class="s1">“.yaml”</span><span class="p">)))</span><span class="n">cv_file</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">FileStorage</span><span class="p">（</span><span class="n">文件</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">FILE_STORAGE_READ</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cv_file</span><span class="o">．</span><span class="n">isOpened</span><span class="p">():</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“处理校准文件失败”</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="n">CAMERA_MTX</span><span class="o">＝</span><span class="n">cv_file</span><span class="o">．</span><span class="n">getNode</span><span class="p">（</span><span class="s2">“camera_matrix”</span><span class="p">）</span><span class="o">．</span><span class="n">垫</span><span class="p">（）</span><span class="n">DIST_COEFFS</span><span class="o">＝</span><span class="n">cv_file</span><span class="o">．</span><span class="n">getNode</span><span class="p">（</span><span class="s2">“dist_coeff”</span><span class="p">）</span><span class="o">．</span><span class="n">垫</span><span class="p">（）</span><span class="n">CALIB_SIZE</span><span class="o">＝</span><span class="n">cv_file</span><span class="o">．</span><span class="n">getNode</span><span class="p">（</span><span class="s2">“camera_size”</span><span class="p">）</span><span class="o">．</span><span class="n">垫</span><span class="p">（）</span><span class="o">．</span><span class="n">astype</span><span class="p">（</span><span class="nb">int</span><span class="p">）</span><span class="n">cv_file</span><span class="o">．</span><span class="n">释放</span><span class="p">（）</span><span class="c1">#如果标定的相机分辨率和当前分辨率不一致，近似相机矩阵</span><span class="n">c_width</span><span class="p">，</span><span class="n">c_height</span><span class="o">＝</span><span class="n">CALIB_SIZE</span><span class="k">如果</span><span class="p">（</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="p">）</span><span class="o">! =</span><span class="p">（</span><span class="n">c_width</span><span class="p">，</span><span class="n">c_height</span><span class="p">)：</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">校准分辨率和当前分辨率不同。将使用近似的校准矩阵。”</span><span class="p">）</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">0</span><span class="p">］［</span><span class="mi">0</span><span class="p">］</span><span class="o">＝</span><span class="p">（</span><span class="n">宽度</span><span class="o">/</span><span class="n">c_width</span><span class="p">）</span><span class="o">＊</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">0</span><span class="p">］［</span><span class="mi">0</span><span class="p">］</span><span class="c1"># fx' = (dimx' / dimx) * fx</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">1</span><span class="p">］［</span><span class="mi">1</span><span class="p">］</span><span class="o">＝</span><span class="p">（</span><span class="n">高度</span><span class="o">/</span><span class="n">c_height</span><span class="p">）</span><span class="o">＊</span><span class="n">CAMERA_MTX</span><span class="p">［</span><span class="mi">1</span><span class="p">］［</span><span class="mi">1</span><span class="p">］</span><span class="c1"># fy' = (dimy' / dimy) * fy</span><span class="c1">#假设孔径为2毫米，如果需要更新</span><span class="n">fovx</span><span class="p">，</span><span class="n">fovy</span><span class="p">，</span><span class="n">focal_length</span><span class="p">，</span><span class="n">p_point</span><span class="p">，</span><span class="n">比</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">calibrationMatrixValues</span><span class="p">（</span><span class="n">CAMERA_MTX</span><span class="p">，</span><span class="p">（</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="p">)，</span><span class="n">CAMERA_APERTURE</span><span class="p">，</span><span class="n">CAMERA_APERTURE</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#关闭相机窗口，如果有的话</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Close</span><span class="p">（</span><span class="mi">0</span><span class="p">）</span><span class="c1">#创建charuco帧的姿态估计</span><span class="n">board_frame_name</span><span class="o">＝</span><span class="s1">“ChArUco框架”</span><span class="n">board_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">board_frame_name</span><span class="p">，</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">board_ref</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">board_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="n">board_frame_name</span><span class="p">）</span><span class="c1">#创建一个框架以连接相机</span><span class="n">cam_frame_name</span><span class="o">＝</span><span class="s1">“相机帧”</span><span class="n">cam_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">cam_frame_name</span><span class="p">，</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cam_ref</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">cam_ref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="n">cam_frame_name</span><span class="p">）</span><span class="n">cam_ref</span><span class="o">．</span><span class="n">setParent</span><span class="p">（</span><span class="n">board_ref</span><span class="p">）</span><span class="c1">#模拟摄像机</span><span class="n">cam_name</span><span class="o">＝</span><span class="s1">“相机”</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">cam_name</span><span class="p">，</span><span class="n">ITEM_TYPE_CAMERA</span><span class="p">）</span><span class="k">如果</span><span class="n">cam_id</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">cam_id</span><span class="o">．</span><span class="n">删除</span><span class="p">（）</span><span class="c1">#重复使用同一个相机不能正确应用设置</span><span class="n">camera_settings</span><span class="o">＝</span><span class="s1">' FOCAL_LENGHT =</span><span class="si">{0:0.0f}</span><span class="s1">FOV =</span><span class="si">{1:0.0f}</span><span class="s1">BG_COLOR快照= =黑FAR_LENGTH = 5000</span><span class="si">{2:0.0f}</span><span class="s1">x</span><span class="si">{3:0.0f}</span><span class="s1">大小=</span><span class="si">{2:0.0f}</span><span class="s1">x</span><span class="si">{3:0.0f}</span><span class="s1">＇</span><span class="o">．</span><span class="n">格式</span><span class="p">（</span><span class="n">focal_length</span><span class="p">，</span><span class="n">fovy</span><span class="p">，</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="p">）</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">cam_ref</span><span class="p">，</span><span class="n">camera_settings</span><span class="p">）</span><span class="n">cam_id</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="n">cam_name</span><span class="p">）</span><span class="n">cam_id</span><span class="o">．</span><span class="n">setParent</span><span class="p">（</span><span class="n">cam_ref</span><span class="o">．</span><span class="n">父</span><span class="p">())</span><span class="c1">#创建输出窗口</span><span class="n">preview_window</span><span class="o">＝</span><span class="s1">“相机窗口”</span><span class="n">简历</span><span class="o">．</span><span class="n">namedWindow</span><span class="p">（</span><span class="n">preview_window</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">WINDOW_KEEPRATIO</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">resizeWindow</span><span class="p">（</span><span class="n">preview_window</span><span class="p">，</span><span class="n">宽度</span><span class="p">，</span><span class="n">高度</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#找到相机姿势</span><span class="k">而</span><span class="n">捕获</span><span class="o">．</span><span class="n">isOpened</span><span class="p">():</span><span class="c1">#从相机获取图像</span><span class="n">成功</span><span class="p">，</span><span class="n">图像</span><span class="o">＝</span><span class="n">捕获</span><span class="o">．</span><span class="n">读</span><span class="p">（）</span><span class="k">如果</span><span class="ow">不</span><span class="n">成功</span><span class="ow">或</span><span class="n">图像</span><span class="ow">是</span><span class="kc">没有一个</span><span class="p">：</span><span class="k">继续</span><span class="c1">#找到黑板标记</span><span class="n">mcorners</span><span class="p">，</span><span class="n">mids</span><span class="p">，</span><span class="n">＿</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">detectMarkers</span><span class="p">（</span><span class="n">图像</span><span class="p">，</span><span class="n">DICTIONNARY</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="n">CAMERA_MTX</span><span class="p">，</span><span class="n">DIST_COEFFS</span><span class="p">）</span><span class="k">如果</span><span class="n">mids</span><span class="ow">是</span><span class="ow">不</span><span class="kc">没有一个</span><span class="ow">而且</span><span class="nb">len</span><span class="p">（</span><span class="n">mids</span><span class="p">）</span><span class="o">></span><span class="mi">0</span><span class="p">：</span><span class="c1">#从标记插入charuco角</span><span class="n">数</span><span class="p">，</span><span class="n">角落</span><span class="p">，</span><span class="n">id</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">interpolateCornersCharuco</span><span class="p">（</span><span class="n">mcorners</span><span class="p">，</span><span class="n">mids</span><span class="p">，</span><span class="n">图像</span><span class="p">，</span><span class="n">CHARUCOBOARD</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="n">CAMERA_MTX</span><span class="p">，</span><span class="n">DIST_COEFFS</span><span class="p">，</span><span class="mi">2</span><span class="p">）</span><span class="k">如果</span><span class="n">数</span><span class="o">></span><span class="mi">0</span><span class="ow">而且</span><span class="nb">len</span><span class="p">（</span><span class="n">id</span><span class="p">）</span><span class="o">></span><span class="mi">0</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“检测到角落:</span><span class="si">%我</span><span class="s1">id:</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="nb">len</span><span class="p">（</span><span class="n">角落</span><span class="p">)，</span><span class="nb">len</span><span class="p">（</span><span class="n">id</span><span class="p">))）</span><span class="c1">#在图像上绘制角</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">drawDetectedCornersCharuco</span><span class="p">（</span><span class="n">图像</span><span class="p">，</span><span class="n">角落</span><span class="p">，</span><span class="n">id</span><span class="p">）</span><span class="c1">#估计charuco板的姿势</span><span class="n">成功</span><span class="p">，</span><span class="n">rvec</span><span class="p">，</span><span class="n">tvec</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">estimatePoseCharucoBoard</span><span class="p">（</span><span class="n">角落</span><span class="p">，</span><span class="n">id</span><span class="p">，</span><span class="n">CHARUCOBOARD</span><span class="p">，</span><span class="n">CAMERA_MTX</span><span class="p">，</span><span class="n">DIST_COEFFS</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span><span class="k">如果</span><span class="n">成功</span><span class="p">：</span><span class="c1">#在图像上绘制轴</span><span class="n">图像</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">aruco</span><span class="o">．</span><span class="n">drawAxis</span><span class="p">（</span><span class="n">图像</span><span class="p">，</span><span class="n">CAMERA_MTX</span><span class="p">，</span><span class="n">DIST_COEFFS</span><span class="p">，</span><span class="n">rvec</span><span class="p">，</span><span class="n">tvec</span><span class="p">，</span><span class="mf">One hundred.</span><span class="p">）</span><span class="c1">#你可以过滤需要找到多少标记，以更新如下姿势</span><span class="n">board_size</span><span class="o">＝</span><span class="n">CHARUCOBOARD</span><span class="o">．</span><span class="n">getChessboardSize</span><span class="p">（）</span><span class="n">min_corners</span><span class="o">＝</span><span class="nb">int</span><span class="p">（(</span><span class="n">board_size</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="o">＊</span><span class="p">（</span><span class="n">board_size</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="o">＊</span><span class="mf">0．8</span><span class="p">）</span><span class="c1">#占总数的%</span><span class="k">如果</span><span class="n">角落</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">> =</span><span class="n">min_corners</span><span class="ow">而且</span><span class="n">id</span><span class="o">．</span><span class="n">大小</span><span class="o">> =</span><span class="n">min_corners</span><span class="p">：</span><span class="c1">#找到相机姿势</span><span class="n">rmat</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">罗德里格斯</span><span class="p">（</span><span class="n">rvec</span><span class="p">) [</span><span class="mi">0</span><span class="p">］</span><span class="n">camera_position</span><span class="o">＝</span><span class="o">-</span><span class="n">np</span><span class="o">．</span><span class="n">矩阵</span><span class="p">（</span><span class="n">rmat</span><span class="p">）</span><span class="o">．</span><span class="n">T</span><span class="o">＊</span><span class="n">np</span><span class="o">．</span><span class="n">矩阵</span><span class="p">（</span><span class="n">tvec</span><span class="p">）</span><span class="n">cam_xyz</span><span class="o">＝</span><span class="n">camera_position</span><span class="o">．</span><span class="n">T</span><span class="o">．</span><span class="n">tolist</span><span class="p">() (</span><span class="mi">0</span><span class="p">］</span><span class="n">vx</span><span class="p">，</span><span class="n">v</span><span class="p">，</span><span class="n">vz</span><span class="o">＝</span><span class="n">rmat</span><span class="o">．</span><span class="n">tolist</span><span class="p">（）</span><span class="c1">#为RoboDK建立相机姿势</span><span class="n">构成</span><span class="o">＝</span><span class="n">眼睛</span><span class="p">（</span><span class="mi">4</span><span class="p">）</span><span class="n">构成</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">cam_xyz</span><span class="p">）</span><span class="n">构成</span><span class="o">．</span><span class="n">setVX</span><span class="p">（</span><span class="n">vx</span><span class="p">）</span><span class="n">构成</span><span class="o">．</span><span class="n">setVY</span><span class="p">（</span><span class="n">v</span><span class="p">）</span><span class="n">构成</span><span class="o">．</span><span class="n">setVZ</span><span class="p">（</span><span class="n">vz</span><span class="p">）</span><span class="c1">#更新RoboDK中的姿势</span><span class="n">cam_ref</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">构成</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#获取RDK相机图像</span><span class="n">image_rdk</span><span class="o">＝</span><span class="kc">没有一个</span><span class="n">bytes_img</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Snapshot</span><span class="p">（</span><span class="s2">＂＂</span><span class="p">，</span><span class="n">cam_id</span><span class="p">）</span><span class="n">nparr</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">frombuffer</span><span class="p">（</span><span class="n">bytes_img</span><span class="p">，</span><span class="n">np</span><span class="o">．</span><span class="n">uint8</span><span class="p">）</span><span class="n">image_rdk</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">imdecode</span><span class="p">（</span><span class="n">nparr</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">IMREAD_COLOR</span><span class="p">）</span><span class="c1">#应用基于“增大化现实”技术</span><span class="n">图像</span><span class="o">＝</span><span class="n">merge_img</span><span class="p">（</span><span class="n">图像</span><span class="p">，</span><span class="n">image_rdk</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#显示charuco板</span><span class="n">简历</span><span class="o">．</span><span class="n">imshow</span><span class="p">（</span><span class="n">preview_window</span><span class="p">，</span><span class="n">图像</span><span class="p">）</span><span class="n">关键</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">waitKey</span><span class="p">（</span><span class="mi">1</span><span class="p">）</span><span class="k">如果</span><span class="n">关键</span><span class="o">= =</span><span class="mi">27</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户按下ESC，退出</span><span class="k">如果</span><span class="n">简历</span><span class="o">．</span><span class="n">getWindowProperty</span><span class="p">（</span><span class="n">preview_window</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">WND_PROP_VISIBLE</span><span class="p">）</span><span class="o"><</span><span class="mi">1</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户关闭主窗口，退出</span><span class="c1">#释放设备</span><span class="n">捕获</span><span class="o">．</span><span class="n">释放</span><span class="p">（）</span><span class="n">简历</span><span class="o">．</span><span class="n">destroyAllWindows</span><span class="p">（）</span></pre> </div> </div> </div> </div> <div class="section" id="qr-codes-and-barcodes"> <h2><span class="section-number">4.34.</span>二维码和条形码<一个class="headerlink" href="#qr-codes-and-barcodes" title="¶＂>¶</一个></h2><p>这个例子展示了如何从RoboDK的输入摄像头读取二维码和条形码(EAN-13, UPC-A等)。输入摄像头可以是物理设备，也可以是RoboDK的模拟摄像头。它还提供实用程序脚本，将QR码和条形码作为对象添加到RoboDK站点。</p><p>检测到的二维码和条形码将在一个单独的视图窗口中显示，检测结果以红色突出显示。检测后，您可以根据读数要求机器人将物品放置在特定的输送机、料仓等。</p><一个class="reference internal image-reference" href="//www.sinclairbody.com/doc/en/PythonAPI/_images/QRBarcodeReader.png"><img alt="_images / QRBarcodeReader.png＂class="align-center" src="//www.sinclairbody.com/doc/en/PythonAPI/_images/QRBarcodeReader.png" style="height: 200px;"></a> <div class="section" id="generating-qr-codes"> <h3><span class="section-number">4.34.1.</span>生成二维码<一个class="headerlink" href="#generating-qr-codes" title="¶＂>¶</一个></h3.><div class="literal-block-wrapper docutils container" id="qr-codes-generator"> <div class="code-block-caption"> <span class="caption-text">二维码-生成器</span> <a class="headerlink" href="#qr-codes-generator" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">这个脚本允许你创建一个包含二维码的RoboDK对象。</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="n">import_install</span><span class="p">（</span><span class="s2">“qrcode”</span><span class="p">）</span><span class="kn">进口</span><span class="nn">qrcode</span><span class="c1">#----------------------------------------------</span><span class="c1">#设置</span><span class="n">ASK_USER_SAVE_TO_DISK</span><span class="o">＝</span><span class="kc">假</span><span class="c1"># True要求用户保存在磁盘上。否则，使用临时文件夹并添加到RoboDK。</span><span class="c1">#----------------------------------------------</span><span class="c1">#创建二维码</span><span class="n">数据</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="s2">“输入文本，嵌入你的二维码”</span><span class="p">，</span><span class="n">条目</span><span class="o">＝</span><span class="s2">“www.sinclairbody.com”</span><span class="p">）</span><span class="k">如果</span><span class="n">数据</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">数据</span><span class="ow">是</span><span class="kc">假</span><span class="ow">或</span><span class="nb">类型</span><span class="p">（</span><span class="n">数据</span><span class="p">）</span><span class="ow">是</span><span class="ow">不</span><span class="nb">str</span><span class="p">：</span><span class="c1">#用户取消</span><span class="n">辞职</span><span class="p">（）</span><span class="n">img</span><span class="o">＝</span><span class="n">qrcode</span><span class="o">．</span><span class="n">使</span><span class="p">（</span><span class="n">数据</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#保存到文件</span><span class="n">的名字</span><span class="o">＝</span><span class="s2">“QR_”</span><span class="o">+</span><span class="n">数据</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s1">“。”</span><span class="p">，</span><span class="s1">”</span><span class="p">）</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s1">“:”</span><span class="p">，</span><span class="s1">”</span><span class="p">）</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s1">' / '</span><span class="p">，</span><span class="s1">”</span><span class="p">）</span><span class="c1"># //www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="n">文件名</span><span class="o">＝</span><span class="kc">没有一个</span><span class="k">如果</span><span class="n">ASK_USER_SAVE_TO_DISK</span><span class="p">：</span><span class="n">文件名</span><span class="o">＝</span><span class="n">getSaveFileName</span><span class="p">（</span><span class="n">strtitle</span><span class="o">＝</span><span class="s1">“将二维码保存在磁盘上，或取消以跳过”</span><span class="p">，</span><span class="n">strfile</span><span class="o">＝</span><span class="n">的名字</span><span class="p">，</span><span class="n">defaultextension</span><span class="o">＝</span><span class="s1">“使用”</span><span class="p">，</span><span class="n">文件类型</span><span class="o">＝</span><span class="p">((</span><span class="s1">PNG文件的</span><span class="p">，</span><span class="s1">‘* . png”</span><span class="p">)))</span><span class="k">如果</span><span class="n">文件名</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">文件名</span><span class="o">= =</span><span class="s1">”</span><span class="p">：</span><span class="n">import_install</span><span class="p">（</span><span class="s2">“tempdir”</span><span class="p">）</span><span class="kn">进口</span><span class="nn">tempfile</span><span class="n">tempdir</span><span class="o">＝</span><span class="n">tempfile</span><span class="o">．</span><span class="n">gettempdir</span><span class="p">（）</span><span class="n">文件名</span><span class="o">＝</span><span class="n">tempdir</span><span class="o">+</span><span class="s2">＂</span><span class="se">\ \</span><span class="s2">＂</span><span class="o">+</span><span class="n">的名字</span><span class="o">+</span><span class="s2">“使用”</span><span class="n">img</span><span class="o">．</span><span class="n">保存</span><span class="p">（</span><span class="n">文件名</span><span class="p">）</span><span class="kn">进口</span><span class="nn">os.path</span><span class="k">如果</span><span class="ow">不</span><span class="n">操作系统</span><span class="o">．</span><span class="n">路径</span><span class="o">．</span><span class="n">存在</span><span class="p">（</span><span class="n">文件名</span><span class="p">)：</span><span class="n">辞职</span><span class="p">（</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#导入RoboDK</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">img_item</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFile</span><span class="p">（</span><span class="n">文件名</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">img_item</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="generating-barcodes-ean-13"> <h3><span class="section-number">4.34.2.</span>生成条形码(EAN-13)<一个class="headerlink" href="#generating-barcodes-ean-13" title="¶＂>¶</一个></h3.><div class="literal-block-wrapper docutils container" id="barcode-ean-13-generator"> <div class="code-block-caption"> <span class="caption-text">条形码(EAN-13) -生成器</span> <a class="headerlink" href="#barcode-ean-13-generator" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">该脚本允许您创建一个包含EAN13条形码(欧洲)的RoboDK对象。</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="n">import_install</span><span class="p">（</span><span class="s2">“条形码”</span><span class="p">，</span><span class="s2">“python-barcode”</span><span class="p">）</span><span class="kn">进口</span><span class="nn">条形码</span><span class="c1">#----------------------------------------------</span><span class="c1">#设置</span><span class="n">ASK_USER_SAVE_TO_DISK</span><span class="o">＝</span><span class="kc">假</span><span class="c1"># True要求用户保存在磁盘上。否则，使用临时文件夹并添加到RoboDK。</span><span class="c1">#----------------------------------------------</span><span class="c1">#创建条形码</span><span class="n">数据</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="s2">"输入你的条形码(EAN 13位)"</span><span class="p">，</span><span class="n">条目</span><span class="o">＝</span><span class="s1">“5701234567899”</span><span class="p">）</span><span class="k">如果</span><span class="n">数据</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">数据</span><span class="ow">是</span><span class="kc">假</span><span class="ow">或</span><span class="nb">类型</span><span class="p">（</span><span class="n">数据</span><span class="p">）</span><span class="ow">是</span><span class="ow">不</span><span class="nb">str</span><span class="p">：</span><span class="c1">#用户取消</span><span class="n">辞职</span><span class="p">（）</span><span class="k">如果</span><span class="ow">不</span><span class="n">数据</span><span class="o">．</span><span class="n">isdecimal</span><span class="p">（）</span><span class="ow">或</span><span class="nb">len</span><span class="p">（</span><span class="n">数据</span><span class="p">）</span><span class="o">! =</span><span class="mi">13</span><span class="p">：</span><span class="c1">#无效输入</span><span class="n">辞职</span><span class="p">（）</span><span class="n">img</span><span class="o">＝</span><span class="n">条形码</span><span class="o">．</span><span class="n">EAN13</span><span class="p">（</span><span class="n">数据</span><span class="p">，</span><span class="n">作家</span><span class="o">＝</span><span class="n">条形码</span><span class="o">．</span><span class="n">作家</span><span class="o">．</span><span class="n">图像打印机</span><span class="p">())</span><span class="c1">您可以轻松复制此脚本以生成其他条形码类型，例如UPC-A</span><span class="c1"># img =条形码。UPCA(数据、作家= barcode.writer.ImageWriter ())</span><span class="c1">#----------------------------------------------</span><span class="c1">#保存到文件</span><span class="n">的名字</span><span class="o">＝</span><span class="s2">“EAN13_”</span><span class="o">+</span><span class="n">数据</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s1">“。”</span><span class="p">，</span><span class="s1">”</span><span class="p">）</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s1">“:”</span><span class="p">，</span><span class="s1">”</span><span class="p">）</span><span class="o">．</span><span class="n">取代</span><span class="p">（</span><span class="s1">' / '</span><span class="p">，</span><span class="s1">”</span><span class="p">）</span><span class="n">文件名</span><span class="o">＝</span><span class="kc">没有一个</span><span class="k">如果</span><span class="n">ASK_USER_SAVE_TO_DISK</span><span class="p">：</span><span class="n">文件名</span><span class="o">＝</span><span class="n">getSaveFileName</span><span class="p">（</span><span class="n">strtitle</span><span class="o">＝</span><span class="s1">'将条形码保存在磁盘上，或取消以跳过'</span><span class="p">，</span><span class="n">strfile</span><span class="o">＝</span><span class="n">的名字</span><span class="p">，</span><span class="n">defaultextension</span><span class="o">＝</span><span class="s1">“使用”</span><span class="p">，</span><span class="n">文件类型</span><span class="o">＝</span><span class="p">((</span><span class="s1">PNG文件的</span><span class="p">，</span><span class="s1">‘* . png”</span><span class="p">)))</span><span class="k">如果</span><span class="n">文件名</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">文件名</span><span class="o">= =</span><span class="s1">”</span><span class="p">：</span><span class="n">import_install</span><span class="p">（</span><span class="s2">“tempdir”</span><span class="p">）</span><span class="kn">进口</span><span class="nn">tempfile</span><span class="n">tempdir</span><span class="o">＝</span><span class="n">tempfile</span><span class="o">．</span><span class="n">gettempdir</span><span class="p">（）</span><span class="n">文件名</span><span class="o">＝</span><span class="n">tempdir</span><span class="o">+</span><span class="s2">＂</span><span class="se">\ \</span><span class="s2">＂</span><span class="o">+</span><span class="n">的名字</span><span class="n">img</span><span class="o">．</span><span class="n">保存</span><span class="p">（</span><span class="n">文件名</span><span class="p">）</span><span class="n">文件名</span><span class="o">+ =</span><span class="s1">“使用”</span><span class="c1"># barcode .save添加。png文件</span><span class="kn">进口</span><span class="nn">os.path</span><span class="k">如果</span><span class="ow">不</span><span class="n">操作系统</span><span class="o">．</span><span class="n">路径</span><span class="o">．</span><span class="n">存在</span><span class="p">（</span><span class="n">文件名</span><span class="p">)：</span><span class="n">辞职</span><span class="p">（</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#导入RoboDK</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">img_item</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFile</span><span class="p">（</span><span class="n">文件名</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">img_item</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span></pre> </div> </div> </div> </div> <div class="section" id="reading-qr-codes-and-bar-codes"> <h3><span class="section-number">4.34.3.</span>阅读二维码和条形码<一个class="headerlink" href="#reading-qr-codes-and-bar-codes" title="¶＂>¶</一个></h3.><div class="literal-block-wrapper docutils container" id="qr-and-barcode-reader"> <div class="code-block-caption"> <span class="caption-text">二维码和条形码-阅读器</span> <a class="headerlink" href="#qr-and-barcode-reader" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">这个脚本处理一个摄像头帧来提取二维码和条形码。</span><span class="c1">#它目前使用的是RoboDK相机，但它可以很容易地调整为使用物理设备。</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="n">import_install</span><span class="p">（</span><span class="s2">“cv2”</span><span class="p">，</span><span class="s2">“opencv-contrib-python”</span><span class="p">）</span><span class="c1">投稿版本增加了条形码支持</span><span class="kn">进口</span><span class="nn">cv2</span><span class="k">作为</span><span class="nn">简历</span><span class="kn">进口</span><span class="nn">tempfile</span><span class="c1">#----------------------------------------------</span><span class="c1">#设置</span><span class="n">PROCESS_COUNT</span><span class="o">＝</span><span class="o">-</span><span class="mi">1</span><span class="c1">#退出前要处理多少帧。1意味着无限期。</span><span class="n">DETECT_COLOR</span><span class="o">＝</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#开始一个相机饲料。</span><span class="c1">#如果你正在使用一个连接的设备，使用cv。视频捕捉获得现场饲料。</span><span class="c1"># https://docs.opencv.org/master/d8/dfe/classcv_1_1VideoCapture.html</span><span class="c1">＃</span><span class="c1"># capture = cv.VideoCapture(0)</span><span class="c1"># retval, image = capture.read()</span><span class="c1">#----------------------------------------------</span><span class="c1">#从RoboDK那里获取相机</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">cam_item</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">“选择相机”</span><span class="p">，</span><span class="n">ITEM_TYPE_CAMERA</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cam_item</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#----------------------------------------------</span><span class="c1">#初始化QR和条形码探测器</span><span class="n">qr_detector</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">QRCodeDetector</span><span class="p">（）</span><span class="c1"># https://docs.opencv.org/master/de/dc3/classcv_1_1QRCodeDetector.html</span><span class="n">barcode_detector</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">barcode_BarcodeDetector</span><span class="p">（）</span><span class="c1"># https://docs.opencv.org/master/d2/dea/group__barcode.html</span><span class="c1">#----------------------------------------------</span><span class="c1">#目前，我们需要将RDK快照保存在磁盘上。</span><span class="c1">#一个新的更新将返回图像，如:img = RDK。Cam2D_Snapshot (cam_item”)</span><span class="n">tempdir</span><span class="o">＝</span><span class="n">tempfile</span><span class="o">．</span><span class="n">gettempdir</span><span class="p">（）</span><span class="n">snapshot_file</span><span class="o">＝</span><span class="n">tempdir</span><span class="o">+</span><span class="s2">＂</span><span class="se">\ \</span><span class="s2">code_reader_temp.png”</span><span class="c1">#----------------------------------------------</span><span class="c1">#处理相机帧</span><span class="n">数</span><span class="o">＝</span><span class="mi">0</span><span class="k">而</span><span class="n">数</span><span class="o"><</span><span class="n">PROCESS_COUNT</span><span class="ow">或</span><span class="n">PROCESS_COUNT</span><span class="o"><</span><span class="mi">0</span><span class="p">：</span><span class="n">数</span><span class="o">+ =</span><span class="mi">1</span><span class="c1">#----------------------------------------------</span><span class="c1">#保存并从RoboDK获取图像</span><span class="k">如果</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Snapshot</span><span class="p">（</span><span class="n">snapshot_file</span><span class="p">，</span><span class="n">cam_item</span><span class="p">)：</span><span class="n">img</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">imread</span><span class="p">（</span><span class="n">snapshot_file</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#检查二维码</span><span class="n">retval</span><span class="p">，</span><span class="n">decoded_info_list</span><span class="p">，</span><span class="n">points_list</span><span class="p">，</span><span class="n">straight_qrcode_list</span><span class="o">＝</span><span class="n">qr_detector</span><span class="o">．</span><span class="n">detectAndDecodeMulti</span><span class="p">（</span><span class="n">img</span><span class="p">）</span><span class="k">如果</span><span class="n">retval</span><span class="p">：</span><span class="n">points_list</span><span class="o">＝</span><span class="n">points_list</span><span class="o">．</span><span class="n">astype</span><span class="p">（</span><span class="nb">int</span><span class="p">）</span><span class="n">n_qr</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">decoded_info_list</span><span class="p">）</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">n_qr</span><span class="p">)：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“发现二维码:”</span><span class="o">+</span><span class="n">decoded_info_list</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="c1">绘制轮廓线</span><span class="n">点</span><span class="o">＝</span><span class="n">points_list</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="n">n_lines</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">点</span><span class="p">）</span><span class="k">为</span><span class="n">j</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">n_lines</span><span class="p">)：</span><span class="n">point1</span><span class="o">＝</span><span class="n">点</span><span class="p">［</span><span class="n">j</span><span class="p">］</span><span class="n">卷帘窗</span><span class="o">＝</span><span class="n">点</span><span class="p">((</span><span class="n">j</span><span class="o">+</span><span class="mi">1</span><span class="p">）</span><span class="o">％</span><span class="n">n_lines</span><span class="p">］</span><span class="n">简历</span><span class="o">．</span><span class="n">行</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">point1</span><span class="p">，</span><span class="n">卷帘窗</span><span class="p">，</span><span class="n">颜色</span><span class="o">＝</span><span class="n">DETECT_COLOR</span><span class="p">，</span><span class="n">厚度</span><span class="o">＝</span><span class="mi">2</span><span class="p">）</span><span class="c1">#打印二维码内容</span><span class="n">简历</span><span class="o">．</span><span class="n">putText</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">decoded_info_list</span><span class="p">［</span><span class="n">我</span><span class="p">]，</span><span class="n">点</span><span class="p">［</span><span class="mi">0</span><span class="p">]，</span><span class="n">简历</span><span class="o">．</span><span class="n">FONT_HERSHEY_SIMPLEX</span><span class="p">，</span><span class="mi">1</span><span class="p">，</span><span class="n">DETECT_COLOR</span><span class="p">，</span><span class="mi">2</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">LINE_AA</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#检查条形码</span><span class="n">retval</span><span class="p">，</span><span class="n">decoded_info_list</span><span class="p">，</span><span class="n">decoded_type_list</span><span class="p">，</span><span class="n">points_list</span><span class="o">＝</span><span class="n">barcode_detector</span><span class="o">．</span><span class="n">detectAndDecode</span><span class="p">（</span><span class="n">img</span><span class="p">）</span><span class="k">如果</span><span class="n">retval</span><span class="p">：</span><span class="n">points_list</span><span class="o">＝</span><span class="n">points_list</span><span class="o">．</span><span class="n">astype</span><span class="p">（</span><span class="nb">int</span><span class="p">）</span><span class="n">n_bar</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">decoded_info_list</span><span class="p">）</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">n_bar</span><span class="p">)：</span><span class="k">def</span><span class="nf">barcodeType</span><span class="p">（</span><span class="n">decoded_type</span><span class="p">：</span><span class="nb">int</span><span class="p">）</span><span class="o">-></span><span class="nb">str</span><span class="p">：</span><span class="k">如果</span><span class="n">decoded_type</span><span class="o">= =</span><span class="n">简历</span><span class="o">．</span><span class="n">条形码</span><span class="o">．</span><span class="n">EAN_8</span><span class="p">：</span><span class="k">返回</span><span class="s2">“EAN8”</span><span class="k">elif</span><span class="n">decoded_type</span><span class="o">= =</span><span class="n">简历</span><span class="o">．</span><span class="n">条形码</span><span class="o">．</span><span class="n">EAN_13</span><span class="p">：</span><span class="k">返回</span><span class="s2">“EAN13”</span><span class="k">elif</span><span class="n">decoded_type</span><span class="o">= =</span><span class="n">简历</span><span class="o">．</span><span class="n">条形码</span><span class="o">．</span><span class="n">UPC_A</span><span class="p">：</span><span class="k">返回</span><span class="s2">“UPC-A”</span><span class="k">elif</span><span class="n">decoded_type</span><span class="o">= =</span><span class="n">简历</span><span class="o">．</span><span class="n">条形码</span><span class="o">．</span><span class="n">UPC_E</span><span class="p">：</span><span class="k">返回</span><span class="s2">“UPC-E”</span><span class="k">elif</span><span class="n">decoded_type</span><span class="o">= =</span><span class="n">简历</span><span class="o">．</span><span class="n">条形码</span><span class="o">．</span><span class="n">UPC_EAN_EXTENSION</span><span class="p">：</span><span class="k">返回</span><span class="s2">“UPC-EAN”</span><span class="k">其他的</span><span class="p">：</span><span class="k">返回</span><span class="s2">“没有”</span><span class="n">barcode_type</span><span class="o">＝</span><span class="n">barcodeType</span><span class="p">（</span><span class="n">decoded_type_list</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"发现条形码:"</span><span class="o">+</span><span class="n">decoded_info_list</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="o">+</span><span class="s2">”,(</span><span class="si">% s</span><span class="s2">)”</span><span class="o">％</span><span class="n">barcode_type</span><span class="p">）</span><span class="c1">绘制轮廓线</span><span class="n">点</span><span class="o">＝</span><span class="n">points_list</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="n">n_lines</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">点</span><span class="p">）</span><span class="k">为</span><span class="n">j</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">n_lines</span><span class="p">)：</span><span class="n">point1</span><span class="o">＝</span><span class="n">点</span><span class="p">［</span><span class="n">j</span><span class="p">］</span><span class="n">卷帘窗</span><span class="o">＝</span><span class="n">点</span><span class="p">((</span><span class="n">j</span><span class="o">+</span><span class="mi">1</span><span class="p">）</span><span class="o">％</span><span class="n">n_lines</span><span class="p">］</span><span class="n">简历</span><span class="o">．</span><span class="n">行</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">point1</span><span class="p">，</span><span class="n">卷帘窗</span><span class="p">，</span><span class="n">颜色</span><span class="o">＝</span><span class="n">DETECT_COLOR</span><span class="p">，</span><span class="n">厚度</span><span class="o">＝</span><span class="mi">2</span><span class="p">）</span><span class="c1">#打印条形码内容</span><span class="n">简历</span><span class="o">．</span><span class="n">putText</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">decoded_info_list</span><span class="p">［</span><span class="n">我</span><span class="p">]，</span><span class="n">点</span><span class="p">［</span><span class="mi">1</span><span class="p">]，</span><span class="n">简历</span><span class="o">．</span><span class="n">FONT_HERSHEY_SIMPLEX</span><span class="p">，</span><span class="mi">1</span><span class="p">，</span><span class="n">DETECT_COLOR</span><span class="p">，</span><span class="mi">2</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">LINE_AA</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#显示在屏幕上</span><span class="n">简历</span><span class="o">．</span><span class="n">imshow</span><span class="p">（</span><span class="s2">“二维码阅读器”</span><span class="p">，</span><span class="n">img</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">waitKey</span><span class="p">（</span><span class="mi">1</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#此时，您可以处理项目。</span><span class="c1">#例如，要求机器人将物品放置在特定的输送带、料仓等上。</span><span class="n">暂停</span><span class="p">（</span><span class="mi">1</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">destroyAllWindows</span><span class="p">（）</span></pre> </div> </div> </div> </div> </div> <div class="section" id="object-detection"> <h2><span class="section-number">4.35.</span>对象检测<一个class="headerlink" href="#object-detection" title="¶＂>¶</一个></h2><div class="section" id="d-pose-estimation-of-a-known-object"> <h3><span class="section-number">4.35.1.</span>已知物体的二维姿态估计<一个class="headerlink" href="#d-pose-estimation-of-a-known-object" title="¶＂>¶</一个></h3.><p>这个例子展示了如何使用OpenCV将一个输入图像(源对象)与一个相机feed匹配，以确定它的2D姿势。它使用模拟相机，但可以很容易地修改为使用输入相机。这只计算沿Z轴的旋转和X/Y偏移量。它并不意味着3D定位。你可以在<一个class="reference external" href="https://docs.opencv.org/master/d7/dff/tutorial_feature_homography.html">OpenCV单应性教程</一个>．</p><一个class="reference internal image-reference" href="//www.sinclairbody.com/doc/en/PythonAPI/_images/SIFT.png"><img alt="_images / SIFT.png＂class="align-center" src="//www.sinclairbody.com/doc/en/PythonAPI/_images/SIFT.png" style="height: 250px;"></a> <div class="literal-block-wrapper docutils container" id="id9"> <div class="code-block-caption"> <span class="caption-text">已知物体的二维姿态估计</span> <a class="headerlink" href="#id9" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">这个例子展示了如何匹配一个输入图像(源对象)与一个相机feed，以确定它的2D姿势使用SIFT算法。</span><span class="c1">#它使用模拟摄像头，但可以很容易地修改为使用输入摄像头。</span><span class="c1">#警告:这只计算沿Z轴的旋转和X/Y偏移量。它并不意味着3D定位。</span><span class="c1">＃</span><span class="c1">你可以在OpenCV homography教程中找到更多信息:</span><span class="c1"># https://docs.opencv.org/master/d7/dff/tutorial_feature_homography.html</span><span class="c1"># https://docs.opencv.org/master/d9/dab/tutorial_homography.html</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="n">import_install</span><span class="p">（</span><span class="s1">“cv2”</span><span class="p">，</span><span class="s1">“opencv-contrib-python”</span><span class="p">）</span><span class="kn">进口</span><span class="nn">cv2</span><span class="k">作为</span><span class="nn">简历</span><span class="kn">进口</span><span class="nn">numpy</span><span class="k">作为</span><span class="nn">np</span><span class="kn">进口</span><span class="nn">tempfile</span><span class="kn">进口</span><span class="nn">数学</span><span class="c1">#----------------------------------</span><span class="c1">#设置</span><span class="n">PROCESS_COUNT</span><span class="o">＝</span><span class="o">-</span><span class="mi">1</span><span class="c1">#退出前要处理多少帧。1意味着无限期。</span><span class="c1">#相机</span><span class="n">CAM_NAME</span><span class="o">＝</span><span class="s2">“相机”</span><span class="n">CAMERA_SIZE_X</span><span class="o">＝</span><span class="mf">1280.0</span><span class="c1">#像素</span><span class="n">CAMERA_SIZE_Y</span><span class="o">＝</span><span class="mf">720.0</span><span class="c1">#像素</span><span class="n">PIXEL_SIZE_X</span><span class="o">＝</span><span class="p">（</span><span class="mf">100.0</span><span class="o">/</span><span class="mf">175.0</span><span class="p">）</span><span class="c1"># mm/像素，实验发现</span><span class="n">PIXEL_SIZE_Y</span><span class="o">＝</span><span class="p">（</span><span class="mf">100.0</span><span class="o">/</span><span class="mf">175.0</span><span class="p">）</span><span class="c1"># mm /像素</span><span class="n">Z_OFFSET</span><span class="o">＝</span><span class="mf">715.0</span><span class="c1"># mm，相机和零件表面之间的距离</span><span class="c1">#计算框架和目标</span><span class="n">OBJ_NAME</span><span class="o">＝</span><span class="s2">“RoboDK盒子”</span><span class="n">CALC_FRAME_NAME</span><span class="o">＝</span><span class="s2">＂</span><span class="si">% s</span><span class="s2">Calc框架”</span><span class="o">％</span><span class="n">OBJ_NAME</span><span class="n">CALC_TARGET_NAME</span><span class="o">＝</span><span class="s2">＂</span><span class="si">% s</span><span class="s2">选择“</span><span class="o">％</span><span class="n">OBJ_NAME</span><span class="n">CALC_TARGET_APPROACH_NAME</span><span class="o">＝</span><span class="s2">＂</span><span class="si">% s</span><span class="s2">的方法”</span><span class="o">％</span><span class="n">CALC_TARGET_NAME</span><span class="n">APPROACH_DIST</span><span class="o">＝</span><span class="mi">One hundred.</span><span class="c1">#毫米</span><span class="c1">#检测</span><span class="n">MATCH_DIST_THRESH</span><span class="o">＝</span><span class="mf">０．７５</span><span class="c1">#劳氏比率阈值</span><span class="n">MIN_MATCH</span><span class="o">＝</span><span class="mi">15</span><span class="c1">#最小的筛选匹配，以考虑检测有效</span><span class="n">OBJ_IMG_PATH</span><span class="o">＝</span><span class="s2">＂＂</span><span class="c1">#源图像的绝对路径。保留空以打开文件对话框。</span><span class="c1">#画结果</span><span class="n">DISPLAY_RESULT</span><span class="o">＝</span><span class="kc">真正的</span><span class="c1">#打开一个窗口与SIFT匹配</span><span class="n">DRAW_AXIS_LENGTH</span><span class="o">＝</span><span class="mi">50</span><span class="c1">#像素</span><span class="n">DRAW_LINE_WEIGHT</span><span class="o">＝</span><span class="mi">1</span><span class="c1">#像素</span><span class="n">DRAW_LINE_COLOR</span><span class="o">＝</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="mi">0</span><span class="p">）</span><span class="c1"># RGB</span><span class="c1">#----------------------------------</span><span class="c1">#获取源图像进行识别</span><span class="n">img_path</span><span class="o">＝</span><span class="n">OBJ_IMG_PATH</span><span class="k">如果</span><span class="n">img_path</span><span class="o">= =</span><span class="s2">＂＂</span><span class="p">：</span><span class="n">img_path</span><span class="o">＝</span><span class="n">getOpenFileName</span><span class="p">（</span><span class="n">strtitle</span><span class="o">＝</span><span class="s1">“选择源对象图像”</span><span class="p">，</span><span class="n">defaultextension</span><span class="o">＝</span><span class="s1">“使用”</span><span class="p">，</span><span class="n">文件类型</span><span class="o">＝</span><span class="p">((</span><span class="s1">“PNG”</span><span class="p">，</span><span class="s1">“使用”</span><span class="p">)，</span><span class="p">（</span><span class="s1">“JPEG”</span><span class="p">，</span><span class="s1">“jpg”</span><span class="p">)))</span><span class="n">img_object</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">imread</span><span class="p">（</span><span class="n">img_path</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">IMREAD_GRAYSCALE</span><span class="p">）</span><span class="k">如果</span><span class="n">img_object</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">np</span><span class="o">．</span><span class="n">形状</span><span class="p">（</span><span class="n">img_object</span><span class="p">）</span><span class="o">= =</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">"无法检索源图像进行识别!"</span><span class="p">）</span><span class="c1">#----------------------------------</span><span class="c1">#得到认可的部分</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">部分</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">OBJ_NAME</span><span class="p">，</span><span class="n">ITEM_TYPE_OBJECT</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">部分</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">”未找到!</span><span class="si">% s</span><span class="s2">＂</span><span class="o">％</span><span class="n">OBJ_NAME</span><span class="p">）</span><span class="n">part_frame</span><span class="o">＝</span><span class="n">部分</span><span class="o">．</span><span class="n">父</span><span class="p">（）</span><span class="k">如果</span><span class="ow">不</span><span class="n">part_frame</span><span class="o">．</span><span class="n">有效的</span><span class="p">（）</span><span class="ow">或</span><span class="n">part_frame</span><span class="o">．</span><span class="n">类型</span><span class="p">（）</span><span class="o">! =</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">：</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“父母部分无效，确保这是一个框架!”</span><span class="p">）</span><span class="c1">#----------------------------------</span><span class="c1">#从RoboDK获取模拟相机</span><span class="n">cam_item</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">CAM_NAME</span><span class="p">，</span><span class="n">ITEM_TYPE_CAMERA</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cam_item</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“相机没有找到!</span><span class="si">% s</span><span class="s2">＂</span><span class="o">％</span><span class="n">CAM_NAME</span><span class="p">）</span><span class="n">cam_tool</span><span class="o">＝</span><span class="n">cam_item</span><span class="o">．</span><span class="n">父</span><span class="p">（）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cam_tool</span><span class="o">．</span><span class="n">有效的</span><span class="p">（）</span><span class="ow">或</span><span class="n">cam_tool</span><span class="o">．</span><span class="n">类型</span><span class="p">（）</span><span class="o">! =</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">：</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“相机父母是无效的，确保它是一个工具!”</span><span class="p">）</span><span class="c1">#----------------------------------</span><span class="c1">#获取或创建计算对象的姿态帧</span><span class="n">calc_frame</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">CALC_FRAME_NAME</span><span class="p">，</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">calc_frame</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">calc_frame</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="n">CALC_FRAME_NAME</span><span class="p">，</span><span class="n">part_frame</span><span class="o">．</span><span class="n">父</span><span class="p">())</span><span class="n">calc_pick</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">CALC_TARGET_NAME</span><span class="p">，</span><span class="n">ITEM_TYPE_TARGET</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">calc_pick</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">calc_pick</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="n">CALC_TARGET_NAME</span><span class="p">，</span><span class="n">calc_frame</span><span class="p">）</span><span class="n">calc_pick_approach</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">CALC_TARGET_APPROACH_NAME</span><span class="p">，</span><span class="n">ITEM_TYPE_TARGET</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">calc_pick_approach</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">calc_pick_approach</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="n">CALC_TARGET_APPROACH_NAME</span><span class="p">，</span><span class="n">calc_frame</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#开始一个相机饲料。</span><span class="c1">#如果你正在使用一个连接的设备，使用cv。视频捕捉获得现场饲料。</span><span class="c1"># https://docs.opencv.org/master/d8/dfe/classcv_1_1VideoCapture.html</span><span class="c1">＃</span><span class="c1"># capture = cv.VideoCapture(0)</span><span class="c1"># retval, image = capture.read()</span><span class="c1">#----------------------------------------------</span><span class="c1">#目前，我们需要将RDK快照保存在磁盘上。</span><span class="c1">#一个新的更新将返回图像，如:img = RDK。Cam2D_Snapshot (cam_item”)</span><span class="n">tempdir</span><span class="o">＝</span><span class="n">tempfile</span><span class="o">．</span><span class="n">gettempdir</span><span class="p">（）</span><span class="n">snapshot_file</span><span class="o">＝</span><span class="n">tempdir</span><span class="o">+</span><span class="s2">＂</span><span class="se">\ \</span><span class="s2">sift_temp.png”</span><span class="c1">#----------------------------------------------</span><span class="c1">#处理相机帧</span><span class="n">数</span><span class="o">＝</span><span class="mi">0</span><span class="k">而</span><span class="n">数</span><span class="o"><</span><span class="n">PROCESS_COUNT</span><span class="ow">或</span><span class="n">PROCESS_COUNT</span><span class="o"><</span><span class="mi">0</span><span class="p">：</span><span class="n">数</span><span class="o">+ =</span><span class="mi">1</span><span class="c1">#----------------------------------------------</span><span class="c1">#保存并从RoboDK获取图像</span><span class="k">如果</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Snapshot</span><span class="p">（</span><span class="n">snapshot_file</span><span class="p">，</span><span class="n">cam_item</span><span class="p">)：</span><span class="n">img_scene</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">imread</span><span class="p">（</span><span class="n">snapshot_file</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">IMREAD_GRAYSCALE</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#使用SIFT检测器检测关键点，计算描述符</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SIFT_create</span><span class="p">（）</span><span class="n">keypoints_obj</span><span class="p">，</span><span class="n">descriptors_obj</span><span class="o">＝</span><span class="n">探测器</span><span class="o">．</span><span class="n">detectAndCompute</span><span class="p">（</span><span class="n">img_object</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">）</span><span class="n">keypoints_scene</span><span class="p">，</span><span class="n">descriptors_scene</span><span class="o">＝</span><span class="n">探测器</span><span class="o">．</span><span class="n">detectAndCompute</span><span class="p">（</span><span class="n">img_scene</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">）</span><span class="k">如果</span><span class="n">descriptors_obj</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">descriptors_scene</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">keypoints_obj</span><span class="o">= =</span><span class="p">［］</span><span class="ow">或</span><span class="n">keypoints_scene</span><span class="o">= =</span><span class="p">[]:</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“无法检测到关键点”</span><span class="p">）</span><span class="k">继续</span><span class="c1">#匹配描述符向量</span><span class="n">匹配器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">DescriptorMatcher_create</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">DescriptorMatcher_FLANNBASED</span><span class="p">）</span><span class="n">knn_matches</span><span class="o">＝</span><span class="n">匹配器</span><span class="o">．</span><span class="n">knnMatch</span><span class="p">（</span><span class="n">descriptors_obj</span><span class="p">，</span><span class="n">descriptors_scene</span><span class="p">，</span><span class="mi">2</span><span class="p">）</span><span class="c1">#使用Lowe’s比率测试匹配过滤器</span><span class="n">good_matches</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">米</span><span class="p">，</span><span class="n">n</span><span class="ow">在</span><span class="n">knn_matches</span><span class="p">：</span><span class="k">如果</span><span class="n">米</span><span class="o">．</span><span class="n">距离</span><span class="o"><</span><span class="n">MATCH_DIST_THRESH</span><span class="o">＊</span><span class="n">n</span><span class="o">．</span><span class="n">距离</span><span class="p">：</span><span class="n">good_matches</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">米</span><span class="p">）</span><span class="c1">#画比赛</span><span class="n">img_matches</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">空</span><span class="p">（(</span><span class="nb">马克斯</span><span class="p">（</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">0</span><span class="p">]，</span><span class="n">img_scene</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">0</span><span class="p">]),</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">+</span><span class="n">img_scene</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">]，</span><span class="mi">3.</span><span class="p">)，</span><span class="n">dtype</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">uint8</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">drawMatches</span><span class="p">（</span><span class="n">img_object</span><span class="p">，</span><span class="n">keypoints_obj</span><span class="p">，</span><span class="n">img_scene</span><span class="p">，</span><span class="n">keypoints_scene</span><span class="p">，</span><span class="n">good_matches</span><span class="p">，</span><span class="n">img_matches</span><span class="p">，</span><span class="n">旗帜</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">DrawMatchesFlags_NOT_DRAW_SINGLE_POINTS</span><span class="p">）</span><span class="c1">#停止处理低匹配计数</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">good_matches</span><span class="p">）</span><span class="o"><</span><span class="n">MIN_MATCH</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“没有足够的比赛”</span><span class="p">）</span><span class="k">继续</span><span class="c1">#----------------------------------------------</span><span class="c1">#本地化对象</span><span class="n">obj</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">空</span><span class="p">（(</span><span class="nb">len</span><span class="p">（</span><span class="n">good_matches</span><span class="p">)，</span><span class="mi">2</span><span class="p">)，</span><span class="n">dtype</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">float32</span><span class="p">）</span><span class="n">场景</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">空</span><span class="p">（(</span><span class="nb">len</span><span class="p">（</span><span class="n">good_matches</span><span class="p">)，</span><span class="mi">2</span><span class="p">)，</span><span class="n">dtype</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">float32</span><span class="p">）</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="nb">len</span><span class="p">（</span><span class="n">good_matches</span><span class="p">)):</span><span class="c1">#从优秀的比赛中获得关键点</span><span class="n">obj</span><span class="p">［</span><span class="n">我</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">＝</span><span class="n">keypoints_obj</span><span class="p">［</span><span class="n">good_matches</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="o">．</span><span class="n">queryIdx</span><span class="p">］</span><span class="o">．</span><span class="n">pt</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="n">obj</span><span class="p">［</span><span class="n">我</span><span class="p">，</span><span class="mi">1</span><span class="p">］</span><span class="o">＝</span><span class="n">keypoints_obj</span><span class="p">［</span><span class="n">good_matches</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="o">．</span><span class="n">queryIdx</span><span class="p">］</span><span class="o">．</span><span class="n">pt</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="n">场景</span><span class="p">［</span><span class="n">我</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">＝</span><span class="n">keypoints_scene</span><span class="p">［</span><span class="n">good_matches</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="o">．</span><span class="n">trainIdx</span><span class="p">］</span><span class="o">．</span><span class="n">pt</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="n">场景</span><span class="p">［</span><span class="n">我</span><span class="p">，</span><span class="mi">1</span><span class="p">］</span><span class="o">＝</span><span class="n">keypoints_scene</span><span class="p">［</span><span class="n">good_matches</span><span class="p">［</span><span class="n">我</span><span class="p">］</span><span class="o">．</span><span class="n">trainIdx</span><span class="p">］</span><span class="o">．</span><span class="n">pt</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="c1">#计算透视变换，或单应式矩阵</span><span class="n">H</span><span class="p">，</span><span class="n">＿</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">findHomography</span><span class="p">（</span><span class="n">obj</span><span class="p">，</span><span class="n">场景</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">RANSAC</span><span class="p">）</span><span class="k">如果</span><span class="n">H</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">np</span><span class="o">．</span><span class="n">形状</span><span class="p">（</span><span class="n">H</span><span class="p">）</span><span class="o">= =</span><span class="p">():</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“没有转换可能”</span><span class="p">）</span><span class="k">继续</span><span class="c1">我们可以直接从H中提取旋转角度</span><span class="n">θ</span><span class="o">＝</span><span class="o">-</span><span class="n">数学</span><span class="o">．</span><span class="n">量化</span><span class="p">（</span><span class="n">H</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">]，</span><span class="n">H</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">])</span><span class="c1">#----------------------------------------------</span><span class="c1">#有很多方法来计算姿势。</span><span class="c1">＃</span><span class="c1"># 1。使用相机矩阵</span><span class="c1">#如果你有一个校准的相机(模拟或硬件)，你可以分解H，得到旋转和平移的解决方案(最多四个解决方案)。</span><span class="c1">#查看我们关于如何校准相机的例子:</span><span class="c1">#——//www.sinclairbody.com/doc/en/PythonAPI/examples.html #相机校正</span><span class="c1">＃</span><span class="c1"># cam_mtx = np.array([[1.3362190822261939e+ 04,0 .]8.4795067509033629 e + 02],[0。，1．3.361819220999134e+04, 1.6875586379396785e+02], [0., 0., 1.]]) # Sample camera matrix from a 1280x720 simulated camera</span><span class="c1"># n_solution, rot, trans, normals = cv.decomposeHomographyMat(H, cam_mtx)</span><span class="c1">I in range(n_solution):</span><span class="c1"># vx, vy, vz = rot[i].tolist()</span><span class="c1"># tx, ty, tz = trans[i].tolist()</span><span class="c1">#----------------------------------------------</span><span class="c1"># 2。使用的时刻</span><span class="c1">#这个方法没有考虑到相机矩阵，预期会有小误差。</span><span class="c1">更多信息，请访问:</span><span class="c1">#——https://en.wikipedia.org/wiki/Image_moment</span><span class="c1">#——https://docs.opencv.org/master/d8/d23/classcv_1_1Moments.html</span><span class="c1">#从对象图像中获取角</span><span class="n">obj_corners</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">0</span><span class="p">（(</span><span class="mi">4</span><span class="p">，</span><span class="mi">1</span><span class="p">，</span><span class="mi">2</span><span class="p">)，</span><span class="n">dtype</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">float32</span><span class="p">）</span><span class="c1"># corder id, x, y</span><span class="n">obj_corners</span><span class="p">［</span><span class="mi">1</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">＝</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="n">obj_corners</span><span class="p">［</span><span class="mi">2</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">＝</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="n">obj_corners</span><span class="p">［</span><span class="mi">2</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">］</span><span class="o">＝</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="n">obj_corners</span><span class="p">［</span><span class="mi">3.</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">］</span><span class="o">＝</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="c1">#将物体的角转换为相机图像</span><span class="n">scene_corners</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">perspectiveTransform</span><span class="p">（</span><span class="n">obj_corners</span><span class="p">，</span><span class="n">H</span><span class="p">）</span><span class="c1">#获取图像时刻，并提取中心</span><span class="n">时刻</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">时刻</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">）</span><span class="n">残雪</span><span class="o">＝</span><span class="n">时刻</span><span class="p">［</span><span class="s1">“m10”</span><span class="p">］</span><span class="o">/</span><span class="n">时刻</span><span class="p">［</span><span class="s1">“m00”</span><span class="p">］</span><span class="n">cy</span><span class="o">＝</span><span class="n">时刻</span><span class="p">［</span><span class="s1">“m01”</span><span class="p">］</span><span class="o">/</span><span class="n">时刻</span><span class="p">［</span><span class="s1">“m00”</span><span class="p">］</span><span class="c1">#----------------------------------------------</span><span class="c1">#计算相对于相机帧的X和Y</span><span class="n">rel_x</span><span class="o">＝</span><span class="p">（</span><span class="n">残雪</span><span class="o">-</span><span class="n">CAMERA_SIZE_X</span><span class="o">/</span><span class="mf">2．0</span><span class="p">）</span><span class="o">＊</span><span class="n">PIXEL_SIZE_X</span><span class="n">rel_y</span><span class="o">＝</span><span class="p">（</span><span class="n">cy</span><span class="o">-</span><span class="n">CAMERA_SIZE_Y</span><span class="o">/</span><span class="mf">2．0</span><span class="p">）</span><span class="o">＊</span><span class="n">PIXEL_SIZE_Y</span><span class="n">rel_theta</span><span class="o">＝</span><span class="nb">浮动</span><span class="p">（</span><span class="n">θ</span><span class="p">）</span><span class="c1">#为中心的宽容</span><span class="k">如果</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">rel_x</span><span class="p">）</span><span class="o"><</span><span class="mi">1</span><span class="p">：</span><span class="n">rel_x</span><span class="o">＝</span><span class="mf">0．0</span><span class="k">如果</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">rel_y</span><span class="p">）</span><span class="o"><</span><span class="mi">1</span><span class="p">：</span><span class="n">rel_y</span><span class="o">＝</span><span class="mf">0．0</span><span class="k">如果</span><span class="nb">腹肌</span><span class="p">（</span><span class="n">rel_theta</span><span class="p">）</span><span class="o"><</span><span class="mf">0.0005</span><span class="p">：</span><span class="n">rel_theta</span><span class="o">＝</span><span class="mf">0．0</span><span class="c1">#精密公差</span><span class="n">rel_x</span><span class="o">＝</span><span class="nb">轮</span><span class="p">（</span><span class="n">rel_x</span><span class="p">，</span><span class="mi">4</span><span class="p">）</span><span class="n">rel_y</span><span class="o">＝</span><span class="nb">轮</span><span class="p">（</span><span class="n">rel_y</span><span class="p">，</span><span class="mi">4</span><span class="p">）</span><span class="n">rel_theta</span><span class="o">＝</span><span class="nb">轮</span><span class="p">（</span><span class="n">rel_theta</span><span class="p">，</span><span class="mi">4</span><span class="p">）</span><span class="c1">#计算对着相机的姿势</span><span class="n">calc_frame_pose</span><span class="o">＝</span><span class="n">cam_tool</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="n">calc_frame_pose</span><span class="o">．</span><span class="n">setPos</span><span class="p">（[</span><span class="n">rel_x</span><span class="p">，</span><span class="n">rel_y</span><span class="p">，</span><span class="n">Z_OFFSET</span><span class="p">])</span><span class="n">calc_frame_pose</span><span class="o">＝</span><span class="n">calc_frame_pose</span><span class="o">＊</span><span class="n">rotz</span><span class="p">（</span><span class="n">rel_theta</span><span class="p">）</span><span class="c1">#懒惰的方法计算一组相对姿势是静态移动他们!</span><span class="n">calc_frame</span><span class="o">．</span><span class="n">setParent</span><span class="p">（</span><span class="n">cam_tool</span><span class="p">）</span><span class="n">calc_frame</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">calc_frame_pose</span><span class="p">）</span><span class="n">calc_pick</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">眼睛</span><span class="p">（</span><span class="mi">4</span><span class="p">）)</span><span class="n">calc_pick_approach</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">calc_pick</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="n">APPROACH_DIST</span><span class="p">）)</span><span class="n">calc_frame</span><span class="o">．</span><span class="n">setParentStatic</span><span class="p">（</span><span class="n">part_frame</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#向用户显示检测结果(参考图像和相机图像并排显示，并显示检测结果)</span><span class="k">如果</span><span class="n">DISPLAY_RESULT</span><span class="p">：</span><span class="k">def</span><span class="nf">旋转</span><span class="p">（</span><span class="n">起源</span><span class="p">，</span><span class="n">点</span><span class="p">，</span><span class="n">角</span><span class="p">)：</span><span class="sd">""围绕给定的原点逆时针旋转一个点，按给定的角度(弧度)旋转。"＂＂</span><span class="n">牛</span><span class="p">，</span><span class="n">oy</span><span class="o">＝</span><span class="n">起源</span><span class="n">px</span><span class="p">，</span><span class="n">py</span><span class="o">＝</span><span class="n">点</span><span class="n">qx、</span><span class="o">＝</span><span class="n">牛</span><span class="o">+</span><span class="n">数学</span><span class="o">．</span><span class="n">因为</span><span class="p">（</span><span class="n">角</span><span class="p">）</span><span class="o">＊</span><span class="p">（</span><span class="n">px</span><span class="o">-</span><span class="n">牛</span><span class="p">）</span><span class="o">-</span><span class="n">数学</span><span class="o">．</span><span class="n">罪</span><span class="p">（</span><span class="n">角</span><span class="p">）</span><span class="o">＊</span><span class="p">（</span><span class="n">py</span><span class="o">-</span><span class="n">oy</span><span class="p">）</span><span class="n">qy</span><span class="o">＝</span><span class="n">oy</span><span class="o">+</span><span class="n">数学</span><span class="o">．</span><span class="n">罪</span><span class="p">（</span><span class="n">角</span><span class="p">）</span><span class="o">＊</span><span class="p">（</span><span class="n">px</span><span class="o">-</span><span class="n">牛</span><span class="p">）</span><span class="o">+</span><span class="n">数学</span><span class="o">．</span><span class="n">因为</span><span class="p">（</span><span class="n">角</span><span class="p">）</span><span class="o">＊</span><span class="p">（</span><span class="n">py</span><span class="o">-</span><span class="n">oy</span><span class="p">）</span><span class="k">返回</span><span class="n">qx、</span><span class="p">，</span><span class="n">qy</span><span class="c1">#构造绘图参数</span><span class="n">cx_off</span><span class="o">＝</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="n">center_pt</span><span class="o">＝</span><span class="p">（</span><span class="n">残雪</span><span class="o">+</span><span class="n">cx_off</span><span class="p">，</span><span class="n">cy</span><span class="p">）</span><span class="n">x_axis</span><span class="o">＝</span><span class="p">（</span><span class="n">center_pt</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">DRAW_AXIS_LENGTH</span><span class="p">，</span><span class="n">center_pt</span><span class="p">［</span><span class="mi">1</span><span class="p">])</span><span class="n">x_axis</span><span class="o">＝</span><span class="n">旋转</span><span class="p">（</span><span class="n">center_pt</span><span class="p">，</span><span class="n">x_axis</span><span class="p">，</span><span class="n">θ</span><span class="p">）</span><span class="n">y_axis</span><span class="o">＝</span><span class="n">旋转</span><span class="p">（</span><span class="n">center_pt</span><span class="p">，</span><span class="n">x_axis</span><span class="p">，</span><span class="n">π</span><span class="o">/</span><span class="mf">2．0</span><span class="p">）</span><span class="n">center_pt</span><span class="o">＝</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">center_pt</span><span class="p">［</span><span class="mi">0</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">center_pt</span><span class="p">［</span><span class="mi">1</span><span class="p">)))</span><span class="n">x_axis</span><span class="o">＝</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">x_axis</span><span class="p">［</span><span class="mi">0</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">x_axis</span><span class="p">［</span><span class="mi">1</span><span class="p">)))</span><span class="n">y_axis</span><span class="o">＝</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">y_axis</span><span class="p">［</span><span class="mi">0</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">y_axis</span><span class="p">［</span><span class="mi">1</span><span class="p">)))</span><span class="c1">#绘制被检测对象的方向向量</span><span class="n">简历</span><span class="o">．</span><span class="n">圆</span><span class="p">（</span><span class="n">img_matches</span><span class="p">，</span><span class="n">center_pt</span><span class="p">，</span><span class="mi">3.</span><span class="p">，</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="mi">255</span><span class="p">)，</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">arrowedLine</span><span class="p">（</span><span class="n">img_matches</span><span class="p">，</span><span class="n">center_pt</span><span class="p">，</span><span class="n">x_axis</span><span class="p">，</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">)，</span><span class="mi">2</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">LINE_AA</span><span class="p">）</span><span class="c1"># X</span><span class="n">简历</span><span class="o">．</span><span class="n">arrowedLine</span><span class="p">（</span><span class="n">img_matches</span><span class="p">，</span><span class="n">center_pt</span><span class="p">，</span><span class="n">y_axis</span><span class="p">，</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="mi">0</span><span class="p">)，</span><span class="mi">2</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">LINE_AA</span><span class="p">）</span><span class="c1"># Y</span><span class="c1">#在被检测对象的角之间绘制线</span><span class="n">简历</span><span class="o">．</span><span class="n">行</span><span class="p">（</span><span class="n">img_matches</span><span class="p">，</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">))),</span>＼<span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">1</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">1</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">))),</span><span class="n">DRAW_LINE_COLOR</span><span class="p">，</span><span class="n">DRAW_LINE_WEIGHT</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">行</span><span class="p">（</span><span class="n">img_matches</span><span class="p">，</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">1</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">1</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">))),</span>＼<span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">2</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">2</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">))),</span><span class="n">DRAW_LINE_COLOR</span><span class="p">，</span><span class="n">DRAW_LINE_WEIGHT</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">行</span><span class="p">（</span><span class="n">img_matches</span><span class="p">，</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">2</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">2</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">))),</span>＼<span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">3.</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">3.</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">))),</span><span class="n">DRAW_LINE_COLOR</span><span class="p">，</span><span class="n">DRAW_LINE_WEIGHT</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">行</span><span class="p">（</span><span class="n">img_matches</span><span class="p">，</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">3.</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">3.</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">))),</span>＼<span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">img_object</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">scene_corners</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">))),</span><span class="n">DRAW_LINE_COLOR</span><span class="p">，</span><span class="n">DRAW_LINE_WEIGHT</span><span class="p">）</span><span class="c1">#显示检测到的匹配</span><span class="n">wdw_name</span><span class="o">＝</span><span class="s1">“RoboDK -匹配和检测到的对象”</span><span class="n">简历</span><span class="o">．</span><span class="n">imshow</span><span class="p">（</span><span class="n">wdw_name</span><span class="p">，</span><span class="n">img_matches</span><span class="p">）</span><span class="n">关键</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">waitKey</span><span class="p">（</span><span class="mi">1</span><span class="p">）</span><span class="k">如果</span><span class="n">关键</span><span class="o">= =</span><span class="mi">27</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户按下ESC，退出</span><span class="k">如果</span><span class="n">简历</span><span class="o">．</span><span class="n">getWindowProperty</span><span class="p">（</span><span class="n">wdw_name</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">WND_PROP_VISIBLE</span><span class="p">）</span><span class="o"><</span><span class="mi">1</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户关闭主窗口，退出</span><span class="n">简历</span><span class="o">．</span><span class="n">destroyAllWindows</span><span class="p">（）</span></pre> </div> </div> </div> </div> <div class="section" id="blob-detection"> <h3><span class="section-number">4.35.2.</span>Blob检测<一个class="headerlink" href="#blob-detection" title="¶＂>¶</一个></h3.><p>这个例子展示了如何使用OpenCV检测简单的几何形状(blob)。它使用模拟相机，但可以很容易地修改为使用输入相机。你可以在<一个class="reference external" href="https://docs.opencv.org/master/d3/d05/tutorial_py_table_of_contents_contours.html">OpenCV轮廓教程</一个>．</p><我米g alt="_images / BlobDetection.png＂class="align-center" src="//www.sinclairbody.com/doc/en/PythonAPI/_images/BlobDetection.png"> <div class="literal-block-wrapper docutils container" id="id10"> <div class="code-block-caption"> <span class="caption-text">Blob检测</span> <a class="headerlink" href="#id10" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">这个例子展示了如何使用OpenCV检测摄像机提要中的blob。</span><span class="c1">#它使用模拟摄像头，但可以很容易地修改为使用输入摄像头。</span><span class="c1">＃</span><span class="c1">你可以在OpenCV Contours教程中找到更多信息:</span><span class="c1"># https://docs.opencv.org/master/d3/d05/tutorial_py_table_of_contents_contours.html</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="n">import_install</span><span class="p">（</span><span class="s1">“cv2”</span><span class="p">，</span><span class="s1">“opencv-python”</span><span class="p">）</span><span class="kn">进口</span><span class="nn">cv2</span><span class="k">作为</span><span class="nn">简历</span><span class="kn">进口</span><span class="nn">numpy</span><span class="k">作为</span><span class="nn">np</span><span class="c1">#----------------------------------</span><span class="c1">#设置</span><span class="n">PROCESS_COUNT</span><span class="o">＝</span><span class="o">-</span><span class="mi">1</span><span class="c1">#退出前要处理多少帧。1意味着无限期。</span><span class="n">CAM_NAME</span><span class="o">＝</span><span class="s2">“相机”</span><span class="n">DISPLAY_SETTINGS</span><span class="o">＝</span><span class="kc">真正的</span><span class="n">WDW_NAME_PARAMS</span><span class="o">＝</span><span class="s1">“RoboDK -斑点检测参数”</span><span class="n">DISPLAY_RESULT</span><span class="o">＝</span><span class="kc">真正的</span><span class="n">WDW_NAME_RESULTS</span><span class="o">＝</span><span class="s1">“RoboDK -斑点检测”</span><span class="c1">#----------------------------------</span><span class="c1">#从RoboDK获取模拟相机</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">cam_item</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">CAM_NAME</span><span class="p">，</span><span class="n">ITEM_TYPE_CAMERA</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cam_item</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“相机没有找到!</span><span class="si">% s</span><span class="s2">＂</span><span class="o">％</span><span class="n">CAM_NAME</span><span class="p">）</span><span class="n">cam_item</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s1">“开放”</span><span class="p">，</span><span class="mi">1</span><span class="p">）</span><span class="c1">#强制打开相机视图</span><span class="c1">#----------------------------------------------</span><span class="c1">#设置默认参数的检测器。</span><span class="c1">#默认参数提取黑色圆形斑点。</span><span class="k">全球</span><span class="n">参数个数</span><span class="n">参数个数</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_Params</span><span class="p">（）</span><span class="k">全球</span><span class="n">探测器</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#设置参数滑块，使用OpenCV的跟踪条</span><span class="k">如果</span><span class="n">DISPLAY_SETTINGS</span><span class="p">：</span><span class="n">简历</span><span class="o">．</span><span class="n">namedWindow</span><span class="p">（</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">WINDOW_FREERATIO</span><span class="o">|</span><span class="n">简历</span><span class="o">．</span><span class="n">WINDOW_GUI_EXPANDED</span><span class="p">）</span><span class="k">def</span><span class="nf">minDistBetweenBlobs</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">""两个斑点之间的最小距离，以像素为单位。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minDistBetweenBlobs</span><span class="o">＝</span><span class="n">价值</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="c1">#图像阈值</span><span class="k">def</span><span class="nf">minThreshold</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">“最小强度阈值，在uint8。”＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minThreshold</span><span class="o">＝</span><span class="n">价值</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">maxThreshold</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">“最大强度阈值，在uint8。”＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">maxThreshold</span><span class="o">＝</span><span class="n">价值</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">thresholdStep</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">“在uint8中，在最小和最大阈值之间的强度阈值步骤。”＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">thresholdStep</span><span class="o">＝</span><span class="nb">马克斯</span><span class="p">（</span><span class="mi">1</span><span class="p">，</span><span class="n">价值</span><span class="p">）</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">minRepeatability</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">""在阈值化步骤中对斑点的最小检测次数。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minRepeatability</span><span class="o">＝</span><span class="nb">马克斯</span><span class="p">（</span><span class="mi">1</span><span class="p">，</span><span class="n">价值</span><span class="p">）</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="c1">#按区域过滤</span><span class="k">def</span><span class="nf">filterByArea</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">"""启用按blob区域过滤。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">filterByArea</span><span class="o">＝</span><span class="n">价值</span><span class="o">! =</span><span class="mi">0</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">minArea</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">""最小斑点面积，像素^2。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minArea</span><span class="o">＝</span><span class="n">价值</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">maxArea</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">""最大斑点面积，像素^2。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">maxArea</span><span class="o">＝</span><span class="n">价值</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="c1">#圆度过滤器(4*pi*area /周长^2)</span><span class="k">def</span><span class="nf">filterByCircularity</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">"""启用按blob圆度过滤。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">filterByCircularity</span><span class="o">＝</span><span class="n">价值</span><span class="o">! =</span><span class="mi">0</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">minCircularity</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">""最小斑点圆度，单位为%。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minCircularity</span><span class="o">＝</span><span class="n">价值</span><span class="o">/</span><span class="mi">One hundred.</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">maxCircularity</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">""最大斑点圆度，单位为%。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">maxCircularity</span><span class="o">＝</span><span class="n">价值</span><span class="o">/</span><span class="mi">One hundred.</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="c1">#根据凸度筛选(面积/凸包面积)</span><span class="k">def</span><span class="nf">filterByConvexity</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">"""启用通过blob凸度进行过滤。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">filterByConvexity</span><span class="o">＝</span><span class="n">价值</span><span class="o">! =</span><span class="mi">0</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">minConvexity</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">""最小斑点凸度，单位为%。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minConvexity</span><span class="o">＝</span><span class="n">价值</span><span class="o">/</span><span class="mi">One hundred.</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">maxConvexity</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">""最大斑点凸度，单位为%。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">maxConvexity</span><span class="o">＝</span><span class="n">价值</span><span class="o">/</span><span class="mi">One hundred.</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="c1">#按颜色过滤(明暗对比)</span><span class="k">def</span><span class="nf">filterByColor</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">"""启用按斑点颜色过滤。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">filterByColor</span><span class="o">＝</span><span class="n">价值</span><span class="o">! =</span><span class="mi">0</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">blobColor</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">""这个斑点的颜色，在uint8。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">blobColor</span><span class="o">＝</span><span class="n">价值</span><span class="c1">#[0(暗)，255(亮)]</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="c1">#惯性过滤器(伸长)</span><span class="k">def</span><span class="nf">filterByInertia</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">"""启用按blob惯性过滤。"＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">filterByInertia</span><span class="o">＝</span><span class="n">价值</span><span class="o">! =</span><span class="mi">0</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">minInertiaRatio</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">“最小blob惯性，单位为%。”＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minInertiaRatio</span><span class="o">＝</span><span class="n">价值</span><span class="o">/</span><span class="mi">One hundred.</span><span class="c1"># [0, 1]</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="k">def</span><span class="nf">maxInertiaRatio</span><span class="p">（</span><span class="n">价值</span><span class="p">)：</span><span class="sd">“最大斑点惯性，单位为%。”＂＂</span><span class="k">全球</span><span class="n">参数个数</span><span class="k">全球</span><span class="n">探测器</span><span class="n">参数个数</span><span class="o">．</span><span class="n">maxInertiaRatio</span><span class="o">＝</span><span class="n">价值</span><span class="o">/</span><span class="mi">One hundred.</span><span class="c1"># [0, 1]</span><span class="n">探测器</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">SimpleBlobDetector_create</span><span class="p">（</span><span class="n">参数个数</span><span class="p">）</span><span class="c1">所有范围从0到'count'，初始化为默认值。</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的距离</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minDistBetweenBlobs</span><span class="p">)，</span><span class="mi">999</span><span class="p">，</span><span class="n">minDistBetweenBlobs</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“打</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minThreshold</span><span class="p">)，</span><span class="mi">255</span><span class="p">，</span><span class="n">minThreshold</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“打</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">maxThreshold</span><span class="p">)，</span><span class="mi">255</span><span class="p">，</span><span class="n">maxThreshold</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“打</span><span class="se">\ n</span><span class="s1">Stp的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">thresholdStep</span><span class="p">)，</span><span class="mi">255</span><span class="p">，</span><span class="n">thresholdStep</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“打</span><span class="se">\ n</span><span class="s1">代表的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minRepeatability</span><span class="p">)，</span><span class="mi">One hundred.</span><span class="p">，</span><span class="n">minRepeatability</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的区域</span><span class="se">\ n</span><span class="s1">在“</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">保龄球</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">filterByArea</span><span class="p">)，</span><span class="mi">1</span><span class="p">，</span><span class="n">filterByArea</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的区域</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minArea</span><span class="p">)，</span><span class="mi">500</span><span class="p">，</span><span class="n">minArea</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的区域</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">maxArea</span><span class="p">)，</span><span class="mi">5000</span><span class="p">，</span><span class="n">maxArea</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“中国保监会</span><span class="se">\ n</span><span class="s1">在“</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">保龄球</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">filterByCircularity</span><span class="p">)，</span><span class="mi">1</span><span class="p">，</span><span class="n">filterByCircularity</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“中国保监会</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minCircularity</span><span class="o">＊</span><span class="mi">One hundred.</span><span class="p">)，</span><span class="mi">500</span><span class="p">，</span><span class="n">minCircularity</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“中国保监会</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="nb">最小值</span><span class="p">（</span><span class="mi">500</span><span class="p">，</span><span class="n">参数个数</span><span class="o">．</span><span class="n">maxCircularity</span><span class="o">＊</span><span class="mi">One hundred.</span><span class="p">))，</span><span class="mi">500</span><span class="p">，</span><span class="n">maxCircularity</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“Conv</span><span class="se">\ n</span><span class="s1">在“</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">保龄球</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">filterByConvexity</span><span class="p">)，</span><span class="mi">1</span><span class="p">，</span><span class="n">filterByConvexity</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“Conv</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minConvexity</span><span class="o">＊</span><span class="mi">One hundred.</span><span class="p">)，</span><span class="mi">500</span><span class="p">，</span><span class="n">minConvexity</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“Conv</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="nb">最小值</span><span class="p">（</span><span class="mi">500</span><span class="p">，</span><span class="n">参数个数</span><span class="o">．</span><span class="n">maxConvexity</span><span class="o">＊</span><span class="mi">One hundred.</span><span class="p">))，</span><span class="mi">500</span><span class="p">，</span><span class="n">maxConvexity</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的颜色</span><span class="se">\ n</span><span class="s1">在“</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">保龄球</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">filterByColor</span><span class="p">)，</span><span class="mi">1</span><span class="p">，</span><span class="n">filterByColor</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“颜色”</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">blobColor</span><span class="p">)，</span><span class="mi">255</span><span class="p">，</span><span class="n">blobColor</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的惰性</span><span class="se">\ n</span><span class="s1">在“</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">保龄球</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">filterByInertia</span><span class="p">)，</span><span class="mi">1</span><span class="p">，</span><span class="n">filterByInertia</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的惰性</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="n">参数个数</span><span class="o">．</span><span class="n">minInertiaRatio</span><span class="o">＊</span><span class="mi">One hundred.</span><span class="p">)，</span><span class="mi">One hundred.</span><span class="p">，</span><span class="n">minInertiaRatio</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的惰性</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="nb">int</span><span class="p">（</span><span class="nb">最小值</span><span class="p">（</span><span class="mi">One hundred.</span><span class="p">，</span><span class="n">参数个数</span><span class="o">．</span><span class="n">maxInertiaRatio</span><span class="o">＊</span><span class="mi">One hundred.</span><span class="p">))，</span><span class="mi">One hundred.</span><span class="p">，</span><span class="n">maxInertiaRatio</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">创建一个可调整大小的结果窗口</span><span class="k">如果</span><span class="n">DISPLAY_RESULT</span><span class="p">：</span><span class="n">简历</span><span class="o">．</span><span class="n">namedWindow</span><span class="p">（</span><span class="n">WDW_NAME_RESULTS</span><span class="p">）</span><span class="c1"># cv.WINDOW_NORMAL)</span><span class="c1">#----------------------------------------------</span><span class="c1">#开始一个相机饲料。</span><span class="c1">#如果你正在使用一个连接的设备，使用cv。视频捕捉获得现场饲料。</span><span class="c1"># https://docs.opencv.org/master/d8/dfe/classcv_1_1VideoCapture.html</span><span class="c1">＃</span><span class="c1"># capture = cv.VideoCapture(0)</span><span class="c1"># retval, image = capture.read()</span><span class="c1">#----------------------------------------------</span><span class="c1">#处理相机帧</span><span class="n">数</span><span class="o">＝</span><span class="mi">0</span><span class="k">而</span><span class="n">数</span><span class="o"><</span><span class="n">PROCESS_COUNT</span><span class="ow">或</span><span class="n">PROCESS_COUNT</span><span class="o"><</span><span class="mi">0</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"============================================="</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“处理图片</span><span class="si">%我</span><span class="s2">＂</span><span class="o">％</span><span class="n">数</span><span class="p">）</span><span class="n">数</span><span class="o">+ =</span><span class="mi">1</span><span class="c1">#----------------------------------------------</span><span class="c1">#从RoboDK获取图像</span><span class="n">bytes_img</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Snapshot</span><span class="p">（</span><span class="s2">＂＂</span><span class="p">，</span><span class="n">cam_item</span><span class="p">）</span><span class="k">如果</span><span class="n">bytes_img</span><span class="o">= =</span><span class="sa">b</span><span class="s1">”</span><span class="p">：</span><span class="k">提高</span><span class="c1">#图片来自RoboDK是BGR, uchar， (h,w,3)</span><span class="n">nparr</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">frombuffer</span><span class="p">（</span><span class="n">bytes_img</span><span class="p">，</span><span class="n">np</span><span class="o">．</span><span class="n">uint8</span><span class="p">）</span><span class="n">img</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">imdecode</span><span class="p">（</span><span class="n">nparr</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">IMREAD_UNCHANGED</span><span class="p">）</span><span class="k">如果</span><span class="n">img</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">img</span><span class="o">．</span><span class="n">形状</span><span class="o">= =</span><span class="p">():</span><span class="k">提高</span><span class="c1">#----------------------------------------------</span><span class="c1">#检测斑点</span><span class="n">要点</span><span class="o">＝</span><span class="n">探测器</span><span class="o">．</span><span class="n">检测</span><span class="p">（</span><span class="n">img</span><span class="p">）</span><span class="n">我</span><span class="o">＝</span><span class="mi">0</span><span class="k">为</span><span class="n">关键点</span><span class="ow">在</span><span class="n">要点</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">id:</span><span class="si">%我</span><span class="s2">coord = (</span><span class="si">% 0.0度</span><span class="s2">，</span><span class="si">% 0.0度</span><span class="s2">）"</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="p">，</span><span class="n">关键点</span><span class="o">．</span><span class="n">pt</span><span class="p">［</span><span class="mi">0</span><span class="p">]，</span><span class="n">关键点</span><span class="o">．</span><span class="n">pt</span><span class="p">［</span><span class="mi">1</span><span class="p">)))</span><span class="n">我</span><span class="o">+ =</span><span class="mi">1</span><span class="c1">#----------------------------------------------</span><span class="c1">#用你的探测做点什么!</span><span class="c1">下面是一些例子:</span><span class="c1"># -如果关键点(螺丝孔)的数量不等于3则拒收</span><span class="c1"># -计算移动机器人的每个关键点的世界坐标</span><span class="c1">#----------------------------------------------</span><span class="c1">#向用户显示检测结果(参考图像和相机图像并排显示，并显示检测结果)</span><span class="k">如果</span><span class="n">DISPLAY_RESULT</span><span class="p">：</span><span class="c1">#绘制检测到的斑点及其id</span><span class="n">img_matches</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">drawKeypoints</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">要点</span><span class="p">，</span><span class="kc">没有一个</span><span class="p">，</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="mi">0</span><span class="p">)，</span><span class="n">简历</span><span class="o">．</span><span class="n">DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS</span><span class="p">）</span><span class="n">我</span><span class="o">＝</span><span class="mi">0</span><span class="k">为</span><span class="n">关键点</span><span class="ow">在</span><span class="n">要点</span><span class="p">：</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="o">＝</span><span class="n">关键点</span><span class="o">．</span><span class="n">pt</span><span class="n">简历</span><span class="o">．</span><span class="n">putText</span><span class="p">（</span><span class="n">img_matches</span><span class="p">，</span><span class="nb">str</span><span class="p">（</span><span class="n">我</span><span class="p">)，</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">x</span><span class="p">)，</span><span class="nb">int</span><span class="p">（</span><span class="n">y</span><span class="p">))，</span><span class="n">简历</span><span class="o">．</span><span class="n">FONT_HERSHEY_SIMPLEX</span><span class="p">，</span><span class="mi">1</span><span class="p">，</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="mi">0</span><span class="p">)，</span><span class="mi">1</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">LINE_AA</span><span class="p">）</span><span class="n">我</span><span class="o">+ =</span><span class="mi">1</span><span class="c1">#调整图片大小，使其适合你的屏幕</span><span class="n">img_matches</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">调整</span><span class="p">（</span><span class="n">img_matches</span><span class="p">，</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">img_matches</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">＊</span><span class="mf">综合成绩</span><span class="p">)，</span><span class="nb">int</span><span class="p">（</span><span class="n">img_matches</span><span class="o">．</span><span class="n">形状</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">＊</span><span class="mf">综合成绩</span><span class="p">))）</span><span class="n">简历</span><span class="o">．</span><span class="n">imshow</span><span class="p">（</span><span class="n">WDW_NAME_RESULTS</span><span class="p">，</span><span class="n">img_matches</span><span class="p">）</span><span class="n">关键</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">waitKey</span><span class="p">（</span><span class="mi">500</span><span class="p">）</span><span class="k">如果</span><span class="n">关键</span><span class="o">= =</span><span class="mi">27</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户按下ESC，退出</span><span class="k">如果</span><span class="n">简历</span><span class="o">．</span><span class="n">getWindowProperty</span><span class="p">（</span><span class="n">WDW_NAME_RESULTS</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">WND_PROP_VISIBLE</span><span class="p">）</span><span class="o"><</span><span class="mi">1</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户关闭窗口，退出</span><span class="n">简历</span><span class="o">．</span><span class="n">destroyAllWindows</span><span class="p">（）</span></pre> </div> </div> </div> </div> <div class="section" id="orientation-of-elongated-parts"> <h3><span class="section-number">4.35.3.</span>拉长零件的定位<一个class="headerlink" href="#orientation-of-elongated-parts" title="¶＂>¶</一个></h3.><p>这个例子展示了如何使用OpenCV检测摄像头feed中拉长部分的方向。它使用模拟相机，但可以很容易地修改为使用输入相机。你可以在<一个class="reference external" href="https://docs.opencv.org/master/d3/d05/tutorial_py_table_of_contents_contours.html">OpenCV轮廓教程</一个>．</p><我米g alt="_images / PartOrientation.png＂class="align-center" src="//www.sinclairbody.com/doc/en/PythonAPI/_images/PartOrientation.png"> <div class="literal-block-wrapper docutils container" id="part-orientation"> <div class="code-block-caption"> <span class="caption-text">部分取向</span> <a class="headerlink" href="#part-orientation" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">这个例子展示了如何使用OpenCV检测摄像头feed中拉长部分的方向。</span><span class="c1">#它使用模拟摄像头，但可以很容易地修改为使用输入摄像头。</span><span class="c1">#警告:最佳效果观察与拉长部分是对称的。</span><span class="c1">＃</span><span class="c1">你可以在OpenCV Contours教程中找到更多信息:</span><span class="c1"># https://docs.opencv.org/master/d3/d05/tutorial_py_table_of_contents_contours.html</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#机器人工具箱</span><span class="n">import_install</span><span class="p">（</span><span class="s1">“cv2”</span><span class="p">，</span><span class="s1">“opencv-contrib-python”</span><span class="p">）</span><span class="kn">进口</span><span class="nn">cv2</span><span class="k">作为</span><span class="nn">简历</span><span class="kn">进口</span><span class="nn">numpy</span><span class="k">作为</span><span class="nn">np</span><span class="c1">#----------------------------------</span><span class="c1">#设置</span><span class="n">PROCESS_COUNT</span><span class="o">＝</span><span class="o">-</span><span class="mi">1</span><span class="c1">#退出前要处理多少帧。1意味着无限期。</span><span class="n">CAM_NAME</span><span class="o">＝</span><span class="s2">“相机”</span><span class="n">DISPLAY_SETTINGS</span><span class="o">＝</span><span class="kc">真正的</span><span class="n">WDW_NAME_PARAMS</span><span class="o">＝</span><span class="s1">“RoboDK -零件定位参数”</span><span class="n">DISPLAY_RESULT</span><span class="o">＝</span><span class="kc">真正的</span><span class="n">WDW_NAME_RESULTS</span><span class="o">＝</span><span class="s1">“RoboDK -零件定位”</span><span class="n">DRAW_AXIS_LENGTH</span><span class="o">＝</span><span class="mi">30.</span><span class="n">THRESH_MIN</span><span class="o">＝</span><span class="mi">50</span><span class="n">THRESH_MAX</span><span class="o">＝</span><span class="mi">255</span><span class="n">LENGTH_MIN</span><span class="o">＝</span><span class="mi">One hundred.</span><span class="n">LENGTH_MAX</span><span class="o">＝</span><span class="mi">400</span><span class="n">AREA_MIN</span><span class="o">＝</span><span class="mi">400</span><span class="n">AREA_MAX</span><span class="o">＝</span><span class="mi">1000</span><span class="c1">#----------------------------------</span><span class="c1">#从RoboDK获取模拟相机</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">cam_item</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">CAM_NAME</span><span class="p">，</span><span class="n">ITEM_TYPE_CAMERA</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cam_item</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="k">提高</span><span class="ne">异常</span><span class="p">（</span><span class="s2">“相机没有找到!</span><span class="si">% s</span><span class="s2">＂</span><span class="o">％</span><span class="n">CAM_NAME</span><span class="p">）</span><span class="n">cam_item</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s1">“开放”</span><span class="p">，</span><span class="mi">1</span><span class="p">）</span><span class="c1">#强制打开相机视图</span><span class="c1">#----------------------------------------------</span><span class="c1">#开始一个相机饲料。</span><span class="c1">#如果你正在使用一个连接的设备，使用cv。视频捕捉获得现场饲料。</span><span class="c1"># https://docs.opencv.org/master/d8/dfe/classcv_1_1VideoCapture.html</span><span class="c1">＃</span><span class="c1"># capture = cv.VideoCapture(0)</span><span class="c1"># retval, image = capture.read()</span><span class="c1">#----------------------------------------------</span><span class="c1">#创建一个可调整大小的结果窗口，其中包含参数滑块</span><span class="k">如果</span><span class="n">DISPLAY_RESULT</span><span class="p">：</span><span class="n">简历</span><span class="o">．</span><span class="n">namedWindow</span><span class="p">（</span><span class="n">WDW_NAME_RESULTS</span><span class="p">）</span><span class="k">如果</span><span class="n">DISPLAY_SETTINGS</span><span class="p">：</span><span class="k">def</span><span class="nf">没有什么</span><span class="p">（</span><span class="n">瓦尔</span><span class="p">)：</span><span class="k">通过</span><span class="n">简历</span><span class="o">．</span><span class="n">namedWindow</span><span class="p">（</span><span class="n">WDW_NAME_PARAMS</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“打</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="n">THRESH_MIN</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="n">没有什么</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">“打</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="n">THRESH_MAX</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="n">没有什么</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的长度</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="n">LENGTH_MIN</span><span class="p">，</span><span class="mi">1000</span><span class="p">，</span><span class="n">没有什么</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的长度</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="n">LENGTH_MAX</span><span class="p">，</span><span class="mi">2500</span><span class="p">，</span><span class="n">没有什么</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的区域</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="n">AREA_MIN</span><span class="p">，</span><span class="mi">1000</span><span class="p">，</span><span class="n">没有什么</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">createTrackbar</span><span class="p">（</span><span class="s1">的区域</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">，</span><span class="n">AREA_MAX</span><span class="p">，</span><span class="mi">2500</span><span class="p">，</span><span class="n">没有什么</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#处理相机帧</span><span class="n">数</span><span class="o">＝</span><span class="mi">0</span><span class="k">而</span><span class="n">数</span><span class="o"><</span><span class="n">PROCESS_COUNT</span><span class="ow">或</span><span class="n">PROCESS_COUNT</span><span class="o"><</span><span class="mi">0</span><span class="p">：</span><span class="n">数</span><span class="o">+ =</span><span class="mi">1</span><span class="c1">#----------------------------------------------</span><span class="c1">#从RoboDK获取图像(自5.3.0起)</span><span class="n">bytes_img</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Snapshot</span><span class="p">（</span><span class="s2">＂＂</span><span class="p">，</span><span class="n">cam_item</span><span class="p">）</span><span class="k">如果</span><span class="n">bytes_img</span><span class="o">= =</span><span class="sa">b</span><span class="s1">”</span><span class="p">：</span><span class="k">提高</span><span class="c1">#图片来自RoboDK是BGR, uchar， (h,w,3)</span><span class="n">nparr</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">frombuffer</span><span class="p">（</span><span class="n">bytes_img</span><span class="p">，</span><span class="n">np</span><span class="o">．</span><span class="n">uint8</span><span class="p">）</span><span class="n">img</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">imdecode</span><span class="p">（</span><span class="n">nparr</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">IMREAD_UNCHANGED</span><span class="p">）</span><span class="k">如果</span><span class="n">img</span><span class="ow">是</span><span class="kc">没有一个</span><span class="ow">或</span><span class="n">img</span><span class="o">．</span><span class="n">形状</span><span class="o">= =</span><span class="p">():</span><span class="k">提高</span><span class="c1">#----------------------------------------------</span><span class="c1">#检索本次迭代的滑块值</span><span class="k">如果</span><span class="n">DISPLAY_SETTINGS</span><span class="p">：</span><span class="n">THRESH_MIN</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">getTrackbarPos</span><span class="p">（</span><span class="s1">“打</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">）</span><span class="n">THRESH_MAX</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">getTrackbarPos</span><span class="p">（</span><span class="s1">“打</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">）</span><span class="n">LENGTH_MIN</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">getTrackbarPos</span><span class="p">（</span><span class="s1">的长度</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">）</span><span class="n">LENGTH_MAX</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">getTrackbarPos</span><span class="p">（</span><span class="s1">的长度</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">）</span><span class="n">AREA_MIN</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">getTrackbarPos</span><span class="p">（</span><span class="s1">的区域</span><span class="se">\ n</span><span class="s1">最小值的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">）</span><span class="n">AREA_MAX</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">getTrackbarPos</span><span class="p">（</span><span class="s1">的区域</span><span class="se">\ n</span><span class="s1">最大的</span><span class="p">，</span><span class="n">WDW_NAME_PARAMS</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#提取特征最简单的方法是根据背景对其强度进行阈值</span><span class="c1">#在深色背景上使用浅色部分的最佳效果，反之亦然</span><span class="n">＿</span><span class="p">，</span><span class="n">img_bw</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">阈值</span><span class="p">（</span><span class="n">简历</span><span class="o">．</span><span class="n">cvtColor</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">COLOR_BGR2GRAY</span><span class="p">)，</span><span class="n">THRESH_MIN</span><span class="p">，</span><span class="n">THRESH_MAX</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">THRESH_BINARY</span><span class="o">|</span><span class="n">简历</span><span class="o">．</span><span class="n">THRESH_OTSU</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">查找并解析二值图像中的所有轮廓</span><span class="n">轮廓</span><span class="p">，</span><span class="n">＿</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">findContours</span><span class="p">（</span><span class="n">img_bw</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">RETR_LIST</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">CHAIN_APPROX_NONE</span><span class="p">）</span><span class="k">为</span><span class="n">我</span><span class="p">，</span><span class="n">c</span><span class="ow">在</span><span class="nb">列举</span><span class="p">（</span><span class="n">轮廓</span><span class="p">)：</span><span class="n">拒绝</span><span class="o">＝</span><span class="kc">假</span><span class="c1">#计算轮廓长度(只适用于CHAIN_APPROX_NONE)</span><span class="n">长度</span><span class="o">＝</span><span class="nb">len</span><span class="p">（</span><span class="n">c</span><span class="p">）</span><span class="k">如果</span><span class="n">长度</span><span class="o"><</span><span class="n">LENGTH_MIN</span><span class="ow">或</span><span class="n">长度</span><span class="o">></span><span class="n">LENGTH_MAX</span><span class="p">：</span><span class="n">拒绝</span><span class="o">＝</span><span class="kc">真正的</span><span class="c1">#计算轮廓的面积</span><span class="n">区域</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">contourArea</span><span class="p">（</span><span class="n">c</span><span class="p">）</span><span class="k">如果</span><span class="n">区域</span><span class="o"><</span><span class="n">AREA_MIN</span><span class="ow">或</span><span class="n">区域</span><span class="o">></span><span class="n">AREA_MAX</span><span class="p">：</span><span class="n">拒绝</span><span class="o">＝</span><span class="kc">真正的</span><span class="c1">#----------------------------------------------</span><span class="c1">#创建一个轮廓边框</span><span class="n">矩形</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">minAreaRect</span><span class="p">（</span><span class="n">c</span><span class="p">）</span><span class="n">中心</span><span class="o">＝</span><span class="p">（</span><span class="n">矩形</span><span class="p">［</span><span class="mi">0</span><span class="p">］［</span><span class="mi">0</span><span class="p">]，</span><span class="n">矩形</span><span class="p">［</span><span class="mi">0</span><span class="p">］［</span><span class="mi">1</span><span class="p">])</span><span class="n">宽度</span><span class="o">＝</span><span class="n">矩形</span><span class="p">［</span><span class="mi">1</span><span class="p">］［</span><span class="mi">0</span><span class="p">］</span><span class="n">高度</span><span class="o">＝</span><span class="n">矩形</span><span class="p">［</span><span class="mi">1</span><span class="p">］［</span><span class="mi">1</span><span class="p">］</span><span class="n">角</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">弧度</span><span class="p">（</span><span class="n">矩形</span><span class="p">［</span><span class="mi">2</span><span class="p">])</span><span class="c1">#角度为[0,90]，从水平到框的左下和右下边缘</span><span class="k">如果</span><span class="n">宽度</span><span class="o"><</span><span class="n">高度</span><span class="p">：</span><span class="n">角</span><span class="o">+ =</span><span class="n">π</span><span class="o">/</span><span class="mf">2．0</span><span class="k">如果</span><span class="n">角</span><span class="o">></span><span class="n">π</span><span class="p">：</span><span class="n">角</span><span class="o">- =</span><span class="n">π</span><span class="c1">#----------------------------------------------</span><span class="c1">#你也可以使用椭圆和它的角度</span><span class="c1">#if length ></span><span class="c1"># ell = cv.fitEllipse(c)</span><span class="c1"># center = (ell[0][0]， ell[0][1])</span><span class="c1"># width = ell[1][0]</span><span class="c1"># height = ell[1][1]</span><span class="c1">#角度= np.radians(ell[2])</span><span class="c1"># if width < height2</span><span class="c1">#角+= PI / 2.0</span><span class="c1"># if angle2 ></span><span class="c1">#角-=圆周率</span><span class="c1">#----------------------------------------------</span><span class="c1">#用你的探测做点什么!</span><span class="c1">下面是一些例子:</span><span class="c1"># -拒绝一个零件，如果它的方向与预期的不同</span><span class="c1"># -如果零件的面积太小就拒绝</span><span class="c1"># -计算机器人的旋转角度来选择一个零件</span><span class="c1">#----------------------------------------------</span><span class="c1">#向用户显示检测结果(参考图像和相机图像并排显示，并显示检测结果)</span><span class="k">如果</span><span class="n">DISPLAY_RESULT</span><span class="p">：</span><span class="n">颜色</span><span class="o">＝</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="mi">0</span><span class="p">）</span><span class="k">如果</span><span class="n">拒绝</span><span class="p">：</span><span class="n">颜色</span><span class="o">＝</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">）</span><span class="c1">#绘制边框</span><span class="n">盒子</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">boxPoints</span><span class="p">（</span><span class="n">矩形</span><span class="p">）</span><span class="n">盒子</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">int0</span><span class="p">（</span><span class="n">盒子</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">drawContours</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="p">［</span><span class="n">盒子</span><span class="p">]，</span><span class="mi">0</span><span class="p">，</span><span class="n">颜色</span><span class="p">，</span><span class="mi">1</span><span class="p">）</span><span class="c1">绘制轮廓线</span><span class="n">简历</span><span class="o">．</span><span class="n">drawContours</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">轮廓</span><span class="p">，</span><span class="n">我</span><span class="p">，</span><span class="n">颜色</span><span class="p">，</span><span class="mi">1</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">拒绝</span><span class="p">：</span><span class="k">def</span><span class="nf">旋转</span><span class="p">（</span><span class="n">起源</span><span class="p">，</span><span class="n">点</span><span class="p">，</span><span class="n">角</span><span class="p">)：</span><span class="sd">""围绕给定的原点逆时针旋转一个点，按给定的角度(弧度)旋转。"＂＂</span><span class="n">牛</span><span class="p">，</span><span class="n">oy</span><span class="o">＝</span><span class="n">起源</span><span class="n">px</span><span class="p">，</span><span class="n">py</span><span class="o">＝</span><span class="n">点</span><span class="n">qx、</span><span class="o">＝</span><span class="n">牛</span><span class="o">+</span><span class="n">数学</span><span class="o">．</span><span class="n">因为</span><span class="p">（</span><span class="n">角</span><span class="p">）</span><span class="o">＊</span><span class="p">（</span><span class="n">px</span><span class="o">-</span><span class="n">牛</span><span class="p">）</span><span class="o">-</span><span class="n">数学</span><span class="o">．</span><span class="n">罪</span><span class="p">（</span><span class="n">角</span><span class="p">）</span><span class="o">＊</span><span class="p">（</span><span class="n">py</span><span class="o">-</span><span class="n">oy</span><span class="p">）</span><span class="n">qy</span><span class="o">＝</span><span class="n">oy</span><span class="o">+</span><span class="n">数学</span><span class="o">．</span><span class="n">罪</span><span class="p">（</span><span class="n">角</span><span class="p">）</span><span class="o">＊</span><span class="p">（</span><span class="n">px</span><span class="o">-</span><span class="n">牛</span><span class="p">）</span><span class="o">+</span><span class="n">数学</span><span class="o">．</span><span class="n">因为</span><span class="p">（</span><span class="n">角</span><span class="p">）</span><span class="o">＊</span><span class="p">（</span><span class="n">py</span><span class="o">-</span><span class="n">oy</span><span class="p">）</span><span class="k">返回</span><span class="n">qx、</span><span class="p">，</span><span class="n">qy</span><span class="c1">#构造Axis参数</span><span class="n">center_pt</span><span class="o">＝</span><span class="n">中心</span><span class="n">x_axis</span><span class="o">＝</span><span class="p">（</span><span class="n">center_pt</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">DRAW_AXIS_LENGTH</span><span class="p">，</span><span class="n">center_pt</span><span class="p">［</span><span class="mi">1</span><span class="p">])</span><span class="n">x_axis</span><span class="o">＝</span><span class="n">旋转</span><span class="p">（</span><span class="n">center_pt</span><span class="p">，</span><span class="n">x_axis</span><span class="p">，</span><span class="n">角</span><span class="p">）</span><span class="n">y_axis</span><span class="o">＝</span><span class="n">旋转</span><span class="p">（</span><span class="n">center_pt</span><span class="p">，</span><span class="n">x_axis</span><span class="p">，</span><span class="n">π</span><span class="o">/</span><span class="mf">2．0</span><span class="p">）</span><span class="n">center_pt</span><span class="o">＝</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">center_pt</span><span class="p">［</span><span class="mi">0</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">center_pt</span><span class="p">［</span><span class="mi">1</span><span class="p">)))</span><span class="n">x_axis</span><span class="o">＝</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">x_axis</span><span class="p">［</span><span class="mi">0</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">x_axis</span><span class="p">［</span><span class="mi">1</span><span class="p">)))</span><span class="n">y_axis</span><span class="o">＝</span><span class="p">（</span><span class="nb">int</span><span class="p">（</span><span class="n">y_axis</span><span class="p">［</span><span class="mi">0</span><span class="p">]),</span><span class="nb">int</span><span class="p">（</span><span class="n">y_axis</span><span class="p">［</span><span class="mi">1</span><span class="p">)))</span><span class="c1">#绘制方向向量</span><span class="n">简历</span><span class="o">．</span><span class="n">圆</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">center_pt</span><span class="p">，</span><span class="mi">2</span><span class="p">，</span><span class="p">（</span><span class="mi">255</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">)，</span><span class="o">-</span><span class="mi">1</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">arrowedLine</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">center_pt</span><span class="p">，</span><span class="n">x_axis</span><span class="p">，</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">)，</span><span class="mi">2</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">LINE_AA</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">arrowedLine</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">center_pt</span><span class="p">，</span><span class="n">y_axis</span><span class="p">，</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="mi">0</span><span class="p">)，</span><span class="mi">2</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">LINE_AA</span><span class="p">）</span><span class="c1">#绘制角度</span><span class="n">标签</span><span class="o">＝</span><span class="s1">＇</span><span class="si">% 0.1度</span><span class="s1">＇</span><span class="o">％</span><span class="n">np</span><span class="o">．</span><span class="n">度</span><span class="p">（</span><span class="n">角</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">putText</span><span class="p">（</span><span class="n">img</span><span class="p">，</span><span class="n">标签</span><span class="p">，</span><span class="p">（</span><span class="n">center_pt</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="mi">30.</span><span class="p">，</span><span class="n">center_pt</span><span class="p">［</span><span class="mi">1</span><span class="p">]),</span><span class="n">简历</span><span class="o">．</span><span class="n">FONT_HERSHEY_SIMPLEX</span><span class="p">，</span><span class="mf">0.7</span><span class="p">，</span><span class="p">（</span><span class="mi">255</span><span class="p">，</span><span class="mi">255</span><span class="p">，</span><span class="mi">255</span><span class="p">)，</span><span class="mi">1</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">LINE_AA</span><span class="p">）</span><span class="n">简历</span><span class="o">．</span><span class="n">imshow</span><span class="p">（</span><span class="n">WDW_NAME_RESULTS</span><span class="p">，</span><span class="n">img</span><span class="p">）</span><span class="n">关键</span><span class="o">＝</span><span class="n">简历</span><span class="o">．</span><span class="n">waitKey</span><span class="p">（</span><span class="mi">1</span><span class="p">）</span><span class="k">如果</span><span class="n">关键</span><span class="o">= =</span><span class="mi">27</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户按下ESC，退出</span><span class="k">如果</span><span class="n">简历</span><span class="o">．</span><span class="n">getWindowProperty</span><span class="p">（</span><span class="n">WDW_NAME_RESULTS</span><span class="p">，</span><span class="n">简历</span><span class="o">．</span><span class="n">WND_PROP_VISIBLE</span><span class="p">）</span><span class="o"><</span><span class="mi">1</span><span class="p">：</span><span class="k">打破</span><span class="c1">#用户关闭主窗口，退出</span><span class="n">简历</span><span class="o">．</span><span class="n">destroyAllWindows</span><span class="p">（）</span></pre> </div> </div> </div> </div> </div> <div class="section" id="depth-camera"> <h2><span class="section-number">4.36.</span>深度相机<一个class="headerlink" href="#depth-camera" title="¶＂>¶</一个></h2><div class="section" id="depth-map"> <h3><span class="section-number">4.36.1.</span>深度图<一个class="headerlink" href="#depth-map" title="¶＂>¶</一个></h3.><p>这个例子展示了如何检索和显示模拟相机的32位深度图。</p><一个class="reference internal image-reference" href="//www.sinclairbody.com/doc/en/PythonAPI/_images/example_depth_camera.png"><img alt="_images / example_depth_camera.png＂class="align-center" src="//www.sinclairbody.com/doc/en/PythonAPI/_images/example_depth_camera.png" style="width: 60%;"></a> <div class="literal-block-wrapper docutils container" id="id12"> <div class="code-block-caption"> <span class="caption-text">深度相机</span> <a class="headerlink" href="#id12" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")以获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#文档://www.sinclairbody.com/doc/en/RoboDK-API.html</span><span class="c1">#参考://www.sinclairbody.com/doc/en/PythonAPI/index.html</span><span class="c1">＃</span><span class="c1">这个例子展示了如何检索和显示一个模拟相机的32位深度图。</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># RoboDK API</span><span class="kn">从</span><span class="nn">tempfile</span><span class="kn">进口</span><span class="n">TemporaryDirectory</span><span class="kn">进口</span><span class="nn">numpy</span><span class="k">作为</span><span class="nn">np</span><span class="kn">从</span><span class="nn">matplotlib</span><span class="kn">进口</span><span class="n">pyplot</span><span class="k">作为</span><span class="n">plt</span><span class="c1">#----------------------------------</span><span class="c1">#从RoboDK获取模拟相机</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">cam_item</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“深度相机”</span><span class="p">，</span><span class="n">ITEM_TYPE_CAMERA</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">cam_item</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">cam_item</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">RDK</span><span class="o">．</span><span class="n">ActiveStation</span><span class="p">()，</span><span class="s1">“深度”</span><span class="p">）</span><span class="n">cam_item</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s1">“深度相机”</span><span class="p">）</span><span class="n">cam_item</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s1">“开放”</span><span class="p">，</span><span class="mi">1</span><span class="p">）</span><span class="c1">#----------------------------------------------</span><span class="c1">#从RoboDK获取图像</span><span class="n">道明</span><span class="o">＝</span><span class="n">TemporaryDirectory</span><span class="p">（</span><span class="n">前缀</span><span class="o">＝</span><span class="s1">“robodk_”</span><span class="p">）</span><span class="n">特遣部队</span><span class="o">＝</span><span class="n">道明</span><span class="o">．</span><span class="n">的名字</span><span class="o">+</span><span class="s1">' / temp.grey32 '</span><span class="k">如果</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Snapshot</span><span class="p">（</span><span class="n">特遣部队</span><span class="p">，</span><span class="n">cam_item</span><span class="p">）</span><span class="o">= =</span><span class="mi">1</span><span class="p">：</span><span class="n">grey32</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">fromfile</span><span class="p">（</span><span class="n">特遣部队</span><span class="p">，</span><span class="n">dtype</span><span class="o">＝</span><span class="s1">> u4的</span><span class="p">）</span><span class="n">w</span><span class="p">，</span><span class="n">h</span><span class="o">＝</span><span class="n">grey32</span><span class="p">[：</span><span class="mi">2</span><span class="p">］</span><span class="n">grey32</span><span class="o">＝</span><span class="n">np</span><span class="o">．</span><span class="n">flipud</span><span class="p">（</span><span class="n">np</span><span class="o">．</span><span class="n">重塑</span><span class="p">（</span><span class="n">grey32</span><span class="p">［</span><span class="mi">2</span><span class="p">:,</span><span class="p">（</span><span class="n">h</span><span class="p">，</span><span class="n">w</span><span class="p">))）</span><span class="k">其他的</span><span class="p">：</span><span class="k">提高</span><span class="c1">#----------------------------------------------</span><span class="c1">#显示</span><span class="n">grey32</span><span class="p">［</span><span class="n">grey32</span><span class="o">= =</span><span class="mi">0</span><span class="p">］</span><span class="o">＝</span><span class="mi">2</span><span class="o">**</span><span class="mi">32</span><span class="o">-</span><span class="mi">1</span><span class="c1">这只是为了显示的目的!0的值没有任何测量值。</span><span class="n">plt</span><span class="o">．</span><span class="n">imshow</span><span class="p">（</span><span class="n">grey32</span><span class="p">，</span><span class="s1">“灰色”</span><span class="p">）</span><span class="n">plt</span><span class="o">．</span><span class="n">显示</span><span class="p">（）</span></pre> </div> </div> </div> </div> </div> </div> </div> </div> <footer> <div 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