4.示例- RoboDK API文档</t我tle> <link rel="stylesheet" href="//www.sinclairbody.com/www/www/doc/en/PythonAPI/_static/css/theme.css" type="text/css"> <link rel="stylesheet" href="//www.sinclairbody.com/www/www/doc/en/PythonAPI/_static/pygments.css" type="text/css"> <link rel="stylesheet" href="//www.sinclairbody.com/www/www/doc/en/PythonAPI/_static/pygments.css" type="text/css"> <link rel="stylesheet" href="//www.sinclairbody.com/www/www/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/www/www/doc/en/PythonAPI/index.html" class="icon icon-home">RoboDK API<我米g src="//www.sinclairbody.com/www/www/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/www/www/doc/en/PythonAPI/intro.html">1.简介</一个></li> <li class="toctree-l1"><a class="reference internal" href="//www.sinclairbody.com/www/www/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/www/www/doc/en/PythonAPI/postprocessor.html">3.后处理器</一个></li> <li class="toctree-l1 current"><a class="current reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#">4.例子</一个><ul> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#online-programming">4.3.在线编程</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#points-to-program">4.4.项目要点</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#points-to-curve">4.5.曲线点</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#test-move-feasibility">4.9.测试移动可行性</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#docked-ui">4.10.对接界面</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#estimated-cycle-time">4.11.预计周期时间</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#change-tool">4.12.改变工具</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#project-curve-to-surface">4.13.投影曲线到曲面</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#filter-curve-normals">4.14.滤波曲线法线</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#change-curve-normals">4.15.变化曲线法线</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#connect-to-robots">4.18.连接到机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#monitor-joints">4.19.监控关节</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#monitor-a-real-ur-robot">4.20.监控一个真实的UR机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#pick-and-place">4.21.挑选和放置</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#update-machining-tools">4.22.更新加工工具</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#project-tcp-to-axis">4.23.项目TCP到Axis</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#robot-machining-settings">4.24.机器人加工设置</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#axes-optimization-settings">4.25.优化设置</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#modify-program-instructions">4.26.修改程序说明</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#drawing-an-svg-image">4.27.绘制SVG图像</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#synchronize-3-robots">4.28.同步3机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#robot-model-dh">4.29.机器人模型(DH)</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#camera-live-stream">4.30.摄像头直播</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#camera-calibration">4.31.摄像机标定</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#camera-pose">4.32.相机的姿势</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#augmented-reality">4.33.增强现实</一个></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#generating-qr-codes">4.34.1.生成二维码</一个></li> <li class="toctree-l3"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#object-detection">4.35.对象检测</一个><ul> <li class="toctree-l3"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#blob-detection">4.35.2.Blob检测</一个></li> <li class="toctree-l3"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#orientation-of-elongated-parts">4.35.3.拉长部分的方向</一个></li> </ul></li> <li class="toctree-l2"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#depth-camera">4.36.深度相机</一个><ul> <li class="toctree-l3"><a class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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/www/www/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/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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地移植到其他编程语言(如c#、c++、. net或Matlab)。这些例子是使用Python 3测试的，可能需要一些调整才能在Python 2上工作。</p><p>其他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>选择脚本来运行它</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。GitHub上也有一些例子:<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="//www.sinclairbody.com/www/doc/en/PythonAPI/#offline-programming" title="¶＂>¶</一个></h2><p>这个例子展示了如何生成给定一个目标的六边形路径。这个宏使用RoboDK API为Python绘制一个半径为R和n_sides顶点的多边形。</p><dl class="simple"> <dt> 更多信息请点击这里:</dt> <dd> <ul class="simple"> <li><p>2022世界杯8强赛时间RoboDK离线编程:<一个class="reference external" href="//www.sinclairbody.com/www/offline-programming">//www.sinclairbody.com/offline-programming</一个></p></li> <li><p>使用RoboDK API进行Python仿真:<一个class="reference external" href="//www.sinclairbody.com/www/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/www/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-焊接测试</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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 for Python绘制半径为R和n个顶点的多边形的例子</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的交互都必须通过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(如果有一个以上的机器人会弹出)</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相对于参考系的当前位置:</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, zondata，混合半径，转角，…)</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="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">相对于参考系的移动</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">“转向目标</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">#回到中心，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="//www.sinclairbody.com/www/doc/en/PythonAPI/#offline-programming-gui" title="¶＂>¶</一个></h2><p>这个例子是前一个例子的改进版本。在模拟或生成程序之前，它会提示用户输入一些内容。这个例子展示了RoboDK和Python GUI tkinter如何显示图形用户界面，以根据某些参数自定义程序生成。</p><dl class="simple"> <dt> 更多信息请点击这里:</dt> <dd> <ul class="simple"> <li><p>使用RoboDK API进行Python仿真:<一个class="reference external" href="//www.sinclairbody.com/www/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/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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如何显示图形用户界面，以根据某些参数自定义程序生成</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">#接近距离</span><span class="n">半径</span><span class="o">＝</span><span class="mi">200</span><span class="c1">#多边形半径</span><span class="n">SPEED_WELD</span><span class="o">＝</span><span class="mi">50</span><span class="c1">焊接路径的速度以mn/s为单位</span><span class="n">SPEED_MOVE</span><span class="o">＝</span><span class="mi">200</span><span class="c1">进/退运动的速度(以毫米/秒为单位)</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">#如果为0，将生成SprayOn/SprayOff程序调用，否则将不激活工具</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">仅使用RUNMODE_SIMULATE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的交互都必须通过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">#获得主目标和焊接目标:</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">#将机器人作为物品:</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">”</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">#获取参考目标的姿态(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">#移动机器人到home，然后到接近位置</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">#在参考目标周围创建n个边的多边形</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">#到达第一个点后立即启动喷雾器</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">#停止工具，如果我们没有做一个演练</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">#回到接近点，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">#定义反馈电话</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">为程序名称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(mm/s)</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">为运行模式添加一个显示标签</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">“给机器人发送程序”</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动作来执行用户的当前选择</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">#设置完所有全局变量后，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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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。这个例子将从Python API(在线编程)在机器人上运行一个Python程序。如果将机器人连接到PC上，在Python程序执行的同时，仿真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脱机编程。2022世界杯8强赛时间</p><dl class="simple"> <dt> 更多信息请点击这里:</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/www/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/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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示例</span><span class="c1">＃</span><span class="c1">#重要:默认情况下，在RoboDK API上右键单击一个程序并选择“Run on Robot”具有与运行本示例相同的效果。</span><span class="c1">如果程序是从RoboDK站树中运行的，请使用Example_OnlineProgramming.py</span><span class="c1">＃</span><span class="c1">这个例子通过以下命令强制连接到机器人:</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的交互都必须通过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(如果有一个以上的机器人会弹出)</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">#重要提示:默认情况下，运行模式为RUNMODE_SIMULATE</span><span class="c1">如果程序是离线手动生成的，则运行模式为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，'/'， 'anonymous'， ")</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">试着联系一次</span><span class="c1">#success robot.ConnectSafe() #尝试多次连接</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，请停止</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">#这将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:当我们通过API将Connect()连接到机器人时，这是自动设置的</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:这是默认设置，如果我们不执行robot.Connect()</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">#获取机器人当前关节位置</span><span class="c1">#(更新机器人模拟器的位置)</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相对于参考系的当前位置:</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">在使用驱动程序时，更新机器人上的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, zondata，混合半径，转角，…)</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="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">相对于参考系的移动</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">“转向目标</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">#回到中心，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创建的程序的示例</span><span class="c1">#prog = RDK。项（＇MainProgram', ITEM_TYPE_PROGRAM)</span><span class="c1">## program . setruntype (PROGRAM_RUN_ON_ROBOT</span><span class="c1">#在模拟器上运行(默认在启动时)</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>项目要点<一个class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#points-to-program" title="¶＂>¶</一个></h2><p>这个例子展示了沿着一组点移动机器人的不同方式。</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#move-robot-through-points" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#在给定起点和终点的直线上按步移动机器人</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">端点相对于机器人基础框架</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">#函数定义创建一个点列表(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">#逐步添加到每个点，直到到达终点</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">#添加点到列表中</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，它将自动选择该机器人)</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，#终止</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">#使用机器人基本框架作为活动参考</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(相对于活动参考系和工具架)</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"># a pose也可以定义为xyzwpr / xyzABC</span><span class="c1">#pose_ref = TxyzRxyz_2_Pose([100,200,300,0,0,pi])</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“创建机器人程序”动作</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">使用所需的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">#使用参考姿态并更新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“运行机器人”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“创建机器人程序”动作</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">使用所需的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">#重要的是:让第一个动作成为一个联合动作!</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:创建跟随曲线的项目</span><span class="c1">#首先，我们需要从提供的点创建一个对象，或者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的向量可以扩展到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影点</span><span class="c1">#对象= RDK。项（＇Object', ITEM_TYPE_OBJECT)</span><span class="c1"># object_points =对象。AddPoints（点，PROJECTION_ALONG_NORMAL_RECALC）</span><span class="c1">#将这些点放在与物体的参考系相同的位置</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，我们可能不得不手动调整工具对象或参考框架</span><span class="c1">如果成功则运行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:创建一个跟随点项目(类似于选项4)</span><span class="c1">#首先，我们需要从提供的点创建一个对象，或者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，给定的点列表:</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影点</span><span class="c1">#对象= 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的参考系相同的位置</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“曲线跟踪项目”来自动跟踪曲线</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，我们可能不得不手动调整工具对象或参考框架</span><span class="c1">如果成功则运行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">#这个例子是为了通过距离测量和使用激光跟踪仪或立体摄像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(秒)</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">使用法向运动学移动到目标</span><span class="n">RDK</span><span class="o">．</span><span class="n">RunMessage</span><span class="p">（</span><span class="s1">言归正传</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……”</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">#检索测量值的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">#移动到目标与精确的运动学</span><span class="n">RDK</span><span class="o">．</span><span class="n">RunMessage</span><span class="p">（</span><span class="s1">言归正传</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……”</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">#检索测量值的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">#在这一点上，我们可以检查精确和标称运动学，并创建以下表格:</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>曲线点<一个class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#points-to-curve" title="¶＂>¶</一个></h2><p>这个例子展示了如何从API自动设置一个曲线跟踪项目。本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面示例相同的目标。</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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">#在给定起点和终点的直线上按步移动机器人</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式</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">端点相对于机器人基础框架</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">#函数定义创建一个点列表(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">#逐步添加到每个点，直到到达终点</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">#添加点到列表中</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，用于模拟和离线/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，它将自动选择该机器人)</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，#终止</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">#使用机器人基本框架作为活动参考</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(相对于活动参考系和工具架)</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"># a pose也可以定义为xyzwpr / xyzABC</span><span class="c1">#pose_ref = TxyzRxyz_2_Pose([100,200,300,0,0,pi])</span><span class="c1">#-------------------------------------------------------------</span><span class="c1">#选项1:创建一个曲线跟随项目</span><span class="c1">#首先，我们需要从提供的点创建一个对象，或者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的向量可以扩展到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影点</span><span class="c1">#对象= RDK。项（＇Object', ITEM_TYPE_OBJECT)</span><span class="c1"># object_points =对象。AddPoints（点，PROJECTION_ALONG_NORMAL_RECALC）</span><span class="c1">#将这些点放在与物体的参考系相同的位置</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，我们可能不得不手动调整工具对象或参考框架</span><span class="c1">如果成功则运行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:创建一个点跟踪项目(类似于选项4)</span><span class="c1">#首先，我们需要从提供的点创建一个对象，或者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，给定的点列表:</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影点</span><span class="c1">#对象= 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的参考系相同的位置</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“曲线跟踪项目”来自动跟踪曲线</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，我们可能不得不手动调整工具对象或参考框架</span><span class="c1">如果成功则运行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="//www.sinclairbody.com/www/doc/en/PythonAPI/#csv-file-to-program-xyz" title="¶＂>¶</一个></h2><p>这个例子展示了如何从给定XYZ坐标列表的CSV文件中导入目标。可选地，第四列将更新程序中的速度。</p><p>默认情况下，这个例子可以作为RoboDK脚本使用:</p><b锁问uote> <div> <ol class="arabic simple"> <li><p>选择工具-运行脚本</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，机器人的工具方向被用作参考。</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>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”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”查看目标。</p></li> </ul> </dd> </dl> <img alt="_images / Import-CSV-Robot-Simulation.png＂src="//www.sinclairbody.com/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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">这个宏显示了如何加载XYZ点的列表，包括速度</span><span class="c1">#列表必须提供为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标志:</span><span class="c1">#设置为True在UI中生成程序: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，它将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">#设置参考框架的名称来放置目标:</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">#(方向将相对于此目标保持不变)</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">从文件路径中获取程序名</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">#加载CSV文件为列表[[x,y,z,speed]，[x,y,z,speed]，…]</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(False)</span><span class="c1"># list_names中的item_name:</span><span class="c1"># if item_name.startswith('Auto'):</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">“机器人未被选中或无效”</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">获取参考框架以生成路径</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">“没有找到参考系。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">“主场目标是无效的。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">#从主目标获取姿态引用</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">#不显示指令加快速度:</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，这样我们就不会在每条指令中都设置速度</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，这样机器人就能意识到它</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">#添加一个线性运动(除了第一个点是关节运动)</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，这样机器人就能意识到它</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，这样我们就不会在每条指令中都设置速度</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">#添加一个线性运动(除了第一个点是关节运动)</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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(姿态)列表的CSV文件中导入目标。</p><dl class="simple"> <dt> 默认情况下，这个例子可以作为RoboDK脚本使用:</dt> <dd> <ol class="arabic simple"> <li><p>选择工具-运行脚本</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以显示指令。</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”查看目标。</p></li> </ul> </dd> </dl> <img alt="_images / Import-CSV-Robot-Simulation-XYZWPR.png＂src="//www.sinclairbody.com/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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">#支持的文件类型为:</span><span class="c1"># 1-工具数据:Tool.csv</span><span class="c1"># 2-工作对象数据:Work.csv</span><span class="c1"># 3-目标数据:P_Var.csv</span><span class="c1">#这个宏也可以过滤一个给定的目标文件</span><span class="c1">#输入help("robodk.robolink")或help("robodk.robomath")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(忽略弹出窗口，如果只有</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"># frame = rdk。ItemUserPick（＇选择一个参考框架＇，ITEM_TYPE_FRAME）</span><span class="c1">#工具= rdk。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引用”</span><span class="p">）</span><span class="c1">#函数转换XYZWPR为一个姿势</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"># csv = '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数据作为姿态列表，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中加载并显示P_Var.CSV中的目标</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">无法联系到您。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">无法联系上'</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">双击后强行移动机器人</span><span class="c1"># load_targets_move (csv_file)</span><span class="c1">#辞职()</span><span class="c1">#推荐的操作模式:</span><span class="c1">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?如果没有，机器人将沿着tagets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="//www.sinclairbody.com/www/doc/en/PythonAPI/#load-a-kuka-src-file" title="¶＂>¶</一个></h2><p>这个例子展示了如何将KUKA SRC文件作为机器人程序导入。确保首先在RoboDK中加载你的KUKA机器人(用于SRC程序的机器人)，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">加载库卡SRC程序</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#load-kuka-src-program" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏展示了如何加载一个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VEL.CP全局变量改变速度</span><span class="c1">示例程序:</span><span class="c1"># DEF铣()</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 ={帧: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"># Lin {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"># Lin {x 276.225, y 0.000, z 6.350, a 180.000, b 0.000, c -180.000}</span><span class="c1"># Lin {x 276.225, y 323.850, z 6.350, a -160.000, b 0.000, c 180.000}</span><span class="c1"># Lin {x -0.000, y 323.850, z 6.350, a -180.000, b -0.000, c -180.000}</span><span class="c1"># Lin {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"># Lin {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">#让用户选择一个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">从文件路径中获取程序名</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">“加载程序:”</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">"所选文件无效。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">#让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">“机器人未被选中或无效”</span><span class="p">）</span><span class="c1">#获取活动参考系</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">#不显示指令加快速度:</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，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">“装货线:”</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以m/s为单位，RoboDK以mm/s为单位)</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!无效行:"</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">#设置参考系</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#test-move-feasibility" title="¶＂>¶</一个></h2><p>本例创建了一个程序，该程序通过一组点来安全地移动机器人，以检查是否可以实现线性运动(包括是否进行碰撞检查)。这些点被自动创建为围绕参考目标的立方体网格。如果无法实现从一点到下一点的线性运动，机器人将尝试关节运动，如果关节运动也不可能实现，则跳过该点。</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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">#如果从一个点到下一个点的线性运动不能完成，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">#设置碰撞检查开启或关闭</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">#在机器人上运行: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“在机器人上运行”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">#获取活动参考系</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">#获得关于机器人的参考姿势</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">#检索工具姿态</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">#获取自由度或轴(对于6轴机器人num_dfs = 6)</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">#获取目标参考的参考系</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">检查2个机器人配置是否相同的函数定义</span><span class="c1">#配置设置为[后/前，下臂/上臂，翻转/非翻转]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">#计算一个随机旋转工具的Z轴</span><span class="c1">#rz =均匀(-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:检查目的靶关节</span><span class="c1">#并确保我们有相同的配置</span><span class="c1">#一种快速验证的方法(如果机器人关节可以移动超过1圈，这可能并不完美)</span><span class="c1">为了改进这种方法，我们必须检查所有可能的解决方案的配置</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">我们不能做线性移动</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">#将参考配置更新为新的配置</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">#这种方法更可靠，应该能提供100%准确的结果，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">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，因为这可以让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">在setjoint之后使用setPose是很重要的，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">添加线性移动</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">“跳过动作到:”</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">#为一个联合目标设置姿态并不重要，除非我们想稍后检索姿态</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的姿态之后设置关节，因为它可能会重新计算姿态</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位置</span><span class="n">lastjoints</span><span class="o">＝</span><span class="n">newtarget_joints</span><span class="c1">#在结尾显示说明更快:</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">隐藏目标更清晰，更难以意外移动目标</span><span class="c1"># prog.ShowTargets(假)</span><span class="nb">打印</span><span class="p">（</span><span class="s1">'程序完成</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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。在这种情况下，用TKInter创建的GUI窗口被添加为RoboDK中的停靠窗口。</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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，它会冻结)</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">“选择一个项目”</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，将阻塞，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>预计周期时间<一个class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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如何估计周期时间的信息:</dt> <dd> <ul class="simple"> <li><p><a class="reference external" href="//www.sinclairbody.com/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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">#准确计算周期时间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">#让用户选择一个程序</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的速度)</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(以制表符分隔)</span><span class="n">writeline</span><span class="o">＝</span><span class="s2">"线速度(mm/s)</span><span class="se">\ t</span><span class="s2">关节速度(deg/s)</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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，以改变它模拟的工具。双击您的机器人加工项目，选择Program Events，并输入SetTool(%1)作为换刀事件。</p><div class="literal-block-wrapper docutils container" id="set-milling-tool"> <div class="code-block-caption"> <span class="caption-text">成套铣刀</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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，给定一个ID作为参数传递</span><span class="c1">#如果没有传递ID作为参数，它将弹出一条消息</span><span class="c1">#这个宏可以与机器人加工项目一起使用，以改变它模拟的工具</span><span class="c1">双击你的机器人加工项目，选择Program Events，然后输入SetTool(%1)更改工具事件</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">#允许获取传递的参数参数</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集合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">#无输入</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">“设置工具:”</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">根本不存在!”</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>投影曲线到曲面<一个class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#project-curve-to-surface" title="¶＂>¶</一个></h2><p>这个例子将特征(点/曲线)投影到一个曲面上，并计算曲面的法线。这个例子有两个对象:(1)有曲线和/或点的对象和(2)有一个或多个曲面的对象。</p><div class="literal-block-wrapper docutils container" id="id3"> <div class="code-block-caption"> <span class="caption-text">投影曲线到曲面</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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 -具有特征的对象(曲线和/或点)</span><span class="c1"># 2 -带有表面的对象(其他特征被忽略)</span><span class="c1">这个例子将特征(点/曲线)投影到参考曲面，并计算曲面的法线</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">#PROJECTION_NONE = 0 #没有曲线投影</span><span class="c1"># projection_nearest = 1 #投影将是表面上最近的点</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。并根据表面法线重新计算法线。</span><span class="c1">#PROJECTION_CLOSEST_RECALC = 4 #投影将是表面上最近的点，法线将重新计算</span><span class="c1">#PROJECTION_RECALC = 5 #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">#要求用户为对象提供特性</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">#要求用户提供对象的表面作为参考</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">“选择表面对象以投影特征”</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surface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">#隐藏用于创建所需曲线的新对象的对象</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，直到找不到曲线为止)</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矢量)</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>滤波曲线法线<一个class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#filter-curve-normals" title="¶＂>¶</一个></h2><p>这个宏显示了如何平均包含曲线的对象的法线。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">滤波曲线法线</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#id4" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏显示了如何平均一个包含曲线的对象的法线。</span><span class="c1">#这个宏也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，该对象的一个副本将被平均法线创建。</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">样品中#</span><span class="c1">#输入距离，单位为mm，用于过滤近处。</span><span class="c1">#例如，如果我们想要一个点，每2毫米最多，我们应该输入2。</span><span class="c1">#设置为-1不过滤点数。</span><span class="n">FilterPointDistance</span><span class="o">＝</span><span class="o">-</span><span class="mi">1</span><span class="c1">单位:mm</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">#让用户选择对象</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">选择要过滤曲线的对象或工具</span><span class="p">）</span><span class="c1">#我们可以选择通过ITEM_TYPE_OBJECT或ITEM_TYPE_TOOL进行过滤(不能同时使用)</span><span class="c1">如果用户选择取消，则#退出</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">#要求用户输入滤镜大小</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10个最接近的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是一个双浮点数组，每个浮点数组包含np个点和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，通常是曲面的法线)</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越界时，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">#对于每个点，平均点范围内的法线[-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">#确保我们考虑了开始和结束部分(navg通常是FilterNormalSamples，除了边界附近)</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">#添加新法线到列表中</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">#结合法线与点列表</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">#对于第一条曲线: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">#添加第一条曲线后，将下面的曲线添加到同一个对象</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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(0,0,1)来改变一个对象的曲线法线指向+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="//www.sinclairbody.com/www/doc/en/PythonAPI/#id5" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#这个脚本通过改变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">#让用户选择对象</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">选择要过滤曲线的对象或工具</span><span class="p">）</span><span class="c1">#我们可以选择通过ITEM_TYPE_OBJECT或ITEM_TYPE_TOOL进行过滤(不能同时使用)</span><span class="c1">如果用户选择取消，则#退出</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">#改变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">#添加所有被操纵的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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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。一旦您将对象放置在首选位置，您就可以在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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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">#添加形状到机器人链接</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">“没有选择机器人。添加一个机器人将这个几何图形连接到一个链接'</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">“进入关节，将物体连接到:</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是底，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">“对象未选中”</span><span class="p">）</span><span class="c1">#要合并的对象列表(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">#设置原始对象不可见(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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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我我遥控器或其他输入设备。</p><div class="literal-block-wrapper docutils container" id="move-a-robot-using-the-keyboard"> <div class="code-block-caption"> <span class="caption-text">使用键盘移动一个机器人</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#move-a-robot-using-the-keyboard" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#这个宏允许使用键盘移动机器人</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")获取更多信息</span><span class="c1">#按F5运行脚本</span><span class="c1">#注意:你不需要保留这个文件的副本，你的python脚本会和站点一起保存</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">#方向键程序示例</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。先装一个机器人，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">“车站里没有机器人!”</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:这只适用于控制台模式，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">'箭头向左(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">向右箭头(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="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">'向上箭头(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">箭头向下(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">#根据移动速度计算以mm为单位的移动</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">#得到机器人关节</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">“没有机器人解决方案!!”新位置太遥远、够不着或太接近奇点。”</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运动!”</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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> 更多信息请点击这里:</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/www/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/www/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">在线移动机器人</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")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:你不需要保留这个文件的副本，你的python脚本会和站点一起保存</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">#强制断开所有机器人模拟双击</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，每个机器人都需要一个新的API连接来允许它们在不同的线程中分别移动(如果需要的话)</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">#力模拟模式，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">#连接到机器人:</span><span class="c1"># rdk.setRunMode(RUNMODE_RUN_ROBOT) #不需要，因为连接将自动执行</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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">监测模拟接头</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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)。该文件避免记录相同的关节两次。</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">#让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">'时间(秒):'</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>监控一个真实的UR机器人<一个class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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的万能机器人。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> 更多信息请点击这里:</dt> <dd> <ul class="simple"> <li><p>机器人司机:<一个class="reference external" href="//www.sinclairbody.com/www/doc/en/Robot-Drivers.html">//www.sinclairbody.com/doc/en/Robot-Drivers.html#RobotDrivers</一个></p></li> <li><p>使用万能机器人的小贴士:<一个class="reference external" href="//www.sinclairbody.com/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#monitor-a-ur-robot" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#这个脚本创建一个线程来监控一个真实的UR机器人的位置和其他变量</span><span class="c1">#这个脚本激活，RoboDK将创建一个新的目标，当机器人移动一定的公差</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，当前机器人位置将只被检索一次</span><span class="c1">#创建以度为单位的公差目标</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">以度为单位</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，以防我们在单独的线程上运行它</span><span class="k">全球</span><span class="n">ROBOT_JOINTS</span><span class="c1">#检查机器人关节位置是否根据一定公差不同的程序</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移位指向数据包中正确的字节数据</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">"数据包大小不正确</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">“没有偏移量(可能是旧版本的Polyscope ?):</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 "， buf, offset))</span><span class="c1">#当新数据包到达时采取的操作</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的信息</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(数据包，ur_get_joint_speed)</span><span class="c1">#ROBOT_CURRENT = packet_value(数据包，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">每秒包数"</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">#找回机器人的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，则在此停止</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">#休息一会儿</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>挑选和放置<一个class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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库的示例2)。</p><p>在本例中，发那科机器人的所有机器人运动都由Python程序管理。使用Python API可以创建、移动、修改和删除站中的任何对象、参考系、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">例02-1 -用python选择和放置</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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发那科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，用于模拟和离线/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">#抓取各部分的接近距离，单位: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">"""计算一个点的列表(球的中心)，就好像球被存储在一个盒子里"""</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(球中心)，就像把球放在金字塔里一样"""</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">"""在参考系中放置一个球的列表。引用对象(球)必须先前已复制到剪贴板。”＂＂</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">#设置项目名称</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">"""从提供的父项列表中删除所有名称以"ball "开头的子项。"＂＂</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toolitem工具姿态，</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">设定空气阀</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">分离连接到toolitem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(调用TCP_Off)”＂＂</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">设定空气阀</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的交互都必须通过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"># robotool = 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(CTRL+C相同)</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">#运行一个预先定义的站程序(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">#列出放置物体的位置</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">使用定制的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个吸盘工具的刀架</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">#首要任务:抓住尽可能多的球</span><span class="c1">#此时工具是空的，所以尽可能多的取球(最多6 ->个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帧1:由于Z轴和X轴是反向的，所以需要绕Y轴旋转</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">“没有空间来放置表2中的对象”</span><span class="p">）</span><span class="c1">#计算目标wrt帧1:由于Z轴和X轴是反向的，所以需要绕Y旋转180</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">机器人完成后就搬回家</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#update-machining-tools" title="¶＂>¶</一个></h2><p>这个脚本将更新所有在工具名中有Length标志的工具(例如:<em>工具L220.551</em>)的参考工具。参考工具必须有一个参考长度(例如:calibrb Point L164.033)。这对于指定一个铣刀或相对于参考刀具定义一个特定的铣刀是有用的。</p><我米g alt="_images / Tool-Point-Offset.png＂src="//www.sinclairbody.com/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#update-robot-machining-tools" title="¶＂>¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏将更新所有在工具名(工具L220.551)中有长度标志的工具。</span><span class="c1">参考工具必须有一个参考长度(例如:calibrb Point L164.033)。</span><span class="c1">#这是有用的指定一个对峙或定义一个特定的铣刀相对于参考工具。</span><span class="c1">#提示: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">#引用工具的名字(RoboDK树中的名字)</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">“校准点L164.033”</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">参考长度未指定，假设为0</span><span class="p">）</span><span class="n">len_ref</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#检索两个工具的姿态</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">#这是同一个工具，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">保存沿着Z轴的新偏移量的变量</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">电流偏移量为:</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">标称偏移量(</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”</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">偏移量当前匹配</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">重要提示:电流偏置:</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">“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">#转到下一个</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，则更新工具</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。姿态设置为:"</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#project-tcp-to-axis" title="¶＂>¶</一个></h2><p>该脚本将一个工具(TCP)投射到由其他两个校准工具(定义一个轴的两个TCP)定义的轴上。这个脚本还会调整工具方向(Z轴)以匹配校准的轴。在更新TCP之前，将显示一个弹出窗口来提供工具错误。</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)，此脚本非常有用。</p><我米g alt="_images / Tool-Projection.png＂src="//www.sinclairbody.com/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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投影到由其他两个TCP定义的轴上。</span><span class="c1">#沿着两个校准TCP所定义的线调整TCP和Z轴的位置</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="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">#将下面的变量设置为False，不移动TCP</span><span class="c1">#(只需要调整Z轴的方向)</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可选手动输入:</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">#主轴可选择手动输入</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">投影到主轴轴的TCP:</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">投影错误=</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">'更新的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">#请求用户更新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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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，即可查看设置。</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/www/www/doc/en/PythonAPI/_images/RobotMachining.png"> <p>可以使用parameter/命令将变量检索或设置为字典或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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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:</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">#让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:为这个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">“首选启动接头:”</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">#获取或设置工具姿态的路径:</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">“使用参考:”</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">#读取程序事件设置默认使用</span><span class="c1">#station = 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">机器人加工设置样本字典</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:最小的刀具方向变化，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">程序事件的样本字典</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/从路径</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arc start和arc end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">本节展示如何更改机器人加工项目的接近/收回设置</span><span class="c1">单位为毫米和度</span><span class="c1">更多示例:C:/RoboDK/Library/Macros/SampleApproachRetract.py</span><span class="c1">#应用切线方法并收缩(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">#重新计算工具路径</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">#保存程序文件到指定文件夹</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>优化设置<一个class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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/www/www/doc/en/PythonAPI/_images/AxesOptimization.png"> <p>可以使用parameter/命令将变量检索或设置为字典或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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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">#你可以在机器人加工菜单中选择“轴优化”或机器人参数来查看轴优化设置。</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">#让用户选择一个机械臂(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=样品，3=样品+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。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">#允许停止迭代</span><span class="c1">#绝对参考接头(双):</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:No, 1: Yes):</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">绝对参考接头重量(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">#全面更新</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">#全面更新</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">#读取设置</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">读取当前轴优化设置的示例:</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>修改程序说明<一个class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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>这个例子遍历选定的程序，改变速度，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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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">#另见:</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，在每次移动后添加:</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"所选项目:"</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">对所有指令进行迭代(索引起始为0，也可以对最后一条指令使用-1)</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">#这个操作总是返回一个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">#但是，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">将速度降低到:</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">如果您不提供新名称，# RoboDK可能会更改指令名</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">重要提示: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">“删除暂停指令”</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式:</span><span class="c1">#delete_command = {'Type':-1}</span><span class="c1">#掠夺。集Param(ins_id, delete_command)</span><span class="c1">重点:我们刚刚删除了一条指令，所以要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修改目标</span><span class="p">）</span><span class="c1">#ins_name, ins_type, move_type, isjointtarget, pose，关节= program . 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="//www.sinclairbody.com/www/doc/en/PythonAPI/#drawing-an-svg-image" title="¶＂>¶</一个></h2><p>给出一个SVG图像来编程一个机器人来模拟绘图应用程序。本例中使用ABB IRB 4600-20/2.50。</p><p>这个例子的3D HTML模拟:<一个class="reference external" href="//www.sinclairbody.com/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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">#机器人编程给定SVG图像来模拟绘图应用程序。本例中使用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，用于模拟和离线/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">"""在XY平面上将2D点转换为3D姿态(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，设置像素宽度和复制作为参考</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">#添加像素几何到绘图板对象，在计算的像素姿态</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，但它确保了机器人可以绘制图像。”＂＂</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: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，在度数</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">#根据工具在home位置的方向获得目标方向</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，设置像素宽度和复制作为参考</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 color = [</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">创建一个计算出的像素姿态的新像素对象</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">#程序启动</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(MM</span><span class="n">MM_X_PIXEL</span><span class="o">＝</span><span class="mi">10</span><span class="c1">#(单位:mm)将被切割的路径取决于像素的大小</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">#获取要绘制的像素引用</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">“董事会和图像”</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“Blackboard 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">“董事会和图像”</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">#调整板尺寸到图像大小(缩放)</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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。给定关键点并使用Python线程，机器人可以一起同步。这个例子类似于<一个class="reference internal" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#weldexample"><span class="std std-ref">2022世界杯8强赛时间</span></a>但升级后支持同时移动多个机器人。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个机器人同时进行</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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">每次调用SyncSet, SYNC_ID都会加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会在必要时阻止机器人的运动，按顺序同步机器人的运动。</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">如果所有线程都到达SyncWait (SYNC_COUNT = SYNC_TOTAL)，则转移到下一个同步事件</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">#等待同步集向前移动</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">#与RoboDK的任何交互都必须通过Robolink()完成</span><span class="c1">#每次机器人移动都需要一个新的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">#获得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">#获取参考系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">#获取目标的姿态(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">#做一个六边形围绕中心:</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">#回到中心，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站中所有可用的机器人(以名称列表的形式)</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">#启动所有机器人的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”</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#robot-model-dh" title="¶＂>¶</一个></h2><p>本示例使用RoboDK API for Python对ABB IRB 120机器人的正运动学和逆运动学建模。参考框架是根据现有的机器人在站。</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-镜像测试</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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RoboDK API for Python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，用于模拟和离线/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必须以毫米和弧度为单位，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">将nframes引用帧添加到framepparent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nframes参考帧级联到framparent """</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">设置项目列表中每个项目的姿势(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，则返回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# 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</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">#确保找到一个项目</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">“机器人基础(绝对帧)”</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(相对帧)”</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">记住必要时要更新的最后一个机器人关节</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">如果关节与之前相同，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">#记住最后的机器人关节</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">“目前的机器人关节:”</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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。它创建或重用现有相机，设置其参数，使用两种不同的方法获取图像，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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")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相机的一些基本功能。</span><span class="c1">#它创建/重用现有的相机，设置其参数，使用两种不同的方法获取图像，并将其作为实时流显示给用户。</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">“我的相机馈送”</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">#创建实时提要</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">#关闭预览和相机。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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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，并在移动棋盘时拍摄至少5张图像。你可以在这里找到更多信息<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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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相机的内在和外在属性。</span><span class="c1">更多关于相机校准的细节:https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html</span><span class="c1">#你可以打印这个板的信件格式: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">#您可以为您的电路板编辑这些设置</span><span class="n">SQUARES_X</span><span class="o">＝</span><span class="mi">10</span><span class="c1">沿着X轴的方块数量</span><span class="n">SQUARES_Y</span><span class="o">＝</span><span class="mi">7</span><span class="c1">沿Y轴的方块数量</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">图像平面上的# 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">#如果发现，添加对象点，图像点(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">总体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="//www.sinclairbody.com/www/doc/en/PythonAPI/#camera-pose" title="¶＂>¶</一个></h2><p>这个例子展示了如何使用OpenCV估计相机的姿势。你需要一个校准的相机来估计相机的姿势，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="拍照姿势示例＂class="align-center" src="//www.sinclairbody.com/www/www/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>以信件的形式放在相机前。</p><一个class="reference internal image-reference" href="//www.sinclairbody.com/www/www/doc/en/PythonAPI/_images/charucoboard.jpg"><img alt="https://docs.opencv.org/master/charucoboard.jpg＂class="align-center" src="//www.sinclairbody.com/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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板估算一个相机姿势。</span><span class="c1">更多关于ChArUco板的信息:https://docs.opencv.org/master/df/d4a/tutorial_charuco_detection.html</span><span class="c1">#你可以打印这个板的信件格式:https://docs.opencv.org/master/charucoboard.jpg</span><span class="c1">姿态估计需要相机校准，请参阅//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，请相应地更改此选项</span><span class="n">DEVICE_ID</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#您可以为您的电路板编辑这些设置</span><span class="n">SQUARES_X</span><span class="o">＝</span><span class="mi">5</span><span class="c1">沿着X轴的方块数量</span><span class="n">SQUARES_Y</span><span class="o">＝</span><span class="mi">7</span><span class="c1">沿Y轴的方块数量</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，一个标记的长度</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250个6x6位标记的字典</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。确保相机已插入，并且没有其他应用程序正在使用它。”</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。如果没有找到分辨率，它将默认为下一个可用分辨率。</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">#获取相机校准参数</span><span class="c1">#见//www.sinclairbody.com/doc/en/PythonAPI/examples.html#camera-calibration</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">#如果校准的相机分辨率和当前分辨率不同，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">假设光圈为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">#为姿态估计创建charuco框架</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">#创建一个附加相机的框架</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">#模拟摄像头</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">#找到拍照姿势</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">#从相机中获取图像</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">从标记中插入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">#你可以过滤多少标记需要找到，以更新姿态如下</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">#找到拍照姿势</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">#展示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="//www.sinclairbody.com/www/doc/en/PythonAPI/#augmented-reality" title="¶＂>¶</一个></h2><p>这个例子展示了如何使用OpenCV将RoboDK的增强现实应用到输入摄像机馈电上。你需要一个校准的相机来估计相机的姿势，见前面的例子。</p><我米g alt="增强现实＂class="align-center" src="//www.sinclairbody.com/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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">更多关于ChArUco板的信息:https://docs.opencv.org/master/df/d4a/tutorial_charuco_detection.html</span><span class="c1">#你可以打印这个板的信件格式:https://docs.opencv.org/master/charucoboard.jpg</span><span class="c1">姿态估计需要相机校准，请参阅//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，请相应地更改此选项</span><span class="n">DEVICE_ID</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#您可以为您的电路板编辑这些设置</span><span class="n">SQUARES_X</span><span class="o">＝</span><span class="mi">5</span><span class="c1">沿着X轴的方块数量</span><span class="n">SQUARES_Y</span><span class="o">＝</span><span class="mi">7</span><span class="c1">沿Y轴的方块数量</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，一个标记的长度</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1:1的比例，你可能想要编辑这个。</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250个6x6位标记的字典</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">#从环境图像中屏蔽AR区域</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。确保相机已插入，并且没有其他应用程序正在使用它。”</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。如果没有找到分辨率，它将默认为下一个可用分辨率。</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">#获取相机校准参数</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">#如果校准的相机分辨率和当前分辨率不同，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">假设光圈为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">#为姿态估计创建charuco框架</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">#创建一个附加相机的框架</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">#模拟摄像头</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=黑色FAR_LENGTH=5000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="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">#找到拍照姿势</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">#从相机中获取图像</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">从标记中插入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">#你可以过滤多少标记需要找到，以更新姿态如下</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">#找到拍照姿势</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AR</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">#展示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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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QR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。</p><p>检测到的二维码和条形码将显示在单独的视图窗口中，检测用红色高亮显示。检测后，可以要求机器人根据读数将物品放置在特定的输送带、料仓等上。</p><一个class="reference internal image-reference" href="//www.sinclairbody.com/www/www/doc/en/PythonAPI/_images/QRBarcodeReader.png"><img alt="_images / QRBarcodeReader.png＂class="align-center" src="//www.sinclairbody.com/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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">这个脚本允许您创建一个包含QR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要求用户保存到磁盘。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，嵌入您的二维码”</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QR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">在RoboDK中导入</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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要求用户保存到磁盘。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">"输入条码(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，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格式</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">在RoboDK中导入</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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">QR和条形码阅读器</span> <a class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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">这个脚本处理一个相机帧来提取QR和条形码。</span><span class="c1">#它目前使用RoboDK相机，但它可以很容易地适应使用物理设备。</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"># contrib版本添加了条形码支持</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表示无限。</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">#开始摄像。</span><span class="c1">#如果您使用的是联网设备，请使用cv。视频捕捉来获得现场直播。</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">#现在，我们需要在磁盘上保存RDK快照。</span><span class="c1">#一个新的更新即将到来，它将返回图像，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">“找到的条形码:”</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">#现在，您可以处理项目了。</span><span class="c1">#例如，要求机器人将物品放在特定的传送带、箱子等上。</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#d-pose-estimation-of-a-known-object" title="¶＂>¶</一个></h3.><p>这个例子展示了如何使用OpenCV将输入图像(源对象)与相机馈电匹配以确定它的2D姿态。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。这只计算沿Z轴的旋转和X/Y偏移。它不是用于3D定位的。你可以在<一个class="reference external" href="https://docs.opencv.org/master/d7/dff/tutorial_feature_homography.html">OpenCV单应图教程</一个>．</p><一个class="reference internal image-reference" href="//www.sinclairbody.com/www/www/doc/en/PythonAPI/_images/SIFT.png"><img alt="_images / SIFT.png＂class="align-center" src="//www.sinclairbody.com/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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SIFT算法匹配输入图像(源对象)与相机反馈以确定它的2D姿态。</span><span class="c1">#它使用模拟摄像头，但它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，以及X/Y偏移量。它不是用于3D定位的。</span><span class="c1">＃</span><span class="c1">你可以在OpenCV单应图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表示无限。</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">#洛氏比率门槛</span><span class="n">MIN_MATCH</span><span class="o">＝</span><span class="mi">15</span><span class="c1">#最小的SIFT匹配，认为检测有效</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白以打开文件对话框。</span><span class="c1">#绘制结果</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SIFT匹配的窗口</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">#让角色认识自己</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">“找不到零件!”</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">“部分父母无效，确保它是一个框架!”</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">“找不到相机!”</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姿态框架</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">#开始摄像。</span><span class="c1">#如果您使用的是联网设备，请使用cv。视频捕捉来获得现场直播。</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">#现在，我们需要在磁盘上保存RDK快照。</span><span class="c1">#一个新的更新即将到来，它将返回图像，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">“无法发现关键点”</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">#过滤器匹配使用Lowe's比率测试</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">#绘制匹配</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">“火柴不够”</span><span class="p">）</span><span class="k">继续</span><span class="c1">#----------------------------------------------</span><span class="c1">#定位对象</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">#从优秀的匹配中获取关键点</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">“不可能转变”</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并得到旋转和平移的解决方案(最多四个解决方案)。</span><span class="c1">#查看如何校准相机的示例:</span><span class="c1"># - //www.sinclairbody.com/doc/en/PythonAPI/examples.html#camera-calibration</span><span class="c1">＃</span><span class="c1"># cam_mtx = np.array([[1.3362190822261939e+ 04,0 .]， 8.4795067509033629e+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"># for 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">#这种方法没有考虑到相机矩阵，小的误差是预期的。</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">#从物体图像中获取角</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">#转换对象角到相机图像</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">#获取图像瞬间，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X和Y相对于相机框架</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">#以容忍为中心</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">#精度公差</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">#计算对相机的姿势wrt</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">计算一组相对姿势的懒方法是静态移动它们!</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(参考图和摄像头图像并列显示检测结果)</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">"""绕一个给定的原点逆时针旋转一个给定的角度(弧度)。"＂＂</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">绘制被检测物体的方向矢量</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">#在检测到的物体的角之间画线</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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)。它使用模拟摄像头，但可以很容易地修改为使用输入摄像头。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/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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检测相机提要中的斑点。</span><span class="c1">#它使用模拟摄像头，但它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表示无限。</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 - Blob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">“找不到相机!”</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">使用默认参数设置检测器。</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，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，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">""强度阈值步骤之间的最小和最大阈值，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">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">"""在整个阈值步骤中检测到一个斑点的最小数量。"＂＂</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，单位为像素^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，单位为像素^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">#过滤圆度(4*pi*面积/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blob循环过滤。"＂＂</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">"""最小团圆度，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">#凸度过滤器(面积/斑点凸包面积)</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blob凸性过滤。"＂＂</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">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">"""最小团凸度，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，以%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">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">#滤镜颜色(明暗)</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">"""颜色的斑点，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">惯量过滤器(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%。"＂＂</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blob惯性，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">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">#开始摄像。</span><span class="c1">#如果您使用的是联网设备，请使用cv。视频捕捉来获得现场直播。</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)的数量不是3个，就拒绝一个零件</span><span class="c1"># -计算每个关键点的世界坐标来移动机器人</span><span class="c1">#----------------------------------------------</span><span class="c1">#向用户显示检测结果(参考图和摄像头图像并列显示检测结果)</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">#调整图像大小，使其适合屏幕</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>拉长部分的方向<一个class="headerlink" href="//www.sinclairbody.com/www/doc/en/PythonAPI/#orientation-of-elongated-parts" title="¶＂>¶</一个></h3.><p>这个例子展示了如何使用OpenCV检测相机馈电中拉长部分的方向。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。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/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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检测相机馈电中拉长部分的方向。</span><span class="c1">#它使用模拟摄像头，但它可以很容易地修改为使用输入摄像头。</span><span class="c1">#警告:最好的效果是观察对称的拉长部分。</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表示无限。</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 -零件方向参数</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">“找不到相机!”</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">#开始摄像。</span><span class="c1">#如果您使用的是联网设备，请使用cv。视频捕捉来获得现场直播。</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(从5.3.0开始)</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">获取此迭代的滑块值</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">#浅色部分在深色背景上的最佳效果，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">#计算轮廓线的长度(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">#创建轮廓的包围框</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]，从水平方向到方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">#你也可以最适合一个椭圆和使用它的角度</span><span class="c1">#if长度为></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 < height:</span><span class="c1">#角度+= PI / 2.0</span><span class="c1"># if angle2 > pi:</span><span class="c1">#角度-= PI</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"># -如果零件的朝向与预期不同，则拒绝该零件</span><span class="c1"># -如果零件面积太小，就拒绝它</span><span class="c1"># -计算机器人的旋转角度来挑选零件</span><span class="c1">#----------------------------------------------</span><span class="c1">#向用户显示检测结果(参考图和摄像头图像并列显示检测结果)</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">#绘制边界框</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">"""绕一个给定的原点逆时针旋转一个给定的角度(弧度)。"＂＂</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">#绘制方向矢量</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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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="//www.sinclairbody.com/www/doc/en/PythonAPI/#depth-map" title="¶＂>¶</一个></h3.><p>此示例演示如何检索和显示模拟摄像机的32位深度图。</p><一个class="reference internal image-reference" href="//www.sinclairbody.com/www/www/doc/en/PythonAPI/_images/example_depth_camera.png"><img alt="_images / example_depth_camera.png＂class="align-center" src="//www.sinclairbody.com/www/www/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="//www.sinclairbody.com/www/doc/en/PythonAPI/#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")查看更多信息</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">这只是为了展示!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 class="rst-footer-buttons" role="navigation" aria-label="footer navigation"> <a href="//www.sinclairbody.com/www/www/doc/en/PythonAPI/postprocessor.html" class="btn btn-neutral float-left" title="以前的＂一个ccesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span>以前的</一个></div> <hr> <div role="contentinfo"> <p>©版权所有2015-2022,RoboDK。</p></div>建立与<一个href="https://www.sphinx-doc.org/">斯芬克斯</一个>使用一个<一个href="https://github.com/readthedocs/sphinx_rtd_theme">主题</一个>所提供的<一个href="https://readthedocs.org">阅读文档</一个>．</footer> </div> </div> </section> </div> </body> </html>