6.示例- RoboDK API文档</t我tle> <link rel="stylesheet" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_static/css/theme.css" type="text/css"> <link rel="stylesheet" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_static/pygments.css" type="text/css"> <link rel="stylesheet" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_static/pygments.css" type="text/css"> <link rel="stylesheet" href="//m.sinclairbody.com/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="//m.sinclairbody.com/www/doc/en/PythonAPI/index.html" class="icon icon-home">RoboDK API<我米gsrc="//m.sinclairbody.com/www/doc/en/PythonAPI/_static/weblogo.svg" class="logo" alt="标志”></一个><div class="version"> 5.6</gydF4y2Badiv> <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="//m.sinclairbody.com/www/doc/en/PythonAPI/intro.html">1.介绍</一个></li> <li class="toctree-l1"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/robodk.html">2.RoboDK API (RoboDK包)</一个></li> <li class="toctree-l1"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/postprocessor.html">3.后处理器</一个></li> <li class="toctree-l1"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/driver.html">4.司机</一个></li> <li class="toctree-l1"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/app.html">5.应用程序</一个></li> <li class="toctree-l1 current"><a class="current reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#">6.例子</一个><ul> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#offline-programming">6.1.2022世界杯8强赛时间离线编程</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#offline-programming-gui">6.2.2022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="//m.sinclairbody.com/www/doc/en/PythonAPI/#online-programming">6.3.在线编程</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#points-to-program">6.4.程序要点</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#points-to-curve">6.5.点到曲线</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#csv-file-to-program-xyz">6.6.CSV文件到程序(XYZ)</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#csv-file-to-program-xyzwpr">6.7.CSV文件到程序(XYZWPR)</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#load-a-kuka-src-file">6.8.加载一个KUKA SRC文件</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#test-move-feasibility">6.9.测试移动可行性</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#docked-ui">6.10.对接界面</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#estimated-cycle-time">6.11.预计周期时间</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#change-tool">6.12.改变工具</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#project-curve-to-surface">6.13.项目曲面曲线</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#filter-curve-normals">6.14.滤波曲线法线</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#change-curve-normals">6.15.改变曲线正态线</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#attach-object-to-a-robot-link">6.16.将对象附加到机器人链接上</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#move-robot-using-a-keyboard">6.17.用键盘移动机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#connect-to-robots">6.18.连接机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#monitor-joints">6.19.监控关节</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#monitor-a-real-ur-robot">6.20.监控一个真正的UR机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#pick-and-place">6.21.拾取和放置</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#update-machining-tools">6.22.更新加工工具</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#project-tcp-to-axis">6.23.TCP到Axis项目</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#robot-machining-settings">6.24.机器人加工设置</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#axes-optimization-settings">6.25.轴优化设置</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#modify-program-instructions">6.26.修改程序说明</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#drawing-an-svg-image">6.27.绘制SVG图像</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#synchronize-3-robots">6.28.同步3个机器人</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#robot-model-dh">6.29.机器人模型(DH)</一个></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#camera-2d">6.30.相机(2 d)</一个><ul> <li class="toctree-l3"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#camera-live-stream">6.30.1.摄像机直播</一个></li> <li class="toctree-l3"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#camera-calibration">6.30.2.摄像机标定</一个></li> <li class="toctree-l3"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#camera-hand-eye-calibration">6.30.3.相机手眼校准</一个></li> <li class="toctree-l3"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#camera-pose">6.30.4.相机的姿势</一个></li> <li class="toctree-l3"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#augmented-reality">6.30.5.增强现实</一个></li> <li class="toctree-l3"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#qr-codes-and-barcodes">6.30.6.QR码和条形码</一个><ul> <li class="toctree-l4"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#generating-qr-codes">6.30.6.1.生成QR码</一个></li> <li class="toctree-l4"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#generating-barcodes-ean-13">6.30.6.2.生成条码(EAN-13)</一个></li> <li class="toctree-l4"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#reading-qr-codes-and-bar-codes">6.30.6.3.阅读QR码和条形码</一个></li> </ul></li> <li class="toctree-l3"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#object-detection">6.30.7.对象检测</一个><ul> <li class="toctree-l4"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#d-pose-estimation-of-a-known-object">6.30.7.1.已知物体的二维姿态估计</一个></li> <li class="toctree-l4"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#blob-detection">6.30.7.2.Blob检测</一个></li> <li class="toctree-l4"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#orientation-of-elongated-parts">6.30.7.3.拉长零件的定位</一个></li> </ul></li> </ul></li> <li class="toctree-l2"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#depth-camera-3d">6.31.深度相机(3D)</一个><ul> <li class="toctree-l3"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#depth-map">6.31.1.深度图</一个></li> <li class="toctree-l3"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#mesh-reconstruction">6.31.2.网格重建</一个></li> <li class="toctree-l3"><a class="reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#rgb-d-livestream">6.31.3.RGB-D转播画面</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="//m.sinclairbody.com/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="//m.sinclairbody.com/www/doc/en/PythonAPI/index.html" class="icon icon-home"></a>»</gydF4y2Bali> <li><span class="section-number">6.</gydF4y2Baspan>例子</gydF4y2Bali> <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">6.</gydF4y2Baspan>例子<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#examples" title="¶”>gydF4y2Ba¶</一个></h1><p>本节展示了一些使用RoboDK API的Python示例。这些例子中的大多数都可以很容易地移植到其他编程语言(如c#、c++、。net或Matlab)。这些示例使用Python 3进行了测试，可能需要进行一些调整才能在Python 2上运行。</p><p>gydF4y2Ba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></gydF4y2Bali> <li><p>C: / RoboDK /图书馆/宏/</p></gydF4y2Bali> </ul> </div> </blockquote> <p>Scripts文件夹中可用的任何Python文件都可以通过选择以下选项作为独立脚本运行:</p><b锁问uote> <div> <ul class="simple"> <li><p>工具涉及脚本</p></gydF4y2Bali> <li><p>选择脚本来运行它</p></gydF4y2Bali> </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:<一个类＝”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><gydF4y2Badiv class="section" id="offline-programming"> <span id="weldexample"></span> <h2><span class="section-number">6.1.</gydF4y2Baspan>2022世界杯8强赛时间<a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#offline-programming" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了如何在给定一个目标的情况下生成六边形路径。这个宏使用Python的RoboDK API绘制半径为R和n个顶点的多边形。</p><gydF4y2Badl class="simple"> <dt> 更多信息请点击这里:</gydF4y2Badt> <dd> <ul class="simple"> <li><p>2022世界杯8强赛时间与RoboDK离线编程:<一个类＝”reference external" href="//m.sinclairbody.com/www/offline-programming">//m.sinclairbody.com/offline-programming</一个></p></li> <li><p>使用Python的RoboDK API进行仿真:<一个类＝”reference external" href="//m.sinclairbody.com/www/doc/en/RoboDK-API.html">//m.sinclairbody.com/doc/en/RoboDK-API.html#PythonAPIOLP</一个></p></li> <li><p>后处理器:<一个类＝”reference external" href="//m.sinclairbody.com/www/doc/en/Post-Processors.html">//m.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:<一个类＝”reference external" href="https://www.youtube.com/watch?list=PLjiA6TvRACQc5E_3c5f3TFXEa56XNR1-m&v=Ic-iKGSc7dk">https://www.youtube.com/watch?list=PLjiA6TvRACQc5E_3c5f3TFXEa56XNR1-m&v=Ic-iKGSc7dk</一个></p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="offline-programming-weld-test"> <div class="code-block-caption"> <span class="caption-text">2022世界杯8强赛时间离线编程。焊接试验</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#offline-programming-weld-test" title="¶”>gydF4y2Ba¶</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Python的RoboDK API绘制半径为R和n_sides顶点的多边形的例子</gydF4y2Baspan><span class="c1">关于RoboDK API的更多信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#基本矩阵运算</gydF4y2Baspan><span class="c1">与RoboDK的任何交互都必须通过RDK完成。</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#选择一个机器人(如果有多个可用机器人会弹出)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个机器人”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“没有选择或可用的机器人”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">获取TCP相对于参考帧的当前位置:</gydF4y2Baspan><span class="c1"># (4x4矩阵表示位置和方向)</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">pos_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pos</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"在目标周围画一个多边形"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">Pose_2_TxyzRxyz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#移动机器人到第一个点:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">在离线生成程序时，提供参考框架和工具框架是很重要的</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseFrame</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseTool</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setRounding</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">设置舍入参数(也称为:CNT, APO/C_DIS, ZoneData，混合半径，拐角，…)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setSpeed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">设置线速度，单位为mm/s</gydF4y2Baspan><span class="c1">设置多边形的边数:</gydF4y2Baspan><span class="n">n_sides</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="n">R</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="c1">#在参考目标周围画一个六边形:</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">n_sides</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">n_sides</gydF4y2Baspan><span class="c1">#角度:0,60,120，…</gydF4y2Baspan><span class="c1">#-----------------------------</gydF4y2Baspan><span class="c1">#相对于参考系的移动</gydF4y2Baspan><span class="c1">创建目标器的副本</gydF4y2Baspan><span class="n">target_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">垫</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">target_i</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pos</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">R</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">因为</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">R</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">罪</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">target_i</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">向目标移动</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s2">:角</gydF4y2Baspan><span class="si">% .1f</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">Pose_2_TxyzRxyz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_i</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#-----------------------------</gydF4y2Baspan><span class="c1"># Post正片叠底:相对于工具</gydF4y2Baspan><span class="c1">#target_i = target_ref * rotz(ang) * transl(R,0,0) * rotz(-ang)</gydF4y2Baspan><span class="c1"># robot.MoveL (target_i)</gydF4y2Baspan><span class="c1">#搬回中心，然后回家:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“完成”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="offline-programming-gui"> <h2><span class="section-number">6.2.</gydF4y2Baspan>2022世界杯8强赛时间离线编程(GUI)<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#offline-programming-gui" title="¶”>gydF4y2Ba¶</一个></h2><p>这个示例是前一个示例的改进版本。它在模拟或生成程序之前提示用户进行一些输入。这个例子展示了RoboDK和Python GUI tkinter如何显示图形用户界面，根据某些参数自定义程序生成。</p><gydF4y2Badl class="simple"> <dt> 更多信息请点击这里:</gydF4y2Badt> <dd> <ul class="simple"> <li><p>使用Python的RoboDK API进行仿真:<一个类＝”reference external" href="//m.sinclairbody.com/www/doc/en/RoboDK-API.html">//m.sinclairbody.com/doc/en/RoboDK-API.html#PythonAPIOLP</一个></p></li> <li><p>后处理器:<一个类＝”reference external" href="//m.sinclairbody.com/www/doc/en/Post-Processors.html">//m.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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#offline-programming-with-gui" title="¶”>gydF4y2Ba¶</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来根据某些参数自定义程序生成</gydF4y2Baspan><span class="c1">这个例子是焊接六边形的改进</gydF4y2Baspan><span class="c1">关于RoboDK API的更多信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">robodk机器人工具箱</gydF4y2Baspan><span class="c1">#设置默认参数</gydF4y2Baspan><span class="n">PROGRAM_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“DoWeld”</gydF4y2Baspan><span class="c1">#程序的名称</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">300</gydF4y2Baspan><span class="c1">#接近距离</gydF4y2Baspan><span class="n">半径</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="c1">#多边形半径</gydF4y2Baspan><span class="n">SPEED_WELD</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">50</gydF4y2Baspan><span class="c1">#焊接路径速度，单位为mn/s</gydF4y2Baspan><span class="n">SPEED_MOVE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="c1">#接近/收回动作的速度，单位为mm/s</gydF4y2Baspan><span class="n">国</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">8</gydF4y2Baspan><span class="c1">#多边形的边数</gydF4y2Baspan><span class="n">DRY_RUN</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#如果是0，它将生成SprayOn/SprayOff程序调用，否则它将不激活工具</gydF4y2Baspan><span class="n">RUN_MODE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RUNMODE_SIMULATE</gydF4y2Baspan><span class="c1">#仿真行为(模拟、生成程序或生成程序后发送给机器人)</gydF4y2Baspan><span class="c1">#使用RUNMODE_SIMULATE来模拟</gydF4y2Baspan><span class="c1">#使用RUNMODE_MAKE_ROBOTPROG生成程序</gydF4y2Baspan><span class="c1">#使用RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD生成程序并将其发送给机器人</gydF4y2Baspan><span class="c1">#主程序</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">调用</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="c1">使用默认的全局变量</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">PROGRAM_NAME</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">半径</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">SPEED_WELD</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">SPEED_MOVE</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">国</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">DRY_RUN</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">RUN_MODE</gydF4y2Baspan><span class="c1">与RoboDK的任何交互都必须通过RDK完成。</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#得到家庭目标和焊接目标;</gydF4y2Baspan><span class="n">首页</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“回家”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“目标参考”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取机器人作为物品:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#强加运行模式</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setRunMode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RUN_MODE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#设置生成程序的名称</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ProgramStart</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">PROGRAM_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取参考目标的姿态(4x4矩阵表示位置和方向):</gydF4y2Baspan><span class="n">poseref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#将机器人移动到home位置，然后移动到接近位置</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">首页</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setSpeed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">SPEED_MOVE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">poseref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#在参考目标周围创建一个n边的多边形</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">国</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">国</gydF4y2Baspan><span class="c1">#角度:0,60,120，…</gydF4y2Baspan><span class="c1">#计算下一个位置</gydF4y2Baspan><span class="n">posei</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">poseref</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">半径</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">posei</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#只对第一点施加焊接速度</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">设定焊接速度，到达第一个点后启动焊枪</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setSpeed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">SPEED_WELD</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">DRY_RUN</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#在我们到达第一个点后立即启动喷雾</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunCodeCustom</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“SprayOn”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">INSTRUCTION_CALL_PROGRAM</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#停止工具，如果我们不做一个演习</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">DRY_RUN</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunCodeCustom</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“SprayOff”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">INSTRUCTION_CALL_PROGRAM</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setSpeed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">SPEED_MOVE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#移回接近点，然后回家:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">poseref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">首页</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#激发程序生成(当RDK完成时自动生成)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">完成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#使用tkinter显示GUI菜单</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">tkinter</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#生成主窗口</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Tk</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">标题</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“项目设置”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#使用链接到全局变量的变量</gydF4y2Baspan><span class="n">runmode</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">IntVar</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">runmode</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">集</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RUN_MODE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#设置默认值</gydF4y2Baspan><span class="n">dryrun</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">IntVar</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">dryrun</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">集</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">DRY_RUN</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#设置默认值</gydF4y2Baspan><span class="n">entry_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">StringVar</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">entry_name</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">集</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">PROGRAM_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">entry_speed</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">StringVar</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">entry_speed</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">集</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">SPEED_WELD</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#定义反馈调用</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">ShowRunMode</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"选择运行模式:"</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">runmode</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">得到</gydF4y2Baspan><span class="p">()))</gydF4y2Baspan><span class="c1">为程序名定义一个标签和条目文本</gydF4y2Baspan><span class="n">标签</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文本</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“项目名称”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">条目</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">textvariable</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">entry_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">定义焊接速度的标签和输入文本</gydF4y2Baspan><span class="n">标签</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文本</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">焊接速度(mm/s)</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">条目</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">textvariable</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">entry_speed</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">定义一个复选框来进行演练</gydF4y2Baspan><span class="n">Checkbutton</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文本</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“演习”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">变量</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">dryrun</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">onvalue</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">offvalue</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">20.</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#为运行模式添加显示标签</gydF4y2Baspan><span class="n">标签</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文本</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“运行模式”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">证明</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">左</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">padx</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">20.</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#设置运行模式(单选按钮)</gydF4y2Baspan><span class="n">runmodes</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">((</gydF4y2Baspan><span class="s2">“模拟”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">RUNMODE_SIMULATE</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“生成程序”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">RUNMODE_MAKE_ROBOTPROG</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“向机器人发送程序”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">RUNMODE_MAKE_ROBOTPROG_AND_START</gydF4y2Baspan><span class="p">）]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">文本文件</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">runmodes</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">Radiobutton</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文本</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">文本文件</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">padx</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">20.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">变量</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">runmode</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">命令</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">ShowRunMode</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">锚</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">W</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">添加一个按钮和默认动作来执行用户当前的选择</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">ExecuteChoice</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">DRY_RUN</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">RUN_MODE</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">SPEED_WELD</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">PROGRAM_NAME</gydF4y2Baspan><span class="n">DRY_RUN</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">dryrun</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">得到</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">RUN_MODE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">runmode</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">得到</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">SPEED_WELD</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">浮动</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">entry_speed</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">得到</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">PROGRAM_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">entry_name</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">得到</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#运行主程序一旦所有的全局变量已经设置</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">按钮</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文本</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“模拟/生成”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">命令</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">ExecuteChoice</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#重要的是显示图形用户界面</gydF4y2Baspan><span class="n">根</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">mainloop</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="online-programming"> <h2><span class="section-number">6.3.</gydF4y2Baspan>在线编程<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#online-programming" title="¶”>gydF4y2Ba¶</一个></h2><p>这个示例是前两个示例的修改版本，它支持直接从脚本在机器人上运行程序。本例将通过Python API(在线编程)在机器人上运行Python程序。如果将机器人连接到PC上，仿真机器人和真实机器人将在Python程序执行的同时移动。同样的程序也可以用于模拟或离线编程。2022世界杯8强赛时间</p><gydF4y2Badl class="simple"> <dt> 更多信息请点击这里:</gydF4y2Badt> <dd> <ul class="simple"> <li><p>使用RoboDK API的Python在线编程:<一个类＝”reference external" href="//m.sinclairbody.com/www/doc/en/RoboDK-API.html">//m.sinclairbody.com/doc/en/RoboDK-API.html#PythonAPIOnline</一个></p></li> <li><p>机器人司机:<一个类＝”reference external" href="//m.sinclairbody.com/www/doc/en/Robot-Drivers.html">//m.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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id2" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏展示了一个从Python API(在线编程)在机器人上运行程序的例子。</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">#重要:默认情况下，右键单击RoboDK API上的程序并选择“Run on Robot”具有与运行此示例相同的效果。</gydF4y2Baspan><span class="c1">#使用Example_OnlineProgramming.py代替，如果程序是从RoboDK站树运行的</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">这个例子使用以下命令强制连接到机器人:</gydF4y2Baspan><span class="c1"># robot.Connect ()</gydF4y2Baspan><span class="c1">#和</gydF4y2Baspan><span class="c1"># RDK.setRunMode (RUNMODE_RUN_ROBOT)</gydF4y2Baspan><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</gydF4y2Baspan><span class="c1">#或者，如果RUN_ON_ROBOT变量设置为False，程序将被模拟(离线编程)2022世界杯8强赛时间</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">关于RoboDK API的更多信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#基本矩阵运算</gydF4y2Baspan><span class="c1">与RoboDK的任何交互都必须通过RDK完成。</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#选择一个机器人(如果有多个可用机器人会弹出)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个机器人”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“没有选择或可用的机器人”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RUN_ON_ROBOT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#重要:默认情况下，运行模式为RUNMODE_SIMULATE</gydF4y2Baspan><span class="c1">#如果程序是离线手工生成的，运行模式将是RUNMODE_MAKE_ROBOTPROG，</gydF4y2Baspan><span class="c1">因此，我们不应该在机器人上运行程序</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunMode</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">RUNMODE_SIMULATE</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">RUN_ON_ROBOT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RUN_ON_ROBOT</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">如果需要，更新连接参数:</gydF4y2Baspan><span class="c1"># robot.setConnectionParams('192.168.2.35'，30000，'/'， 'anonymous'，'')</gydF4y2Baspan><span class="c1">#使用默认IP连接机器人</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">连接</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">试着连接一次</gydF4y2Baspan><span class="c1">#success robot.ConnectSafe() #尝试多次连接</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">status_msg</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ConnectedState</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">ROBOTCOM_READY</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#如果连接不成功则停止</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">status_msg</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"连接失败:"</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">status_msg</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><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)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setRunMode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RUNMODE_RUN_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#注意:当我们通过API连接()到机器人时，这是自动设置的</gydF4y2Baspan><span class="c1">其他:</gydF4y2Baspan><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</gydF4y2Baspan><span class="c1"># RDK.setRunMode (RUNMODE_SIMULATE)</gydF4y2Baspan><span class="c1">注意:如果我们不执行robot.Connect()，这是默认设置。</gydF4y2Baspan><span class="c1">#我们不应该设置RUNMODE_SIMULATE，如果我们想要能够离线生成机器人程序</gydF4y2Baspan><span class="c1">获取机器人的当前关节位置</gydF4y2Baspan><span class="c1">#(更新机器人模拟器的位置)</gydF4y2Baspan><span class="n">joints_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">获取TCP相对于参考帧的当前位置:</gydF4y2Baspan><span class="c1"># (4x4矩阵表示位置和方向)</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">pos_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pos</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"在目标周围画一个多边形"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">Pose_2_TxyzRxyz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#移动机器人到第一个点:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">在离线生成程序时，提供参考框架和工具框架是很重要的</gydF4y2Baspan><span class="c1">使用驱动程序时，更新机器人上的TCP是很重要的</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseFrame</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseTool</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setRounding</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">设置舍入参数(也称为:CNT, APO/C_DIS, ZoneData，混合半径，拐角，…)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setSpeed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">设置线速度，单位为mm/s</gydF4y2Baspan><span class="c1">设置多边形的边数:</gydF4y2Baspan><span class="n">n_sides</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="n">R</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="c1">#在参考目标周围画一个六边形:</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">n_sides</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">n_sides</gydF4y2Baspan><span class="c1">#角度:0,60,120，…</gydF4y2Baspan><span class="c1">#-----------------------------</gydF4y2Baspan><span class="c1">#相对于参考系的移动</gydF4y2Baspan><span class="c1">创建目标器的副本</gydF4y2Baspan><span class="n">target_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">垫</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">target_i</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pos</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">R</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">因为</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">R</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">罪</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">target_i</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pos_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">向目标移动</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s2">:角</gydF4y2Baspan><span class="si">% .1f</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">Pose_2_TxyzRxyz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_i</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#-----------------------------</gydF4y2Baspan><span class="c1"># Post正片叠底:相对于工具</gydF4y2Baspan><span class="c1">#target_i = target_ref * rotz(ang) * transl(R,0,0) * rotz(-ang)</gydF4y2Baspan><span class="c1"># robot.MoveL (target_i)</gydF4y2Baspan><span class="c1">#搬回中心，然后回家:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“完成”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">##运行使用GUI从API创建的程序的示例</gydF4y2Baspan><span class="c1">#prog = RDK。项（＇MainProgram', ITEM_TYPE_PROGRAM)</span><span class="c1">## prog.setRunType(PROGRAM_RUN_ON_ROBOT) #在机器人选项上运行</gydF4y2Baspan><span class="c1">## prog.setRunType(PROGRAM_RUN_ON_SIMULATOR) #运行模拟器(默认在启动时)</gydF4y2Baspan><span class="c1"># prog.RunProgram ()</gydF4y2Baspan><span class="c1">#while prog.Busy() == 1:</gydF4y2Baspan><span class="c1">#暂停(0.1)</gydF4y2Baspan><span class="c1">#打印(“项目完成”)</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="points-to-program"> <span id="lbl-move-through-points"></span> <h2><span class="section-number">6.4.</gydF4y2Baspan>程序要点<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#points-to-program" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了沿着点列表移动机器人的不同方法。</p><gydF4y2Badiv 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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#move-robot-through-points" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#移动机器人沿着给定的起点和终点的线</gydF4y2Baspan><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</gydF4y2Baspan><span class="c1">关于RoboDK API的更多信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#更多信息请访问:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/PythonAPI/robodk.html robolink-py</gydF4y2Baspan><span class="c1">#默认参数:</gydF4y2Baspan><span class="n">P_START</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1755</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2155</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#起始点相对于机器人基础框架</gydF4y2Baspan><span class="n">P_END</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1755</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">600</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2155</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#相对于机器人基架的终点</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="c1">插入点的数量</gydF4y2Baspan><span class="c1">#函数定义创建一个点(线)列表</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">MakePoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">xEnd</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""生成一个点列表"""</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xEnd</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“起点和终点必须是三维向量”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“至少需要两分”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#起点</gydF4y2Baspan><span class="n">pt_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">我们在每个插值点之间添加/减去多少</gydF4y2Baspan><span class="n">x_steps</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xEnd</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">y_steps</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xEnd</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">z_steps</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xEnd</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#增量地添加到每个点，直到到达终点</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">point_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#创建一个点</gydF4y2Baspan><span class="c1">#追加点到列表</gydF4y2Baspan><span class="n">pt_list</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">point_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">x_steps</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">y_steps</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">z_steps</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">pt_list</gydF4y2Baspan><span class="c1">#---------------------------------------------------</gydF4y2Baspan><span class="c1">#--------------- 程序开始 ---------------------</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#基本矩阵运算</gydF4y2Baspan><span class="c1">#生成点曲线路径</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">MakePoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">P_START</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">P_END</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#初始化RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#关闭自动渲染(更快)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#自动删除先前生成的项目(Auto标签)</gydF4y2Baspan><span class="n">list_names</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemList</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#列出所有名字</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">item_name</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">list_names</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">item_name</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">startswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“汽车”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">item_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#提示用户选择一个机器人(如果只有一个机器人可用，它会自动选择机器人)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个机器人”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#在开始模拟之前打开渲染</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#取消如果用户点击取消</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#检索机器人参考系</gydF4y2Baspan><span class="n">参考</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#使用机器人基础框架作为活动参考</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参考</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">获取机器人的当前方向(相对于活动参照系和工具框架)</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">Pose_2_TxyzRxyz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1"># a姿态也可以定义为xyzwpr / xyzABC</gydF4y2Baspan><span class="c1">#pose_ref = TxyzRxyz_2_Pose([100,200,300,0,0,pi])</gydF4y2Baspan><span class="c1">#-------------------------------------------------------------</gydF4y2Baspan><span class="c1">#选项1:使用Python脚本移动机器人</gydF4y2Baspan><span class="c1">#我们可以使用RUNMODE状态自动强制“创建机器人程序”操作</gydF4y2Baspan><span class="c1"># RDK.setRunMode (RUNMODE_MAKE_ROBOTPROG)</gydF4y2Baspan><span class="c1">#遍历所有点</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">用所需的XYZ坐标更新参考目标</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#移动机器人到目标:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#完成，停止程序执行</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#-------------------------------------------------------------</gydF4y2Baspan><span class="c1">#选项2:在图形用户界面上创建程序</gydF4y2Baspan><span class="c1">#关闭渲染</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddProgram</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“AutoProgram”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#遍历所有点</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">添加一个新的目标，并保留对它的引用</gydF4y2Baspan><span class="n">“透明国际”</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTarget</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">汽车的目标</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">使用参考姿态并更新XYZ位置</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">“透明国际”</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># force使用目标作为笛卡尔目标</gydF4y2Baspan><span class="n">“透明国际”</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setAsCartesianTarget</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#可选，在新程序中将目标添加为线性/关节移动</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">“透明国际”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#在开始模拟之前打开渲染</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#在模拟器上运行程序(模拟程序):</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1"># program . waitfinished() #等待程序完成</gydF4y2Baspan><span class="c1">#我们可以自动创建程序</gydF4y2Baspan><span class="c1"># prog.MakeProgram ()</gydF4y2Baspan><span class="c1">同样，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)</gydF4y2Baspan><span class="c1"># prog.setRunType (PROGRAM_RUN_ON_ROBOT)</gydF4y2Baspan><span class="c1">#完成，停止程序执行</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#-------------------------------------------------------------</gydF4y2Baspan><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</gydF4y2Baspan><span class="c1">#这是选项1的改进版本</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">#我们可以使用RUNMODE状态自动强制“创建机器人程序”操作</gydF4y2Baspan><span class="c1"># RDK.setRunMode (RUNMODE_MAKE_ROBOTPROG)</gydF4y2Baspan><span class="c1">#遍历所有点</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">用所需的XYZ坐标更新参考目标</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#移动机器人到目标:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">重要的是:让第一个动作成为一个联合动作!</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#测试我们是否可以从当前位置到下一个点进行线性移动</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL_Collision</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#完成，停止程序执行</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#-------------------------------------------------------------</gydF4y2Baspan><span class="c1">#选项4:创建跟随曲线项目</gydF4y2Baspan><span class="c1">首先，我们需要从提供的点创建一个对象，或者将这些点添加到一个现有的对象上，并选择将它们投影到表面上</gydF4y2Baspan><span class="c1">#创建一个给定点列表的新对象(3xN向量可以扩展到6xN以提供法线)</gydF4y2Baspan><span class="n">object_points</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddPoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">或者，我们可以在物体表面投影点</gydF4y2Baspan><span class="c1"># object = RDK。项（＇Object', ITEM_TYPE_OBJECT)</span><span class="c1"># object_points = object。AddPoints（点，PROJECTION_ALONG_NORMAL_RECALC）</gydF4y2Baspan><span class="c1">#将点放置在与对象的参考系相同的位置</gydF4y2Baspan><span class="c1"># object_points.setParent (object.Parent ())</gydF4y2Baspan><span class="c1">设置包含点的对象的名称</gydF4y2Baspan><span class="n">object_points</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“AutoPoints n</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">path_settings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddMillingProject</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“AutoPointFollow设置”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">path_settings</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setMillingParameters</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">部分</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">object_points</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">在这一点上，我们可能需要手动调整工具对象或参考框架</gydF4y2Baspan><span class="c1">#运行create程序，如果成功</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#做</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#-------------------------------------------------------------</gydF4y2Baspan><span class="c1">#选项5:创建一个follow points项目(类似于选项4)</gydF4y2Baspan><span class="c1">首先，我们需要从提供的点创建一个对象，或者将这些点添加到一个现有的对象上，并选择将它们投影到表面上</gydF4y2Baspan><span class="c1">#创建一个给定点列表的新对象:</gydF4y2Baspan><span class="n">object_curve</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddCurve</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">或者，我们可以在物体表面投影点</gydF4y2Baspan><span class="c1"># object = RDK。项（＇Object', ITEM_TYPE_OBJECT)</span><span class="c1"># object_curve = object。AddCurve（点，PROJECTION_ALONG_NORMAL_RECALC）</gydF4y2Baspan><span class="c1">#将曲线放置在与对象的参考系相同的位置</gydF4y2Baspan><span class="c1"># object_curve.setParent (object.Parent ())</gydF4y2Baspan><span class="c1">设置包含点的对象的名称</gydF4y2Baspan><span class="n">object_curve</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“AutoPoints n</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">创建一个新的“曲线跟踪项目”来自动跟踪曲线</gydF4y2Baspan><span class="n">path_settings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddMillingProject</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“AutoCurveFollow设置”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">path_settings</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setMillingParameters</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">部分</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">object_curve</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">在这一点上，我们可能需要手动调整工具对象或参考框架</gydF4y2Baspan><span class="c1">#运行create程序，如果成功</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#做</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#-------------------------------------------------------------</gydF4y2Baspan><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</gydF4y2Baspan><span class="c1">这个例子是为了通过距离测量和使用激光跟踪器或立体相机来帮助验证机器人的精度</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ConnectSafe</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">＜＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“无法连接机器人”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setRunMode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RUNMODE_RUN_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#如果连接成功，它是多余的</gydF4y2Baspan><span class="n">POINTS_NOMINAL</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">POINTS_ACCURATE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">STABILIZATION_TIME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="c1">测量前稳定时间(以秒为单位</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">#使用参考方向和XYZ坐标构建目标</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#以标称运动学移动到目标</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">移动到点</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">(名义运动学)'</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">Pose_2_KUKA</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="c1">求解标称逆运动学</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setAccuracyActive</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">霁</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SolveIK</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">霁</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">STABILIZATION_TIME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#进行测量</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">pose1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">pose2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">npoints1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">npoints2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">StereoCamera_Measure</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">npoints1</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">npoints2</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“无效的测量。2秒后重试……”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">计算工具相对于参考系的姿态</gydF4y2Baspan><span class="n">测量</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">invH</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">pose2</gydF4y2Baspan><span class="c1">#检索测量的XYZ值</gydF4y2Baspan><span class="n">POINTS_NOMINAL</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">测量</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pos</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#移动到目标与准确的运动学</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">移动到点</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">(准确的运动学)'</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setAccuracyActive</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">霁</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SolveIK</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">霁</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">STABILIZATION_TIME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">pose1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">pose2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">npoints1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">npoints2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">StereoCamera_Measure</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">npoints1</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">npoints2</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“无效的测量。2秒后重试……”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">计算工具相对于参考系的姿态</gydF4y2Baspan><span class="n">测量</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">invH</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">pose2</gydF4y2Baspan><span class="c1">#检索测量的XYZ值</gydF4y2Baspan><span class="n">POINTS_ACCURATE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">测量</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pos</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">在这一点上，我们可以检查准确的和标称的运动学，并创建以下表格:</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“爸爸</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="s1">pb</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="s1">经销</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="s1">dist笔名</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="s1">dist acc</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="s1">以前的错误</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="s1">acc的错误</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">dist_program</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">距离</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">dist_nominal</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">距离</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">POINTS_NOMINAL</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">POINTS_NOMINAL</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">dist_accurate</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">距离</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">POINTS_ACCURATE</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">POINTS_ACCURATE</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">error_nominal</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">dist_nominal</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">dist_program</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">error_accurate</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">dist_accurate</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">dist_program</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">dist_program</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">dist_nominal</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">dist_accurate</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">error_nominal</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">error_accurate</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="points-to-curve"> <h2><span class="section-number">6.5.</gydF4y2Baspan>点到曲线<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#points-to-curve" title="¶”>gydF4y2Ba¶</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。这个示例通过设置曲线跟随项目或点跟随项目，以不同的方式实现了与前面示例相同的目标。</p><gydF4y2Badiv 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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#curve-follow-project" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">#移动机器人沿着给定的起点和终点的线</gydF4y2Baspan><span class="c1">这个宏展示了使用Python脚本和RoboDK API编程机器人的不同方法</gydF4y2Baspan><span class="c1">#默认参数:</gydF4y2Baspan><span class="n">P_START</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1755</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2155</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#起始点相对于机器人基础框架</gydF4y2Baspan><span class="n">P_END</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1755</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">600</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2155</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#相对于机器人基架的终点</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="c1">插入点的数量</gydF4y2Baspan><span class="c1">#函数定义创建一个点(线)列表</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">MakePoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">xEnd</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""生成一个点列表"""</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xEnd</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“起点和终点必须是三维向量”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“至少需要两分”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#起点</gydF4y2Baspan><span class="n">pt_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">我们在每个插值点之间添加/减去多少</gydF4y2Baspan><span class="n">x_steps</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xEnd</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">y_steps</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xEnd</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">z_steps</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xEnd</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">xStart</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#增量地添加到每个点，直到到达终点</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">numPoints</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">point_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#创建一个点</gydF4y2Baspan><span class="c1">#追加点到列表</gydF4y2Baspan><span class="n">pt_list</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">point_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">x_steps</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">y_steps</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">z_steps</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">pt_list</gydF4y2Baspan><span class="c1">#---------------------------------------------------</gydF4y2Baspan><span class="c1">#--------------- 程序开始 ---------------------</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信进行仿真和离线/在线编程</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#工业机器人的机器人工具箱世界杯2022美洲预选赛直播</gydF4y2Baspan><span class="c1">#生成点曲线路径</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">MakePoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">P_START</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">P_END</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#初始化RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#关闭自动渲染(更快)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#自动删除先前生成的项目(Auto标签)</gydF4y2Baspan><span class="n">list_items</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemList</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#列出所有名字</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">list_items</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">startswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“汽车”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#提示用户选择一个机器人(如果只有一个机器人可用，它会自动选择机器人)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个机器人”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#在开始模拟之前打开渲染</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#取消如果用户点击取消</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#检索机器人参考系</gydF4y2Baspan><span class="n">参考</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#使用机器人基础框架作为活动参考</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参考</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">获取机器人的当前方向(相对于活动参照系和工具框架)</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">Pose_2_TxyzRxyz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1"># a姿态也可以定义为xyzwpr / xyzABC</gydF4y2Baspan><span class="c1">#pose_ref = TxyzRxyz_2_Pose([100,200,300,0,0,pi])</gydF4y2Baspan><span class="c1">#-------------------------------------------------------------</gydF4y2Baspan><span class="c1">#选项1:创建一个曲线跟随项目</gydF4y2Baspan><span class="c1">首先，我们需要从提供的点创建一个对象，或者将这些点添加到一个现有的对象上，并选择将它们投影到表面上</gydF4y2Baspan><span class="c1">#创建一个给定点列表的新对象(3xN向量可以扩展到6xN以提供法线)</gydF4y2Baspan><span class="n">object_points</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddPoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">或者，我们可以在物体表面投影点</gydF4y2Baspan><span class="c1"># object = RDK。项（＇Object', ITEM_TYPE_OBJECT)</span><span class="c1"># object_points = object。AddPoints（点，PROJECTION_ALONG_NORMAL_RECALC）</gydF4y2Baspan><span class="c1">#将点放置在与对象的参考系相同的位置</gydF4y2Baspan><span class="c1"># object_points.setParent (object.Parent ())</gydF4y2Baspan><span class="c1">设置包含点的对象的名称</gydF4y2Baspan><span class="n">object_points</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“AutoPoints n</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">path_settings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddMillingProject</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“AutoPointFollow设置”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">path_settings</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setMillingParameters</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">部分</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">object_points</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">在这一点上，我们可能需要手动调整工具对象或参考框架</gydF4y2Baspan><span class="c1">#运行create程序，如果成功</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#做</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#-------------------------------------------------------------</gydF4y2Baspan><span class="c1">#选项2:创建一个点跟随项目(类似于选项4)</gydF4y2Baspan><span class="c1">首先，我们需要从提供的点创建一个对象，或者将这些点添加到一个现有的对象上，并选择将它们投影到表面上</gydF4y2Baspan><span class="c1">#创建一个给定点列表的新对象:</gydF4y2Baspan><span class="n">object_curve</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddCurve</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">或者，我们可以在物体表面投影点</gydF4y2Baspan><span class="c1"># object = RDK。项（＇Object', ITEM_TYPE_OBJECT)</span><span class="c1"># object_curve = object。AddCurve（点，PROJECTION_ALONG_NORMAL_RECALC）</gydF4y2Baspan><span class="c1">#将曲线放置在与对象的参考系相同的位置</gydF4y2Baspan><span class="c1"># object_curve.setParent (object.Parent ())</gydF4y2Baspan><span class="c1">设置包含点的对象的名称</gydF4y2Baspan><span class="n">object_curve</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“AutoPoints n</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">NUM_POINTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">创建一个新的“曲线跟踪项目”来自动跟踪曲线</gydF4y2Baspan><span class="n">path_settings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddMillingProject</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“AutoCurveFollow设置”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">path_settings</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setMillingParameters</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">部分</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">object_curve</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">在这一点上，我们可能需要手动调整工具对象或参考框架</gydF4y2Baspan><span class="c1">#运行create程序，如果成功</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#做</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="csv-file-to-program-xyz"> <h2><span class="section-number">6.6.</gydF4y2Baspan>CSV文件到程序(XYZ)<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#csv-file-to-program-xyz" title="¶”>gydF4y2Ba¶</一个></h2><p>这个示例展示了如何从给定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>gydF4y2Ba默认情况下，这个例子是一个RoboDK脚本:</p><b锁问uote> <div> <ol class="arabic simple"> <li><p>选择“工具-运行脚本”</p></gydF4y2Bali> <li><p>选择<gydF4y2Baem>ImportCSV_XYZ</gydF4y2Baem></p></li> <li><p>选择CSV格式的文件(例如:C:/RoboDK/Library/Scripts/ samplexyz . CSV)。</p></gydF4y2Bali> </ol> </div> </blockquote> <dl class="simple"> <dt> 注:</gydF4y2Badt> <dd> <ul class="simple"> <li><p>在创建目标时，机器人的刀具方向作为参考。</p></gydF4y2Bali> <li><p>XYZ值必须以毫米为单位，速度必须以毫米/秒为单位。</p></gydF4y2Bali> <li><p>程序中将使用活动工具和参考系。</p></gydF4y2Bali> <li><p>该程序将隐藏指令，您可以右键单击程序并选择“显示指令”来显示指令。</p></gydF4y2Bali> <li><p>您可以选择一个或移动移动指令，并选择“选择目标”来查看目标。</p></gydF4y2Bali> </ul> </dd> </dl> <img alt="_images / Import-CSV-Robot-Simulation.png”src="//m.sinclairbody.com/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)</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#convert-a-csv-file-to-a-program-xyz" title="¶”>gydF4y2Ba¶</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XYZ点列表，包括速度</gydF4y2Baspan><span class="c1">列表必须以X,Y,Z,Speed的形式提供。单位为mm和mm/s</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robofileio</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#----------------------------</gydF4y2Baspan><span class="c1">#全局变量:</gydF4y2Baspan><span class="c1"># LOAD_AS_PROGRAM标志:</gydF4y2Baspan><span class="c1">#设置为True，在UI中生成一个程序:我们可以手动修改目标，并正确地看到程序</gydF4y2Baspan><span class="c1">#设置为False，则在运行宏时直接模拟或生成机器人程序</gydF4y2Baspan><span class="n">LOAD_AS_PROGRAM</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#设置放置目标的参考系名称:</gydF4y2Baspan><span class="n">REFERENCE_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“参考CSV”</gydF4y2Baspan><span class="c1">#设置参考目标器的名称</gydF4y2Baspan><span class="c1">(相对于这个目标，方向将保持不变)</gydF4y2Baspan><span class="n">TARGET_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“回家”</gydF4y2Baspan><span class="c1">#---------------------------</gydF4y2Baspan><span class="c1">#启动RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#让用户选择一个文件:</gydF4y2Baspan><span class="n">rdk_file_path</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“PATH_OPENSTATION”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">path_file</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getOpenFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rdk_file_path</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">“/”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">path_file</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“没有选择”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#从文件路径中获取程序名称</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">path_file</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#加载CSV文件为列表列表[[x,y,z，速度]，[x,y,z，速度]，…]</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">LoadList</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">path_file</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">删除先前生成的遵循特定命名的程序</gydF4y2Baspan><span class="c1">#list_names = RDK.ItemList(False)</gydF4y2Baspan><span class="c1">#for item_name in list_names</gydF4y2Baspan><span class="c1"># if item_name.startswith('Auto'):</gydF4y2Baspan><span class="c1"># RDK.Item (item_name) delete ()</gydF4y2Baspan><span class="c1">#选择机器人(只有当有2个或更多机器人时才会显示弹出窗口)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个机器人”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"机器人未选择或无效"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#获取参考框架来生成路径</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">REFERENCE_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"找不到参考系。使用名称:</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">REFERENCE_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#使用主目标作为参考</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TARGET_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_TARGET</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“国内目标无效。设置home目标:</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">TARGET_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#将机器人设置到起始位置</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setJoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="c1">#从主目标获取姿态参考</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">LOAD_AS_PROGRAM</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#添加一个新程序</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddProgram</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#关闭渲染(更快)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#不显示指令加速:</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowInstructions</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">记住速度，这样我们就不会在每条指令中都设置它</gydF4y2Baspan><span class="n">current_speed</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="c1">#非常重要:确保我们设置了参考系和工具架，以便机器人意识到它</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseTool</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="c1">#遍历所有点</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">））：</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#如果有第4列，更新速度</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">速度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#如果速度与先前设置的速度不同，则更新程序</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">类型</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">速度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="n">速度</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">current_speed</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setSpeed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">速度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">current_speed</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">速度</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTarget</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">不</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="c1">添加一个线性运动(除了第一个点，它将是一个关节运动)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#不时更新以通知用户进度</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowTargets</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“加载</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">：</gydF4y2Baspan><span class="si">% .1f</gydF4y2Baspan><span class="s2"></span><span class="si">％%</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">))，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowTargets</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#非常重要:确保我们设置了参考系和工具架，以便机器人意识到它</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseTool</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="c1">记住速度，这样我们就不会在每条指令中都设置它</gydF4y2Baspan><span class="n">current_speed</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="c1">#遍历所有点</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">））：</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#如果有第4列，更新速度</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">速度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#如果速度与先前设置的速度不同，则更新程序</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">类型</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">速度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="n">速度</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">current_speed</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setSpeed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">速度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">current_speed</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">速度</gydF4y2Baspan><span class="c1">添加一个线性运动(除了第一个点，它将是一个关节运动)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#不时更新以通知用户进度</gydF4y2Baspan><span class="c1">#if I % 200 == 0:</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”计划</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">：</gydF4y2Baspan><span class="si">% .1f</gydF4y2Baspan><span class="s2"></span><span class="si">％%</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">))，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“完成”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“完成”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="csv-file-to-program-xyzwpr"> <h2><span class="section-number">6.7.</gydF4y2Baspan>CSV文件到程序(XYZWPR)<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#csv-file-to-program-xyzwpr" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了如何从给定XYZWPR坐标(姿势)列表的CSV文件中导入目标。</p><gydF4y2Badl class="simple"> <dt> 默认情况下，这个例子是一个RoboDK脚本:</gydF4y2Badt> <dd> <ol class="arabic simple"> <li><p>选择“工具-运行脚本”</p></gydF4y2Bali> <li><p>选择<gydF4y2Baem>ImportCSV_XYZWPR</gydF4y2Baem></p></li> <li><p>选择CSV文件(例如:C:/RoboDK/Library/Scripts/ImportCSV_XYZWPR.csv)。</p></gydF4y2Bali> </ol> </dd> <dt> 注:</gydF4y2Badt> <dd> <ul class="simple"> <li><p>本例中使用了目标方向的欧拉格式Z->Y ' ->X "(可以使用rotx, roty和rotz函数轻松更改)。</p></gydF4y2Bali> <li><p>XYZ值必须以毫米为单位，Rx、Ry、Rz值必须以度为单位。</p></gydF4y2Bali> <li><p>程序中将使用活动工具和参考系。</p></gydF4y2Bali> <li><p>程序将有隐藏的指令，您可以右键单击程序并选择显示指令以显示指令。</p></gydF4y2Bali> <li><p>您可以选择一个或移动移动指令，并选择“选择目标”来查看目标。</p></gydF4y2Bali> </ul> </dd> </dl> <img alt="_images / Import-CSV-Robot-Simulation-XYZWPR.png”src="//m.sinclairbody.com/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)</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#convert-a-csv-file-to-a-program-xyzwpr" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏可以从Denso程序在RoboDK加载CSV文件。</gydF4y2Baspan><span class="c1">#支持的文件类型有:</gydF4y2Baspan><span class="c1">工具数据:Tool.csv</gydF4y2Baspan><span class="c1"># 2-工作对象数据:Work.csv</gydF4y2Baspan><span class="c1"># 3-目标数据:P_Var.csv</gydF4y2Baspan><span class="c1">这个宏也可以过滤一个给定的目标文件</gydF4y2Baspan><span class="c1">输入help("robodk.robolink")或help("robodk.robomath")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#访问://m.sinclairbody.com/doc/PythonAPI/</gydF4y2Baspan><span class="c1">用于RoboDK API文档</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robofileio</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#开始和RoboDK交流</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#要求用户选择机器人(忽略弹出如果只有</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个机器人”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">检查用户是否选择了机器人</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#自动检索活动引用和工具</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># frame = rdk。ItemUserPick（＇选择一个参考框架＇，ITEM_TYPE_FRAME）</gydF4y2Baspan><span class="c1"># tool = rdk。ItemUserPick（＇选择一个工具＇，ITEM_TYPE_TOOL）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“选择合适的框架和工具参考”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">将XYZWPR转换为姿势的函数</gydF4y2Baspan><span class="c1">#重要!指定旋转顺序</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">xyzwpr_to_pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xyzwpr</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">处方</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">变化中</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">xyzwpr</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">roty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">变化中</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotx</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">处方</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#返回transl (x, y, z) * rotx (rx *π/ 180)* roty (ry *π/ 180)* rotz (rz *π/ 180)</gydF4y2Baspan><span class="c1">#返回KUKA_2_Pose (xyzwpr)</gydF4y2Baspan><span class="c1"># csv_file = 'C:/Users/Albert/Desktop/Var_P.csv'</gydF4y2Baspan><span class="n">csv_file</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getOpenFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“PATH_OPENSTATION”</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#指定文件编解码器</gydF4y2Baspan><span class="n">编解码器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“utf - 8”</gydF4y2Baspan><span class="c1">#“iso - 8859 - 1”</gydF4y2Baspan><span class="c1">#加载P_Var.CSV数据作为姿势列表，包括指向参考和工具框架的链接</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">load_targets</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">csvdata</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">LoadList</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">”、“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">编解码器</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">提出了</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">csvdata</gydF4y2Baspan><span class="p">））：</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">处方</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">变化中</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">csvdata</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">提出了</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xyzwpr_to_pose</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">处方</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">变化中</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="c1"># idxs.append (csvdata[我][6])</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">提出了</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="c1">#加载和显示目标从P_Var.CSV在RoboDK</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">load_targets_GUI</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">提出了</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">load_targets</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“- - -”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“_”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">' '</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“_”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_PROGRAM</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddProgram</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">JointsHome</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">邮政编码</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">提出了</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s1">-</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_TARGET</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTarget</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">试一试</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">除了</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“警告:</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s1">联系不上。它不会被添加到程序中。</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">load_targets_move</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">提出了</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">load_targets</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">JointsHome</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">邮政编码</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">提出了</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">试一试</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">除了</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的目标</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">无法联系到”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">双击后强制移动机器人</gydF4y2Baspan><span class="c1"># load_targets_move (csv_file)</gydF4y2Baspan><span class="c1">#辞职()</gydF4y2Baspan><span class="c1">#推荐操作方式:</gydF4y2Baspan><span class="c1">双击python文件，在RoboDK站创建一个程序</gydF4y2Baspan><span class="c1"># 2-Generate program直接生成程序</gydF4y2Baspan><span class="n">MAKE_GUI_PROGRAM</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunMode</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">RUNMODE_SIMULATE</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">MAKE_GUI_PROGRAM</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1"># MAKE_GUI_PROGRAM = mbox('你想创建一个新程序吗?如果不是，机器人就会沿着标签(“是”、“否”)移动。</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#如果我们在程序生成模式下运行，只需移动机器人</gydF4y2Baspan><span class="n">MAKE_GUI_PROGRAM</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">MAKE_GUI_PROGRAM</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#关闭渲染会更快</gydF4y2Baspan><span class="n">load_targets_GUI</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">csv_file</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">load_targets_move</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">csv_file</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="load-a-kuka-src-file"> <h2><span class="section-number">6.8.</gydF4y2Baspan>加载一个KUKA SRC文件<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#load-a-kuka-src-file" title="¶”>gydF4y2Ba¶</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 (SRC程序使用的机器人)中加载KUKA机器人，然后使用Tools -> run - script运行此脚本。</p><gydF4y2Badiv 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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#load-kuka-src-program" title="¶”>gydF4y2Ba¶</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</gydF4y2Baspan><span class="c1">带关节坐标的# PTP运动和带笛卡尔信息的LIN运动(XYZABC)将作为一个程序导入。</gydF4y2Baspan><span class="c1">这个宏还支持定义工具和基本内联，并使用VEL.CP全局变量更改速度</gydF4y2Baspan><span class="c1">示例程序:</gydF4y2Baspan><span class="c1"># DEF Milling ()</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1"># $ base = {frame: x 0.000, y -1000.000, z 0.000, a 0.000, b 0.000, c 0.000}</gydF4y2Baspan><span class="c1"># $ tool = {frame: x 466.604, y -4.165, z 109.636, a -0.000, b 90.000, c 0.000}</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1"># $韦尔。Cp = 1.00000</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1"># PTP {a1 107.78457, a2 -44.95260, a3 141.64681, a4 107.66839, a5 -87.93467, a6 6.37710}</gydF4y2Baspan><span class="c1"># Lin {x -0.000, y -0.000, z 6.350, a -180.000, b 0.000, c -180.000}</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1"># $韦尔。Cp = 0.02117</gydF4y2Baspan><span class="c1"># Lin {x 276.225, y 0.000, z 6.350, a 180.000, b 0.000, c -180.000}</gydF4y2Baspan><span class="c1"># Lin {x 276.225, y 323.850, z 6.350, a -160.000, b 0.000, c 180.000}</gydF4y2Baspan><span class="c1"># Lin {x -0.000, y 323.850, z 6.350, a -180.000, b -0.000, c -180.000}</gydF4y2Baspan><span class="c1"># Lin {x -0.000, y -0.000, z 6.350, a -180.000, b 0.000, c -180.000}</gydF4y2Baspan><span class="c1"># $韦尔。Cp = 1.00000</gydF4y2Baspan><span class="c1"># Lin {x -0.000, y -0.000, z 106.350, a -180.000, b 0.000, c -180.000}</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">#结束</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robofileio</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#---------------------------</gydF4y2Baspan><span class="c1">#启动RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#让用户选择一个SRC文件:</gydF4y2Baspan><span class="n">rdk_file_path</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“PATH_OPENSTATION”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">src_file_path</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getOpenFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rdk_file_path</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">“/”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">src_file_path</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“没有选择”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#从文件路径中获取程序名称</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">src_file_path</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“加载程序:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">src_file_path</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">较低的</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">endswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“.src”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"选择的文件无效。选择一个SRC文件。”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">getvalue</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""获取一行的所有数值"""</gydF4y2Baspan><span class="c1"># Lin {x 1671.189, y -562.497, z -243.070, a - 173.363, b -8.525, c -113.306} c_dis</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”、“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“}”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">分裂</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">list_value</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">试一试</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">浮动</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">除了</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="n">list_value</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">list_value</gydF4y2Baspan><span class="c1">#要求用户选择一个机器人(如果可用的机器人不止一个)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个机器人”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"机器人未选择或无效"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取活动参考系</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="c1">#如果没有活动参照系，则使用机器人基座</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#获取活动的工具框架</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#添加一个新程序</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddProgram</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">program_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#关闭渲染(更快)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#不显示指令加速:</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowInstructions</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#打开文件，遍历每一行</gydF4y2Baspan><span class="k">与</gydF4y2Baspan><span class="nb">开放</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">src_file_path</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="n">f</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">f</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">删除空字符:</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">带</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">装货线:</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#按顺序获取所有数值</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getvalue</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#增加计数器</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">更新TCP速度(KUKA单位为m/s, RoboDK单位为mm/s)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">startswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“韦尔美元。CP”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setSpeed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">1000</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">#检查涉及姿势的操作</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“警告!无效行:"</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">检查我们需要添加的指令:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">startswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“林”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTarget</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">不</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">检查我们是否有外部轴信息，如果有，提供给关节E1到En</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setJoints</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">:])</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">KUKA_2_Pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="p">[:</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#检查PTP移动</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">startswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“元”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTarget</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">不</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setAsJointTarget</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setJoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#设置工具</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">startswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“美元工具”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">KUKA_2_Pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="p">[:</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“SRC工具”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#设置参考系</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">startswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“美元基地”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“SRC基地”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">KUKA_2_Pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">值</gydF4y2Baspan><span class="p">[:</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#隐藏目标</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowTargets</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#显示说明</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowInstructions</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“完成”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“完成”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="test-move-feasibility"> <h2><span class="section-number">6.9.</gydF4y2Baspan>测试移动可行性<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#test-move-feasibility" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子创建了一个程序，该程序通过一组检查是否可以实现线性运动的点来安全地移动机器人(包括是否进行碰撞检查)。这些点被自动创建为参考目标周围的立方体网格。如果不能实现从一个点到下一个点的直线运动，机器人将尝试关节运动，如果关节运动也不可能，则跳过该点。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="test-movel-and-movej"> <div class="code-block-caption"> <span class="caption-text">测试移动和移动</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#test-movel-and-movej" title="¶”>gydF4y2Ba¶</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</gydF4y2Baspan><span class="c1">这些点被自动创建为参考目标周围的立方体网格</gydF4y2Baspan><span class="c1">如果不能从一个点到下一个点进行线性运动，机器人将遵循关节运动</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#基本矩阵运算</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">随机</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">统一的</gydF4y2Baspan><span class="c1">#随机计算rz(绕Z轴旋转)</gydF4y2Baspan><span class="c1">#参考目标器的名称</gydF4y2Baspan><span class="n">REFERENCE_TARGET</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RefTarget”</gydF4y2Baspan><span class="c1">#检查碰撞</gydF4y2Baspan><span class="n">CHECK_COLLISIONS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="c1">#启动RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#设置碰撞检查打开或关闭</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setCollisionActive</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">COLLISION_ON</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">CHECK_COLLISIONS</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="n">COLLISION_OFF</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># Run on robot:强制程序在连接的机器人上运行(与右键单击程序，然后选择“Run on robot”的行为相同)</gydF4y2Baspan><span class="c1"># RDK.setRunMode (RUNMODE_RUN_ROBOT)</gydF4y2Baspan><span class="c1">找到车站里唯一的机器人</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"机器人无效或不可用"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取活动参考系</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取机器人的参考姿态</gydF4y2Baspan><span class="n">frame_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseFrame</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#获取激活工具</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">75</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="s2">“工具电网”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取目标引用RefTarget</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">REFERENCE_TARGET</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_TARGET</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTarget</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">REFERENCE_TARGET</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取参考位置(姿态=目标相对于参考帧的4x4矩阵)</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">曾经繁荣</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">config_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">JointsConfig</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">曾经繁荣</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#检索工具姿势</gydF4y2Baspan><span class="n">tool_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseTool</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#获取自由度或坐标轴(num_dofs = 6对于一个6轴机器人)</gydF4y2Baspan><span class="n">num_dofs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">JointsHome</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">列表</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="c1">获取目标参考系的参考系</gydF4y2Baspan><span class="n">ref_frame</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#函数定义检查两个机器人配置是否相同</gydF4y2Baspan><span class="c1">#配置设置为[后/前，下臂/上臂，翻转/非翻转]位(int值)</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">config_equal</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">config1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">config2</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">config1</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">config2</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">config1</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">config2</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">config1</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">config2</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#创建一个新程序</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddProgram</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“autocreate”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">这将使程序生成稍微快一些</gydF4y2Baspan><span class="c1"># prog.ShowInstructions(假)</gydF4y2Baspan><span class="c1">#开始创建程序或移动机器人:</gydF4y2Baspan><span class="n">program_or_robot</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="n">program_or_robot</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tool_pose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">program_or_robot</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_ref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">lastjoints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">曾经繁荣</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">ntargets</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">tz</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">101</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">泰</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">401</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">tx</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">5001</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">250</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">ntargets</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">ntargets</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#计算围绕工具Z轴的随机旋转</gydF4y2Baspan><span class="c1">#rz = uniform(-20*pi/180, 20*pi/180)</gydF4y2Baspan><span class="c1">#计算新目标的位置:相对于机器人基座进行平移，并围绕工具旋转</gydF4y2Baspan><span class="n">newtarget_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">泰</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tz</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">pose_ref</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#首先，确保目标是可到达的:</gydF4y2Baspan><span class="n">newtarget_joints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SolveIK</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget_pose</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">lastjoints</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tool_pose</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">frame_pose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget_joints</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">列表</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">num_dofs</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><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">）</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">创建新的目标器:</gydF4y2Baspan><span class="n">newtarget_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">'汽车T</gydF4y2Baspan><span class="si">% .0f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .0f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .0f</gydF4y2Baspan><span class="s1">Rz =</gydF4y2Baspan><span class="si">% .1f</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">泰</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tz</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“创建目标</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">：</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ntargets</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">newtarget_name</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">newtarget</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTarget</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ref_frame</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">在这一点上，目标是可到达的。</gydF4y2Baspan><span class="c1">我们必须检查我们是否可以进行线性移动。我们有两种方法:</gydF4y2Baspan><span class="n">can_move_linear</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1"># ------------------------------</gydF4y2Baspan><span class="c1">验证方法1:检查目的地目标的关节</gydF4y2Baspan><span class="c1">确保我们有相同的配置</gydF4y2Baspan><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，它可能不是完美的)</gydF4y2Baspan><span class="c1">为了改进这种方法，我们必须检查所有可能解决方案的配置</gydF4y2Baspan><span class="c1">#从逆运动学，使用SolveIK_All()</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">target_joints_config</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">JointsConfig</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">config_equal</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">config_ref</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">target_joints_config</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">我们不能做线性运动</gydF4y2Baspan><span class="n">can_move_linear</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“警告!配置与参考目标不一样!线性移动是不可能的”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#将参考配置更新为新配置</gydF4y2Baspan><span class="n">config_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">target_joints_config</gydF4y2Baspan><span class="c1"># -------------------------------</gydF4y2Baspan><span class="c1"># -------------------------------</gydF4y2Baspan><span class="c1">#验证方法2:使用机器人。MoveL_Testoption to check if the robot can make a linear movement</span><span class="c1">这种方法更健壮，应该提供100%准确的结果，但可能需要更多的时间</gydF4y2Baspan><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</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL_Test</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">lastjoints</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">newtarget_pose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">can_move_linear</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">问题</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><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</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">can_move_linear</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">newtarget_joints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1"># ---------------------------------</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">can_move_linear</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">很好，我们不需要修改目标。</gydF4y2Baspan><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的时候检索机器人的配置</gydF4y2Baspan><span class="n">newtarget</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setAsCartesianTarget</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1"># default behavior</gydF4y2Baspan><span class="n">newtarget</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setJoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">在setjoint之后设置setPose是很重要的，因为它可能会重新计算关节来匹配目标</gydF4y2Baspan><span class="n">newtarget</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget_pose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">添加线性运动</gydF4y2Baspan><span class="n">program_or_robot</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#打印(newtarget_joints)</gydF4y2Baspan><span class="c1">检查我们是否可以做一个关节运动(检查碰撞)</gydF4y2Baspan><span class="n">问题</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ_Test</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">lastjoints</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">newtarget_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">can_move_joints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">问题</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">can_move_joints</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#跳过这一点</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“跳绳动作到:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget_joints</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">#确保我们有一个共同的目标和一个共同的运动</gydF4y2Baspan><span class="n">newtarget</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setAsJointTarget</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1"># default behavior</gydF4y2Baspan><span class="c1">设置关节目标的姿势并不重要，除非我们想要检索姿势</gydF4y2Baspan><span class="c1">或者我们想使用笛卡尔坐标进行后期处理</gydF4y2Baspan><span class="n">newtarget</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget_pose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">确保我们在关节目标的姿势之后设置关节，因为它可能会重新计算姿势</gydF4y2Baspan><span class="n">newtarget</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setJoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">添加关节运动</gydF4y2Baspan><span class="n">program_or_robot</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newtarget</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">记住最后一个动作的关节位置</gydF4y2Baspan><span class="n">lastjoints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">newtarget_joints</gydF4y2Baspan><span class="c1">#在最后显示指令更快:</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowInstructions</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">隐藏目标更干净，更难以意外移动目标</gydF4y2Baspan><span class="c1"># prog.ShowTargets(假)</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">完成的程序</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">目标的</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">ntargets</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="docked-ui"> <h2><span class="section-number">6.10.</gydF4y2Baspan>对接界面<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#docked-ui" title="¶”>gydF4y2Ba¶</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，使用TKInter创建的GUI窗口被添加为RoboDK中的停靠窗口。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="docked-window"> <div class="code-block-caption"> <span class="caption-text">停靠窗口</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#docked-window" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</gydF4y2Baspan><span class="nn">tkinter</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">tkinter</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">线程</gydF4y2Baspan><span class="c1">#创建一个新窗口</gydF4y2Baspan><span class="n">窗口</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Tk</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#关闭窗口</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">onClose</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">窗口</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">摧毁</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#触发选择按钮</gydF4y2Baspan><span class="c1">#重要:我们需要在一个单独的线程上运行动作，因为</gydF4y2Baspan><span class="c1">#(否则，如果我们想与RoboDK窗口交互，它会冻结)</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">on_btnSelect</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">thread_btnSelect</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="c1">#运行按钮动作(例如选择一个项目并显示其名称)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个项目”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“您选择的项目:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">线程</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">线程</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">thread_btnSelect</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">开始</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#设置窗口标题(必须是唯一的对接工作，尽量有创意)</gydF4y2Baspan><span class="n">window_title</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RoboDK API对接窗口”</gydF4y2Baspan><span class="n">窗口</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">标题</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">window_title</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#当我们关闭窗口时删除它</gydF4y2Baspan><span class="n">窗口</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">协议</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“WM_DELETE_WINDOW”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">onClose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#添加按钮(选择动作)</gydF4y2Baspan><span class="n">btnSelect</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">按钮</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">窗口</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文本</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“触发on_btnSelect”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">60</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">命令</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">on_btnSelect</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">btnSelect</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">填满</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">X</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#嵌入窗口</gydF4y2Baspan><span class="n">EmbedWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">window_title</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#运行窗口事件循环。这就像一个应用程序，会一直阻塞，直到我们关闭窗口</gydF4y2Baspan><span class="n">窗口</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">mainloop</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="estimated-cycle-time"> <h2><span class="section-number">6.11.</gydF4y2Baspan>预计周期时间<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#estimated-cycle-time" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了如何计算估计的周期时间。</p><gydF4y2Badl class="simple"> <dt> 关于RoboDK如何估计周期时间的更多信息:</gydF4y2Badt> <dd> <ul class="simple"> <li><p><a class="reference external" href="//m.sinclairbody.com/www/doc/en/General.html">//m.sinclairbody.com/doc/en/General.html#CycleTime</一个>．</p></gydF4y2Bali> </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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#cycle-time" title="¶”>gydF4y2Ba¶</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</gydF4y2Baspan><span class="c1">作为线速度和关节速度的函数</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">准确计算周期时间的重要注意事项和提示:</gydF4y2Baspan><span class="c1">#加工机之细加工约//m.sinclairbody.com/doc/en/General.html</gydF4y2Baspan><span class="c1">#启动RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#让用户选择一个程序</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择程序(确保程序不会改变机器人速度)”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_PROGRAM</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#检索链接到选定程序的机器人</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">输出线速度，关节速度和时间(以制表符分隔)</gydF4y2Baspan><span class="n">writeline</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">线速度(mm/s)</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="s2">关节速度(度/秒)</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="s2">周期时间(s)”</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">writeline</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">准备一个HTML消息，我们可以通过RoboDK API显示给用户:</gydF4y2Baspan><span class="n">msg_html</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“<表边界= 1 > < tr > < td > "</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">writeline</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">' < / td > < td > '</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">" < / td > < / tr >”</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">speed_lin</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">20.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">50</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">]：</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">speed_joints</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">20.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">50</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">]：</gydF4y2Baspan><span class="c1">#设置机器人速度</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setSpeed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">speed_lin</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">speed_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#更新程序和检索更新的信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/PythonAPI/robodk.html robodk.robolink.Item.Update</gydF4y2Baspan><span class="n">结果</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">程序</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">更新</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">指令</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">旅行</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">好吧</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">结果</gydF4y2Baspan><span class="c1">#打印信息</gydF4y2Baspan><span class="n">换行符</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="si">% .1f</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="si">% .1f</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="si">% .1f</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">speed_lin</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">speed_joints</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">换行符</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">msg_html</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">msg_html</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">' < tr > < td > '</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">换行符</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ t</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">' < / td > < td > '</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">' < / td > < / tr > '</gydF4y2Baspan><span class="n">msg_html</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">msg_html</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">“> < /表”</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">msg_html</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="change-tool"> <h2><span class="section-number">6.12.</gydF4y2Baspan>改变工具<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#change-tool" title="¶”>gydF4y2Ba¶</一个></h2><p>这个宏允许在给定ID的情况下更新工具，该ID作为机器人加工的参数传递。如果没有传递ID作为参数，它将弹出一条消息。该宏可以与机器人加工项目一起使用，以在模拟时更改工具。双击您的机器人加工项目，选择Program Events，然后输入SetTool(%1)以获取工具更改事件。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="set-milling-tool"> <div class="code-block-caption"> <span class="caption-text">套装铣刀</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#set-milling-tool" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏允许在给定ID作为参数传递的情况下更新工具</gydF4y2Baspan><span class="c1">#如果没有传递ID作为参数，它将弹出一个消息</gydF4y2Baspan><span class="c1">这个宏可以与机器人加工项目一起使用，以在模拟时更改工具</gydF4y2Baspan><span class="c1">双击您的机器人加工项目，选择Program Events，并在更改工具事件上输入SetTool(%1)</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">sys</gydF4y2Baspan><span class="c1">#允许获取传递的参数参数</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">TOOL_ID</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">sys</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">argv</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">TOOL_ID</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">sys</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">argv</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">tool_str</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">mbox</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"输入工具编号:</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s2">(例如，对于工具1，设置1)</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">条目</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">' 1 '</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">tool_str</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#无输入</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">TOOL_ID</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tool_str</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#选择机器人</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“机器人不可用”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#创建工具名称</gydF4y2Baspan><span class="n">tool_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“工具”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TOOL_ID</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“使用机器人:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“坐封工具:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">tool_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#选择工具</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tool_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“工具</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">根本不存在!”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">tool_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#更新机器人以使用工具</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“做!”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="project-curve-to-surface"> <h2><span class="section-number">6.13.</gydF4y2Baspan>项目曲面曲线<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#project-curve-to-surface" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子将特征(点/曲线)投影到一个表面上，并计算表面的法线。这个例子有两个对象:(1)一个有曲线和/或点的对象;(2)一个有一个或多个表面的对象。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="id3"> <div class="code-block-caption"> <span class="caption-text">项目曲面曲线</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id3" title="¶”>gydF4y2Ba¶</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:</gydF4y2Baspan><span class="c1">1 .带有特征的对象(曲线和/或点)</gydF4y2Baspan><span class="c1"># 2 -带有表面的物体(忽略其他特征)</gydF4y2Baspan><span class="c1">这个例子将特征(点/曲线)投影到参考表面，并计算表面的法线</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#设置为True反转法线(翻转法线)</gydF4y2Baspan><span class="n">FlipNormals</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="c1">#设置投影类型</gydF4y2Baspan><span class="n">ProjectionType</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">PROJECTION_ALONG_NORMAL_RECALC</gydF4y2Baspan><span class="c1">#可用的值包括:</gydF4y2Baspan><span class="c1">#PROJECTION_NONE = 0 #无曲线投影</gydF4y2Baspan><span class="c1">投影将是表面上最近的点</gydF4y2Baspan><span class="c1"># project_along_normal = 2 #投影将沿着法线进行。</gydF4y2Baspan><span class="c1"># project_along_normal_recalc = 3 #投影将沿着法线进行。此外，法线将根据表面法线重新计算。</gydF4y2Baspan><span class="c1">投影将是表面上最近的点，法线将被重新计算</gydF4y2Baspan><span class="c1">法线根据最近投影的表面法线重新计算</gydF4y2Baspan><span class="c1">#-------------------------------------------------------------</gydF4y2Baspan><span class="c1">#要求用户提供该对象的特征</gydF4y2Baspan><span class="n">object_features</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"选择具有要投影的特征(曲线和/或点)的对象"</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_OBJECT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">object_features</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">要求用户提供对象的表面作为参考</gydF4y2Baspan><span class="n">object_surface</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"选择表面对象以投射特征"</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_OBJECT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">object_surface</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">创建一个表面对象的副本</gydF4y2Baspan><span class="n">object_surface</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">复制</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">new_object</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">粘贴</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">object_surface</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">new_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“重新计算法线”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">new_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVisible</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#隐藏用于构建新对象的对象，并使用所需的曲线</gydF4y2Baspan><span class="n">object_features</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVisible</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">object_surface</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVisible</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#关闭渲染(更快)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">添加所有曲线，投影(迭代所有曲线，直到没有发现更多的曲线)</gydF4y2Baspan><span class="n">curve_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#检索曲线点</gydF4y2Baspan><span class="n">curve_points</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">name_feature</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">object_features</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">GetPoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">FEATURE_CURVE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">curve_id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">name_feature</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">curve_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">curve_id</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">npoints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">curve_points</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">npoints</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“添加曲线</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">与</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s2">点”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">name_feature</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">npoints</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">curve_points_proj</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ProjectPoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">curve_points</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">object_surface</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ProjectionType</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#可选翻转法线(ijk向量)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">FlipNormals</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">ci</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">curve_points_proj</gydF4y2Baspan><span class="p">））：</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">k</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">curve_points_proj</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">ci</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">curve_points_proj</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">ci</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">k</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddCurve</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">curve_points_proj</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">new_object</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">PROJECTION_NONE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">添加所有投影点</gydF4y2Baspan><span class="n">point_list</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">name_feature</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">object_features</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">GetPoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">FEATURE_POINT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">npoints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">point_list</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“添加</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s2">点”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">npoints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">npoints</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1"># RDK。添加点(point_list, new_object, True, PROJECTION_ALONG_NORMAL_RECALC)</gydF4y2Baspan><span class="n">point_list_proj</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ProjectPoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">point_list</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">object_surface</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ProjectionType</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddPoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">point_list_proj</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">new_object</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">PROJECTION_NONE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># RDK。添加曲线(curve_points, new_object, True, PROJECTION_NONE)</gydF4y2Baspan><span class="c1">#设置曲线宽度</gydF4y2Baspan><span class="n">new_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setValue</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“显示”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“LINEW = 2”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">设置曲线的颜色</gydF4y2Baspan><span class="n">new_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setColorCurve</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mf">0．0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#打开渲染(可选)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“完成”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="filter-curve-normals"> <h2><span class="section-number">6.14.</gydF4y2Baspan>滤波曲线法线<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#filter-curve-normals" title="¶”>gydF4y2Ba¶</一个></h2><p>这个宏展示了如何对包含曲线的对象的法线求平均值。这个宏还可以过滤彼此太近的点。用户必须选择一个对象，然后用平均法线创建该对象的副本。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="id4"> <div class="code-block-caption"> <span class="caption-text">滤波曲线法线</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id4" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏展示了如何平均一个包含曲线的对象的法线。</gydF4y2Baspan><span class="c1">这个宏也可以过滤彼此太近的点。</gydF4y2Baspan><span class="c1">用户必须选择一个对象，然后创建该对象的副本，并取其法线平均值。</gydF4y2Baspan><span class="c1">有关RoboDK API的更多信息:</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">#-------------------------------------------------------</gydF4y2Baspan><span class="c1">#输入平均过滤器的大小，以样本数为单位。</gydF4y2Baspan><span class="c1">#如果这个值被设置为-1，它将弹出一个消息，要求用户输入一个值</gydF4y2Baspan><span class="n">FilterNormalSamples</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">样本数</gydF4y2Baspan><span class="c1">#输入距离，以毫米为单位，以过滤接近点。</gydF4y2Baspan><span class="c1">例如，如果我们想每2毫米最多有一个点，我们应该输入2。</gydF4y2Baspan><span class="c1">#设置为-1不过滤点的数量。</gydF4y2Baspan><span class="n">FilterPointDistance</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#单位毫米</gydF4y2Baspan><span class="c1"># ------------------------------------------------------</gydF4y2Baspan><span class="c1">#启动RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#要求用户选择对象</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">选择要过滤曲线的对象或工具</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#我们可以选择通过ITEM_TYPE_OBJECT或ITEM_TYPE_TOOL进行过滤(不同时进行)</gydF4y2Baspan><span class="c1">#退出如果用户选择取消</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#要求用户输入过滤器的大小</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">FilterNormalSamples</gydF4y2Baspan><span class="o">＜＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">str_avg_filter</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">mbox</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">输入过滤器大小(用于平均过滤器的点/法线数)。</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><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单独的法线。”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">条目</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“10”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">str_avg_filter</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#用户选择取消</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#将用户输入转换为整数</gydF4y2Baspan><span class="n">FilterNormalSamples</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">str_avg_filter</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">FilterNormalSamples</gydF4y2Baspan><span class="o">＜＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"无效的过滤值。输入一个值>= 1"</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">味精</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#遍历所有对象曲线，提取曲线点并平均法线</gydF4y2Baspan><span class="n">curve_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">obj_filtered</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">name_feature</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">GetPoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">FEATURE_CURVE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">curve_id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># points是浮点数的双数组，每个点有np个点和xyzijk个数据</gydF4y2Baspan><span class="c1"># point[np] = [x,y,z,i,j,k] #其中xyz是位置，ijk是工具方向(z轴，通常是表面的法线)</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#当curve_id超出边界时，返回一个空的双数组</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="n">味精</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">过滤:“</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">name_feature</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">味精</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">味精</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">curve_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">curve_id</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#对于每个点，取点范围内法线的平均值[-FilterNormalSamples/2;+ FilterNormalSamples / 2)</gydF4y2Baspan><span class="n">new_normals</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">id_avg_from</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">轮</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">马克斯</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">FilterNormalSamples</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">id_avg_to</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">轮</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">最小值</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">FilterNormalSamples</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">确保我们考虑到开始和结束部分(navg通常是FilterNormalSamples，除了边界附近)</gydF4y2Baspan><span class="n">n_avg</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">id_avg_to</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">id_avg_from</gydF4y2Baspan><span class="n">normal_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">id_avg_from</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">id_avg_to</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">倪</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">normal_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">add3</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">normal_i</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">倪</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#正常化</gydF4y2Baspan><span class="n">normal_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">normalize3</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">normal_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#这是不正确的:normal_i = mult3(normal_i, 1.0/n_avg)</gydF4y2Baspan><span class="c1">#添加新常态到列表中</gydF4y2Baspan><span class="n">new_normals</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">normal_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">将法线与点列表结合</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">new_normals</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#过滤点，如果需要的话</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">FilterPointDistance</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">lastp</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">points_filtered</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">points_filtered</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">lastp</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">距离</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">lastp</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="n">FilterPointDistance</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">points_filtered</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">lastp</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">points_filtered</gydF4y2Baspan><span class="c1">#对于第一条曲线:创建一个新对象，重命名它，并将其放置在原始对象的相同位置</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">obj_filtered</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">obj_filtered</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddCurve</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">PROJECTION_NONE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">obj_filtered</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">“过滤”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">obj_filtered</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParent</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">obj_filtered</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setGeometryPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">obj_filtered</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">GeometryPose</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">添加第一条曲线后，将以下曲线添加到同一对象</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddCurve</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">obj_filtered</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">PROJECTION_NONE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">设置曲线显示宽度</gydF4y2Baspan><span class="n">obj_filtered</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setValue</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“显示”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“LINEW = 2”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">设置曲线颜色为RGBA值[0-1.0]</gydF4y2Baspan><span class="n">obj_filtered</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setColorCurve</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mf">0．0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">1.0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.8</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="change-curve-normals"> <h2><span class="section-number">6.15.</gydF4y2Baspan>改变曲线正态线<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#change-curve-normals" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了如何通过将i, j和k向量更改为(0,0,1)来更改对象的曲线法线以指向+Z方向。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="id5"> <div class="code-block-caption"> <span class="caption-text">改变曲线正态线</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id5" title="¶”>gydF4y2Ba¶</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。</gydF4y2Baspan><span class="c1">#----------------------------------------</gydF4y2Baspan><span class="c1">#启动RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#要求用户选择对象</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">选择要过滤曲线的对象或工具</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#我们可以选择通过ITEM_TYPE_OBJECT或ITEM_TYPE_TOOL进行过滤(不同时进行)</gydF4y2Baspan><span class="c1">#退出如果用户选择取消</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">curve_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><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</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">curve_points</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">name_feature</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">GetPoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">FEATURE_CURVE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">curve_points</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">curve_list</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">curve_points</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#检索列表包含每个点[x,y,z,i,j,k]</gydF4y2Baspan><span class="c1">#将i,j,k个向量改为0,0,1</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">曲线</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">curve_list</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">曲线</gydF4y2Baspan><span class="p">））：</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">k</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">曲线</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">曲线</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">idx</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#打印(new_curve)</gydF4y2Baspan><span class="c1">添加所有的曲线作为一个新的对象</gydF4y2Baspan><span class="n">obj_new</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">曲线</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">curve_list</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">obj_new</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddCurve</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">曲线</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">obj_new</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">PROJECTION_NONE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">设置新对象的名称和父对象</gydF4y2Baspan><span class="n">obj_new</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">“新”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">obj_new</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParent</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">obj_new</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setGeometryPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">obj_new</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">GeometryPose</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="c1">设置曲线显示宽度</gydF4y2Baspan><span class="n">obj_new</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setValue</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“显示”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“LINEW = 4”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">设置曲线颜色为RGBA值[0-1.0]</gydF4y2Baspan><span class="n">obj_new</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setColorCurve</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mf">0．0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">1.0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.8</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#删除第一次检索对象上的所有曲线</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“DeleteCurves”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="attach-object-to-a-robot-link"> <h2><span class="section-number">6.16.</gydF4y2Baspan>将对象附加到机器人链接上<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#attach-object-to-a-robot-link" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了如何将一个对象附加到机器人链接上。将对象放置在首选位置后，就可以在RoboDK站点中运行脚本了。</p><gydF4y2Badiv 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上</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id6" title="¶”>gydF4y2Ba¶</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</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#初始化RoboDK API</gydF4y2Baspan><span class="c1">#选择机器人</gydF4y2Baspan><span class="c1">#添加形状到机器人链接</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个机器人添加一个对象”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“没有选择机器人。添加一个机器人将这个几何图形附加到一个连杆上。</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">mbox</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">输入要连接物体的关节:</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">例:0是底，3是关节3'</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">条目</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“3”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">link_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">robotlink</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ObjectLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">link_id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">robotlink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“无效的链接。选择一个有效的机器人链接”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">对象</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择要添加的对象”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_OBJECT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="nb">对象</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">"对象未选中"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#要合并的对象列表(第一个必须是机器人链接)</gydF4y2Baspan><span class="n">合并</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">robotlink</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">对象</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#合并对象</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MergeItems</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">合并</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#设置原始对象不可见(或删除)</gydF4y2Baspan><span class="nb">对象</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVisible</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># object.Delete ()</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="move-robot-using-a-keyboard"> <h2><span class="section-number">6.17.</gydF4y2Baspan>用键盘移动机器人<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#move-robot-using-a-keyboard" title="¶”>gydF4y2Ba¶</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(不在RoboDK中)。这个例子可以扩展到使用一个<一个类＝”reference external" href="https://github.com/RoboDK/Plug-In-Interface/tree/master/PluginAppLoader/Apps/XboxController">的Xbox控制器</一个>W我我遥控器或任何其他输入设备。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="move-a-robot-using-the-keyboard"> <div class="code-block-caption"> <span class="caption-text">使用键盘移动机器人</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#move-a-robot-using-the-keyboard" title="¶”>gydF4y2Ba¶</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</gydF4y2Baspan><span class="c1">关于RoboDK API的更多信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">输入help("robodk.robolink")或help("robodk.robomath")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#注意:你不需要保存这个文件的副本，你的python脚本和工作站一起保存</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#基本矩阵运算</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#箭头键程序示例</gydF4y2Baspan><span class="c1">#找个机器人</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“空间站里没有机器人。先加载一个机器人，然后运行这个程序。”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“车站里不准有机器人!”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“使用机器人:</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">使用箭头(左，右，上，下)，Q和A键移动机器人。</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">注意:这只适用于控制台模式，您必须单独运行PY文件。</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#定义移动增量</gydF4y2Baspan><span class="n">move_speed</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">msvcrt</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">getch</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">奥德</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">getch</gydF4y2Baspan><span class="p">()))</gydF4y2Baspan><span class="n">move_direction</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#打印(键)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">75</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“左箭头(Y-)”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">move_direction</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">77</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“右箭头(Y+)”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">move_direction</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">72</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“向上箭头(X-)”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">move_direction</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">80</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">向下箭头(X+)</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">move_direction</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">113</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“问(Z +)”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">move_direction</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">97</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“(Z)”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">move_direction</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#确保指定了移动方向</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">规范</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">move_direction</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＜＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">#根据移动速度计算以mm为单位的移动</gydF4y2Baspan><span class="n">xyz_move</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">mult3</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">move_direction</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">move_speed</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#拿机器人关节</gydF4y2Baspan><span class="n">robot_joints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#从关节中获取机器人位置(计算正运动学)</gydF4y2Baspan><span class="n">robot_position</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SolveFK</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取机器人配置(机器人关节状态)</gydF4y2Baspan><span class="n">robot_config</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">JointsConfig</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#计算新的机器人位置</gydF4y2Baspan><span class="n">new_robot_position</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xyz_move</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">robot_position</gydF4y2Baspan><span class="c1">#计算新的机器人关节</gydF4y2Baspan><span class="n">new_robot_joints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SolveIK</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">new_robot_position</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">new_robot_joints</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">tolist</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“没有机器人解决方案!!新位置太远、太遥不可及或太接近奇点。”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">计算新关节的机器人结构</gydF4y2Baspan><span class="n">new_robot_config</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">JointsConfig</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">new_robot_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">robot_config</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">new_robot_config</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">robot_config</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">new_robot_config</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">robot_config</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">new_robot_config</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“警告! !机器人配置改变了!!这会导致意想不到的动作!”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_config</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">new_robot_config</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">移动机器人关节到新的位置</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">new_robot_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># robot.MoveL (new_robot_joints)</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="connect-to-robots"> <h2><span class="section-number">6.18.</gydF4y2Baspan>连接机器人<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#connect-to-robots" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了如何使用机器人驱动程序连接到RoboDK站中可用的所有机器人，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进行通信。</p><gydF4y2Badl class="simple"> <dt> 更多信息请点击这里:</gydF4y2Badt> <dd> <ul class="simple"> <li><p>使用RoboDK API的Python在线编程:<一个类＝”reference external" href="//m.sinclairbody.com/www/doc/en/RoboDK-API.html">//m.sinclairbody.com/doc/en/RoboDK-API.html#PythonAPIOnline</一个></p></li> <li><p>机器人司机:<一个类＝”reference external" href="//m.sinclairbody.com/www/doc/en/Robot-Drivers.html">//m.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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#move-robots-online" title="¶”>gydF4y2Ba¶</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</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">关于RoboDK API的更多信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#注意:你不需要保存这个文件的副本，你的python脚本和工作站一起保存</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="c1">#启动RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#收集所有机器人作为物品对象</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemList</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#遍历所有机器人并连接到机器人</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">通过模拟双击强制断开与所有机器人的连接</gydF4y2Baspan><span class="c1">#if count == 0:</gydF4y2Baspan><span class="c1"># robot.Disconnect ()</gydF4y2Baspan><span class="c1"># robot.Disconnect ()</gydF4y2Baspan><span class="c1">#暂停(1)</gydF4y2Baspan><span class="c1">#重要的是，每个机器人都需要一个新的API连接，以便在不同的线程中单独移动它们(如果需要的话)</gydF4y2Baspan><span class="n">rdk</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">链接</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">rdk</gydF4y2Baspan><span class="c1">#强制模拟模式，以防我们已经连接到机器人。</gydF4y2Baspan><span class="c1">#然后，收集机器人的关节位置。</gydF4y2Baspan><span class="c1">这将收集模拟机器人的位置，而不是真实机器人的位置。</gydF4y2Baspan><span class="n">rdk</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setRunMode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RUNMODE_SIMULATE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">jnts</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#连接机器人:</gydF4y2Baspan><span class="c1"># rdk.setRunMode(RUNMODE_RUN_ROBOT) #不需要，因为connect会自动执行</gydF4y2Baspan><span class="c1"># state = robot.ConnectSafe()</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">连接</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#检查连接状态和消息</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">味精</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ConnectedState</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">味精</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">ROBOTCOM_READY</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">“连接问题:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">“:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">味精</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#移动到模拟器中的关节位置:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">jnts</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#显示连接错误(如果有)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">错误</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="monitor-joints"> <h2><span class="section-number">6.19.</gydF4y2Baspan>监控关节<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#monitor-joints" title="¶”>gydF4y2Ba¶</一个></h2><p>这个示例展示了如何将机器人的模拟位置保存为文本或CSV文件。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="monitor-simulated-joints"> <div class="code-block-caption"> <span class="caption-text">监测模拟关节</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#monitor-simulated-joints" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个宏将在CSV文件中记录机器人关节(以度为单位)(包括以秒为单位的时间戳)。该文件避免两次记录相同的接头。</gydF4y2Baspan><span class="c1">提示:使用脚本JointsPlayback.py沿着录制的关节移动</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#基本矩阵运算</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">时间</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">gmtime</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">strftime</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#要求用户选择一个机械臂(机制被忽略)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个机器人”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT_ARM</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“机器人不可用”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#在RDK文件所在的文件夹中生成一个文件</gydF4y2Baspan><span class="n">file_path</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“PATH_OPENSTATION”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">“/关节-”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">strftime</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“% Y - % m</gydF4y2Baspan><span class="si">% d</gydF4y2Baspan><span class="s2">% % M - H - % S”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">gmtime</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">. csv”</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">joints_changed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">j - 1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">j2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">宽容</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">0.0001</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""如果关节1和关节2不相同，返回True """</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">j - 1</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">j2</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">j - 1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">j2</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">邮政编码</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">j - 1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">j2</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">j - 1</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">j2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="n">宽容</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="c1">#无限循环记录机器人关节</gydF4y2Baspan><span class="n">joints_last</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“记录机器人关节文件:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">file_path</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">与</gydF4y2Baspan><span class="nb">开放</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">file_path</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“一个”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="n">支撑材</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">抽搐</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">toc</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">列表</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">joints_changed</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">joints_last</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“时间”:</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">支撑材</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">写</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">) [</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">joints_last</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">0.01</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="monitor-a-real-ur-robot"> <h2><span class="section-number">6.20.</gydF4y2Baspan>监控一个真正的UR机器人<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#monitor-a-real-ur-robot" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了如何监控连接到PC的通用机器人。除此之外，机器人的位置、速度和加速度可以在125赫兹的频率下监控。</p><gydF4y2Badl class="simple"> <dt> 更多信息请点击这里:</gydF4y2Badt> <dd> <ul class="simple"> <li><p>机器人司机:<一个类＝”reference external" href="//m.sinclairbody.com/www/doc/en/Robot-Drivers.html">//m.sinclairbody.com/doc/en/Robot-Drivers.html#RobotDrivers</一个></p></li> <li><p>使用优傲机器人的贴士:<一个类＝”reference external" href="//m.sinclairbody.com/www/doc/en/Robots-Universal-Robots.html">//m.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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#monitor-a-ur-robot" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个脚本创建了一个线程来监视一个真正的机器人的位置和其他变量</gydF4y2Baspan><span class="c1">当这个脚本激活时，RoboDK将在机器人移动一定的公差时创建一个新的目标</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">关于RoboDK API的更多信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#或访问://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">线程</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">套接字</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">结构体</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">操作系统</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">时间</gydF4y2Baspan><span class="c1">#每次机器人位置改变时刷新屏幕</gydF4y2Baspan><span class="n">TOLERANCE_JOINTS_REFRESH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">0.1</gydF4y2Baspan><span class="n">RETRIEVE_JOINTS_ONCE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="c1">#如果为True，当前机器人位置将只被检索一次</gydF4y2Baspan><span class="c1">#创建给定度公差的目标</gydF4y2Baspan><span class="n">CREATE_TARGETS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="n">TOLERANCE_JOINTS_NEWTARGET</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="c1"># in度</gydF4y2Baspan><span class="n">REFRESH_RATE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">0.01</gydF4y2Baspan><span class="c1">#使当前的机器人关节可访问的情况下，我们运行在一个单独的线程</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="c1">程序检查机器人关节位置是否按一定公差不同</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">Robot_Joints_Check</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">晶澳</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简森-巴顿</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tolerance_deg</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">晶澳</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">晶澳</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">简森-巴顿</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="n">tolerance_deg</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="c1">#########################################################################</gydF4y2Baspan><span class="c1"># Byte移位指向数据包内的正确字节数据</gydF4y2Baspan><span class="n">UR_GET_TIME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">UR_GET_JOINT_POSITIONS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">252</gydF4y2Baspan><span class="n">UR_GET_JOINT_SPEEDS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">300</gydF4y2Baspan><span class="n">UR_GET_JOINT_CURRENTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">348</gydF4y2Baspan><span class="n">UR_GET_TCP_FORCES</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">540</gydF4y2Baspan><span class="c1">#根据字节数组获取数据包大小</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">packet_size</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">结构体</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">。</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"！我”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">) [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#检查报文是否完整</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">packet_check</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">msg_sz</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">packet_size</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">msg_sz</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"数据包大小不正确</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s2">vs</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">msg_sz</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">从数据包中获取特定信息</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">packet_value</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">抵消</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">造船</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">抵消</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">造船</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">没有可用的偏移量(可能是旧的Polyscope版本?)</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s2">-</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">抵消</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="nb">格式</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">'！'</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">造船</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="nb">格式</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="s1">' d '</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="nb">列表</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">结构体</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">。</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">格式</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">抵消</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#返回列表(struct.unpack_from”!，但是，偏移))</gydF4y2Baspan><span class="c1">#当一个新数据包到达时采取的行动</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">on_packet</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="c1">#从数据包中检索所需信息</gydF4y2Baspan><span class="n">rob_joints_RAD</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">packet_value</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">UR_GET_JOINT_POSITIONS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">霁</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mf">180.0</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">霁</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">rob_joints_RAD</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#ROBOT_SPEED = packet_value(packet, ur_get_joint_speed)</gydF4y2Baspan><span class="c1">#ROBOT_CURRENT = packet_value(包，UR_GET_JOINT_CURRENTS)</gydF4y2Baspan><span class="c1">#打印(ROBOT_JOINTS)</gydF4y2Baspan><span class="c1">#监控线程从机器人获取信息</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">UR_Monitor</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">rt_socket</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">套接字</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">create_connection</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="n">ROBOT_IP</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ROBOT_PORT</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="sa">b</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="n">packet_count</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">packet_time_last</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">更多的</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">rt_socket</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">recv</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">4096</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">更多的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">更多的</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">packet_check</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">packet_len</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">packet_size</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">[:</gydF4y2Baspan><span class="n">packet_len</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">缓冲区</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">packet_len</gydF4y2Baspan><span class="p">:]</gydF4y2Baspan><span class="n">on_packet</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">包</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">packet_count</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">packet_count</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="mi">125</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">t_now</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“监视</gydF4y2Baspan><span class="si">% .1f</gydF4y2Baspan><span class="s2">每秒数据包数”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">packet_count</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">t_now</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">packet_time_last</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="n">packet_count</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">packet_time_last</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">t_now</gydF4y2Baspan><span class="n">rt_socket</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关闭</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#########################################################################</gydF4y2Baspan><span class="c1">#输入RoboDK IP和端口</gydF4y2Baspan><span class="n">ROBOT_IP</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="c1">#“192.168.2.31”</gydF4y2Baspan><span class="n">ROBOT_PORT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">30003</gydF4y2Baspan><span class="c1">#启动RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#取回机器人</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个UR机器人来检索当前位置”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#取回机器人的IP:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">ROBOT_IP</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">知识产权</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">港口</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ftpuser</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ftppass</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ConnectionParams</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">ROBOT_IP</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">知识产权</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">last_joints_target</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">last_joints_refresh</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="c1">#启动Robot Monitor线程</gydF4y2Baspan><span class="c1">#q = queue.Queue()</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">线程</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">线程</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">UR_Monitor</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">守护进程</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">开始</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1"># UR_Monitor ()</gydF4y2Baspan><span class="c1">#启动主循环来刷新RoboDK并自动创建目标/程序</gydF4y2Baspan><span class="n">target_count</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">等待一个有效的机器人关节读数</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">#设置机器人到那个位置</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">Robot_Joints_Check</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">last_joints_refresh</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">TOLERANCE_JOINTS_REFRESH</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">last_joints_refresh</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setJoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">如果我们只需要当前位置，就停在这里</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RETRIEVE_JOINTS_ONCE</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">检查机器人是否移动到足以创建新目标</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">CREATE_TARGETS</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="n">Robot_Joints_Check</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">last_joints_target</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">TOLERANCE_JOINTS_NEWTARGET</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">last_joints_target</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">ROBOT_JOINTS</gydF4y2Baspan><span class="n">target_count</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">target_count</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">newtarget</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTarget</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">不</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">target_count</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#休息一下</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">REFRESH_RATE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="pick-and-place"> <h2><span class="section-number">6.21.</gydF4y2Baspan>拾取和放置<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#pick-and-place" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了使用发那科M-710iC/50机器人的高级拾取和放置应用程序(来自RoboDK库的例子2)。</p><p>gydF4y2Ba在本例中，发那科机器人的所有机器人动作都由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、参照系、机器人或其他物品。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="example-02-1-pick-and-place-with-python"> <div class="code-block-caption"> <span class="caption-text">示例02-1 -使用python拾取和放置</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#example-02-1-pick-and-place-with-python" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">这个例子展示了一个使用发那科M-710iC/50机器人的高级拾取和放置应用程序(例2来自RoboDK库)</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信进行仿真和离线/在线编程</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="c1">#设置全局参数</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="c1">#一个球的直径</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="c1">#抓取每个部件的接近距离，单位为mm</gydF4y2Baspan><span class="n">nTCPs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="c1">#工具中TCP的数量</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#函数定义</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">box_calc</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">BALLS_SIDE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">BALLS_MAX</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""计算一个点的列表(球的中心)，如果球被存储在一个盒子里"""</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">BALLS_MAX</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">BALLS_MAX</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">BALLS_SIDE</gydF4y2Baspan><span class="o">**</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="n">xyz_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">BALLS_SIDE</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">BALLS_SIDE</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">BALLS_SIDE</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">xyz_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">xyz_list</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="p">[[(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="p">]]</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">xyz_list</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="n">BALLS_MAX</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">xyz_list</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">xyz_list</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">pyramid_calc</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">BALLS_SIDE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""计算一个点的列表(球的中心)，如果球被放置在一个金字塔"""</gydF4y2Baspan><span class="c1">#球的数量可以计算为:int(BALLS_SIDE*(BALLS_SIDE+1)*(2*BALLS_SIDE+1)/6)</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="n">xyz_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">sqrt2</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="o">**</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">BALLS_SIDE</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">BALLS_SIDE</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">BALLS_SIDE</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">sqrt2</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="n">xyz_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">xyz_list</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="p">[[</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">]]</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">xyz_list</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">balls_setup</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">职位</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""在参考系中列出一列球。参考对象(球)必须先前已被复制到剪贴板。”“</gydF4y2Baspan><span class="n">nballs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">职位</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">一步</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">1.0</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nballs</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nballs</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">newball</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">粘贴</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">newball</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“球”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#设置项目名称</gydF4y2Baspan><span class="n">newball</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">职位</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="c1">#设置元素相对于父元素的位置</gydF4y2Baspan><span class="n">newball</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVisible</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#使项目可见，但隐藏参考框架</gydF4y2Baspan><span class="n">newball</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">重新着色</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">一步</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">一步</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#设置RGBA颜色</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">cleanup_balls</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">parentnodes</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""从提供的父项列表中删除名称以\"ball\"开头的所有子项。"”“</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">parentnodes</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">蔡尔兹</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">startswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“球”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">TCP_On</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">toolitem</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tcp_id</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""将最近的对象附加到工具项工具姿态，</gydF4y2Baspan><span class="sd">此外，它将在生成的机器人程序上输出适当的函数调用(调用TCP_On)””“</gydF4y2Baspan><span class="n">toolitem</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AttachClosest</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">toolitem</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">设置空气阀</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">在“</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tcp_id</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">toolitem</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“TCP_On (</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">)”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tcp_id</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">TCP_Off</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">toolitem</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tcp_id</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">itemleave</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">“”“分离与工具项工具姿态最近的对象，</gydF4y2Baspan><span class="sd">此外，它将在生成的机器人程序上输出适当的函数调用(调用TCP_Off)””“</gydF4y2Baspan><span class="n">toolitem</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">DetachAll</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">itemleave</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">toolitem</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">设置空气阀</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">了”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tcp_id</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">toolitem</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“TCP_Off (</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">)”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tcp_id</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#----------------------------------------------------------</gydF4y2Baspan><span class="c1">#程序从这里开始:</gydF4y2Baspan><span class="c1">与RoboDK的任何交互都必须通过RDK完成。</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#关闭自动渲染(更快)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># RDK.Set_Simulation_Speed (500);#设置模拟速度</gydF4y2Baspan><span class="c1">#从车站树上收集所需物品</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“Fanuc 50 m - 710 ic /”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">robot_tools</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">蔡尔兹</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#robottool = RDK.Item('MainTool')</gydF4y2Baspan><span class="n">第一帧</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“表1”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">frame2</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“表2”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">复制一个球作为对象(和CTRL+C一样)</gydF4y2Baspan><span class="n">ballref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“参考球”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">ballref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">复制</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">运行一个预定义的工作站程序(在RoboDK中)来替换这两个表</gydF4y2Baspan><span class="n">prog_reset</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“替换对象”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">prog_reset</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">调用自定义过程删除旧对象</gydF4y2Baspan><span class="n">cleanup_balls</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="n">第一帧</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">frame2</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">创建一个放置对象的位置列表</gydF4y2Baspan><span class="n">frame1_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pyramid_calc</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">frame2_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pyramid_calc</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#用自定义过程编程地放置对象</gydF4y2Baspan><span class="n">balls_setup</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">第一帧</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">frame1_list</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#删除以前生成的工具</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">robot_tools</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">startswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“TCP”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#计算6个吸盘的吸盘工具的工具框架</gydF4y2Baspan><span class="n">TCP_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nTCPs</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">TCPi_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotz</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="mi">360</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">nTCPs</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">125</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">roty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">TCPi</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCPi_pose</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“TCP</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">TCP_list</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCPi</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">TCP_0</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">TCP_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#打开自动渲染</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#移动球</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCP_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">nballs_frame1</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">frame1_list</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">nballs_frame2</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">frame2_list</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">idTake</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">nballs_frame1</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">idLeave</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">idTCP</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">target_app_frame</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">BALL_DIAMETER</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">roty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="n">idTake</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1"># ------------------------------------------------------------------</gydF4y2Baspan><span class="c1">#第一要务:抓住尽可能多的球</gydF4y2Baspan><span class="c1">#工具现在是空的，所以取尽可能多的球(最多6个-> nTCPs)</gydF4y2Baspan><span class="n">ntake</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">最小值</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nTCPs</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">idTake</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#接近第1帧</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">第一帧</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCP_0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_app_frame</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#从第1帧抓取球</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ntake</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">TCPi</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">TCP_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCPi</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#计算目标wrt frame1:由于Z轴和X轴是倒置的，所以需要围绕Y轴旋转</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">frame1_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">idTake</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">roty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotx</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">30.</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">target_app</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">idTake</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">idTake</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_app</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">TCP_On</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCPi</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_app</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># ------------------------------------------------------------------</gydF4y2Baspan><span class="c1">#第二优先级:卸载工具</gydF4y2Baspan><span class="c1">#接近框架2，将工具球放入表2</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCP_0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_app_frame</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">frame2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_app_frame</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ntake</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">TCPi</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">TCP_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCPi</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">idLeave</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="n">nballs_frame2</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“表2中没有空间放置对象”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#计算目标wrt frame1:由于Z轴和X轴是倒置的，所以需要绕Y旋转180度</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">frame2_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">idLeave</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">roty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotx</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">30.</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">target_app</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">idLeave</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">idLeave</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_app</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">TCP_Off</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCPi</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">frame2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_app</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_app_frame</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#机器人完成后搬回家</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="update-machining-tools"> <h2><span class="section-number">6.22.</gydF4y2Baspan>更新加工工具<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#update-machining-tools" title="¶”>gydF4y2Ba¶</一个></h2><p>此脚本将更新所有在工具名称中具有Length标志的工具(示例:<gydF4y2Baem>工具L220.551</gydF4y2Baem>)，相对于参考工具。参考工具必须有参考长度(例如:Calib Point L164.033)。这对于根据参考工具来指定一个支架或定义一个特定的铣削工具是有用的。</p><我米g一个lt="_images / Tool-Point-Offset.png”src="//m.sinclairbody.com/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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#update-robot-machining-tools" title="¶”>gydF4y2Ba¶</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称(tool L220.551)中有长度标志的工具。</gydF4y2Baspan><span class="c1">参考工具必须有一个参考长度(例如:Calib Point L164.033)。</gydF4y2Baspan><span class="c1">这对于指定一个基准或定义一个相对于参考工具的特定铣削工具很有用。</gydF4y2Baspan><span class="c1">#提示:定义长度为0的第一个工具，例如:主轴L0，它将被放置在刀架的根部</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">关于RoboDK API的更多信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#更多信息请访问:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/PythonAPI/robodk.html robolink-py</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">参考工具的名称(在RoboDK树中的名称)</gydF4y2Baspan><span class="c1">#名称必须包含以mm为单位的长度</gydF4y2Baspan><span class="n">TOOL_NAME_REF</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">校准点L164.033</gydF4y2Baspan><span class="c1">#根据工具名称和L关键字获取标称工具长度</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">get_len_tool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">toolname</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">toolnamelist</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">toolname</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">分裂</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">toolnamelist</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">startswith</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“L”</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">试一试</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">len_tcp_definition</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">浮动</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">:])</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">len_tcp_definition</gydF4y2Baspan><span class="k">除了</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"无法转换单词:"</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“警告!未知的长度”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="c1">#启动API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#检索参考工具并确保它存在</gydF4y2Baspan><span class="n">tcpref1</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TOOL_NAME_REF</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">tcpref1</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“引用TCP不存在”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取参考长度</gydF4y2Baspan><span class="n">len_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">get_len_tool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tcpref1</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">len_ref</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"引用长度未指定，假设为0 "</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">len_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="c1">#检索两个工具的姿势</gydF4y2Baspan><span class="n">pose1</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tcpref1</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseTool</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#遍历所有工具</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">tcpref2</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">tcpref1</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">蔡尔兹</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">tcpref2</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">类型</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#不是工具项，跳过</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">tcpref1</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">tcpref2</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#这是相同的工具，跳过</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">#获取工具姿势</gydF4y2Baspan><span class="n">pose2</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tcpref2</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseTool</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#检索当前关系:</gydF4y2Baspan><span class="n">pose_shift</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">invH</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">pose2</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">p</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">r</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Pose_2_TxyzRxyz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_shift</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#保持Z轴新偏移量的变量</gydF4y2Baspan><span class="n">newZ</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">toolname</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tcpref2</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">len_tcp_definition</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">get_len_tool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">toolname</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">len_tcp_definition</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">无L长度的跳绳工具:</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">toolname</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">#根据“L”命名计算偏移量:</gydF4y2Baspan><span class="n">nominal_offset</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">len_tcp_definition</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">len_ref</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">消息</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">的工具:</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="se">\ n \ n</gydF4y2Baspan><span class="s1">输入新的Z轴偏移量(mm)</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">当前偏移量为:</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">toolname</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nominal_offset</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mf">0.001</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">消息</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ n \ n</gydF4y2Baspan><span class="s1">注意:</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">标称偏移量(</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">-</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">）:</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">毫米</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">vs。</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">当前偏移量:</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">毫米</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">不匹配”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">len_tcp_definition</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">len_ref</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">nominal_offset</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">消息</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">偏移量当前匹配'</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mf">0.001</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mf">0.001</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mf">0.001</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">p</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mf">0.001</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">r</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mf">0.001</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">消息</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ n \ n</gydF4y2Baspan><span class="s1">重要:电流偏移:</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">[X, Y, Z, W, P, R] = [</gydF4y2Baspan><span class="si">% .2f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .2f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .2f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .2f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .2f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .2f</gydF4y2Baspan><span class="s1">]“</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">z</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">p</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">r</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">mbox</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">消息</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">条目</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">-</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">len_tcp_definition</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">len_ref</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“被用户取消”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#退出()#停止</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#转到下一个</gydF4y2Baspan><span class="k">试一试</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">newZ</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">eval</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#浮动(值)</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="k">除了</gydF4y2Baspan><span class="ne">ValueError</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“这不是一个数字，再试一次”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#更新工具，如果一个偏移量已经计算</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">newZ</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">pose_newtool</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pose1</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">newZ</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">tcpref2</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_newtool</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“完成。姿势设置为:</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_newtool</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="project-tcp-to-axis"> <h2><span class="section-number">6.23.</gydF4y2Baspan>TCP到Axis项目<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#project-tcp-to-axis" title="¶”>gydF4y2Ba¶</一个></h2><p>该脚本将一个工具(TCP)投射到由另外两个校准工具(两个定义轴的TCP)定义的轴上。该脚本还对齐工具方向(Z轴)以匹配校准轴。在更新TCP之前，会弹出一个提示工具错误的窗口。</p><p>gydF4y2Ba如果需要精确计算主轴的点和轴(例如，用于机器人加工或切割)，则此脚本非常有用。</p><我米g一个lt="_images / Tool-Projection.png”src="//m.sinclairbody.com/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)到轴的投影</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#tool-tcp-to-axis-projection" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">这个脚本将一个TCP投射到另两个TCP定义的轴上。</gydF4y2Baspan><span class="c1">沿着两个校准TCP定义的线调整TCP和Z轴的位置</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">关于RoboDK API的更多信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#更多信息请访问:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/PythonAPI/robodk.html robolink-py</gydF4y2Baspan><span class="c1">#进入校准的参考工具(Z+定义为Point1到Point2)</gydF4y2Baspan><span class="n">AXIS_POINT_1</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“CalibTool 1”</gydF4y2Baspan><span class="n">AXIS_POINT_2</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">《CalibTool 2》</gydF4y2Baspan><span class="c1">#将以下变量设置为False，不移动TCP</gydF4y2Baspan><span class="c1">#(只会重新定位Z轴)</gydF4y2Baspan><span class="n">PROJECT_POINT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#-----------------------------------------------------------------</gydF4y2Baspan><span class="c1">#-----------------------------------------------------------------</gydF4y2Baspan><span class="c1">#-----------------------------------------------------------------</gydF4y2Baspan><span class="c1">#-----------------------------------------------------------------</gydF4y2Baspan><span class="c1">#-----------------------------------------------------------------</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#基本矩阵运算</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#获取TCP到项目</gydF4y2Baspan><span class="n">tcpitem</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择工具校准Z轴”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">tcpitem</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">H_TCP</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tcpitem</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseTool</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">P_TCP</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">H_TCP</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pos</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#获取主轴</gydF4y2Baspan><span class="n">tcp_item_1</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">AXIS_POINT_1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">tcp_item_2</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">AXIS_POINT_2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">tcp_item_1</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">将第一个校准TCP定义为:</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">AXIS_POINT_1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">tcp_item_2</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">将第二校准TCP定义为:</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">AXIS_POINT_2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">axis_p1</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tcp_item_1</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseTool</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pos</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">axis_p2</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tcp_item_2</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PoseTool</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pos</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#手动输入P_TCP:</gydF4y2Baspan><span class="c1"># p_tcp =[-51.24万，-94.004000,266.281000,60.15万，0.000000，-26.76万]# [2,0,10]</gydF4y2Baspan><span class="c1"># H_TCP = Motoman_2_Pose(P_TCP)</gydF4y2Baspan><span class="c1">#可选择手动输入主轴轴</gydF4y2Baspan><span class="c1"># axis_p1 = (-43.74331, -83.59345, 259.19644) # (0, 0, 0)</gydF4y2Baspan><span class="c1"># axis_p2 = (-56.48556, -107.99492, 274.96115) # [0, 0, 1]</gydF4y2Baspan><span class="n">axis_v12</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">normalize3</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">subs3</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">axis_p2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">axis_p1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1"># TCP计算</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">proj_pt_2_line</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">P_TCP</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">axis_p1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">axis_v12</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">TCP_verror</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">subs3</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">P_TCP</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">TCP到主轴的投影:</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">[x, y, z] = [</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">]毫米的</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">msg_proj_error</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">投影误差=</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">毫米的</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">规范</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCP_verror</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">msg_proj_error</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">TCP参考帧调整(正确的Z轴)</gydF4y2Baspan><span class="n">TCP_Yvect</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">H_TCP</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">v</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">TCP_Zvect</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">H_TCP</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">VZ</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">angle_error</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">angle3</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">axis_v12</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">TCP_Zvect</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="n">msg_angle_error</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">Z角误差=</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">度的</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">angle_error</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">msg_angle_error</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">H_TCP_OK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">眼睛</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">PROJECT_POINT</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">H_TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">H_TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">P_TCP</gydF4y2Baspan><span class="n">H_TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">axis_v12</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">normalize3</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">交叉</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCP_Yvect</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">axis_v12</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">normalize3</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">交叉</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">axis_v12</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">H_TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="n">H_TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Pose_2_Motoman</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">H_TCP_OK</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">msg_newtcp</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">更新TCP [X,Y,Z,w,p,r] = [</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">]“</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">TCP_OK</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">msg_newtcp</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">要求用户更新TCP</gydF4y2Baspan><span class="n">回答</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">mbox</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">msg_newtcp</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ n \ n</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">msg_proj_error</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">msg_angle_error</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ n \ n</gydF4y2Baspan><span class="s1">更新TCP ?”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">回答</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">tcpitem</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">H_TCP_OK</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="robot-machining-settings"> <h2><span class="section-number">6.24.</gydF4y2Baspan>机器人加工设置<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#robot-machining-settings" title="¶”>gydF4y2Ba¶</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>gydF4y2Ba双击机器人加工项目，曲线跟随项目，点跟随项目或3D打印项目查看设置。</p><p>gydF4y2Ba选择<gydF4y2Baem>项目活动</gydF4y2Baem>去看事件。</p><p>gydF4y2Ba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一个lt="_images / RobotMachining.png”src="//m.sinclairbody.com/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<strgydF4y2Baong>加工</strgydF4y2Baong>和<strgydF4y2Baong>ProgEvents</strgydF4y2Baong>如下例所示。</p><gydF4y2Badiv 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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#update-robot-machining-settings" title="¶”>gydF4y2Ba¶</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。</gydF4y2Baspan><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。</gydF4y2Baspan><span class="c1">#选择*Program Events*查看事件。</gydF4y2Baspan><span class="c1">更多信息请点击这里:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/PythonAPI/examples.html robot-machining-settings</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="c1"># JSON工具</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">json</gydF4y2Baspan><span class="c1">#要求用户选择一个机器人加工项目</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择一个机器人加工项目来改变进路/缩回”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_MACHINING</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“添加机器人加工项目，曲线跟随或点跟随”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">获取该机器人加工项目使用的机器人:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“未选择机器人:为该机器人加工项目选择一个机器人”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#--------------------------------------------</gydF4y2Baspan><span class="c1">获取或设置首选启动接头:</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">JointsHome</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“首选启动接头:”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">列表</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setJoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取或设置工具pose的路径:</gydF4y2Baspan><span class="n">path2tool</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“工具姿态路径:”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">path2tool</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">path2tool</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取或设置工具/参考框架:</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“使用工具:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">使用参考:</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">框架</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="c1"># m.setPoseFrame(框架)</gydF4y2Baspan><span class="c1"># m.setPoseTool(工具)</gydF4y2Baspan><span class="c1">#--------------------------------------------</gydF4y2Baspan><span class="c1">获取或设置机器人加工参数</gydF4y2Baspan><span class="c1">读取所选加工项目的程序事件设置</gydF4y2Baspan><span class="n">machiningsettings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“加工”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“机器人加工设置:”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">json</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">转储</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">machiningsettings</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">缩进</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#--------------------------------------------</gydF4y2Baspan><span class="c1">读取所选加工项目的程序事件设置</gydF4y2Baspan><span class="n">progevents</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“ProgEvents”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“程序”事件:</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">json</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">转储</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">progevents</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">缩进</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1"># Read Program Events设置默认使用</gydF4y2Baspan><span class="c1">#station = RDK.ActiveStation()</gydF4y2Baspan><span class="c1">#json_data = station.setParam("ProgEvents")</gydF4y2Baspan><span class="c1">#json_object = json.loads(json_data)</gydF4y2Baspan><span class="c1">#打印(json。转储（json_object, indent=4))</span><span class="c1">#用于机器人加工设置的示例字典</gydF4y2Baspan><span class="n">MachiningSettings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">{</gydF4y2Baspan><span class="s2">“算法”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1"># 0:最小的刀具方向变化，1:刀具方向遵循路径</gydF4y2Baspan><span class="s2">“ApproachRetractAll”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“自动更新”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AvoidCollisions”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“FollowAngle”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">45</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“FollowAngleOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“FollowRealign”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“FollowRealignOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“FollowStep”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">90</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“FollowStepOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“JoinCurvesTol”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“OrientXaxis2_X”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“OrientXaxis2_Y”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“OrientXaxis2_Z”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“OrientXaxis_X”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“OrientXaxis_Y”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“OrientXaxis_Z”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“PointApproach”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">20.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RapidApproachRetract”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RotZ_Range”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RotZ_Step”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">20.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“SpeedOperation”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">50</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“SpeedRapid”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1000</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“TrackActive”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“TrackOffset”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“TrackVector_X”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“TrackVector_Y”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“TrackVector_Z”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“TurntableActive”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“TurntableOffset”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“TurntableRZcomp”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“VisibleNormals”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">｝</gydF4y2Baspan><span class="c1">#程序事件的示例字典</gydF4y2Baspan><span class="n">MachiningProgEvents</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">{</gydF4y2Baspan><span class="s2">“CallAction”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“onPoint”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallActionOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallApproach”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“onApproach”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallApproachOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallPathFinish”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“SpindleOff”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallPathFinishOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallPathStart”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“SpindleOn”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallPathStartOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallProgFinish”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“onFinish”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallProgFinishOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallProgStart”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“ChangeTool(%) %工具”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallProgStartOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallRetract”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“onRetract”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“CallRetractOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“挤压机”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“挤出机(% 1)”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“IO_Off”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“默认”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“IO_OffMotion”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“OutOffMov(% 1)”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“IO_On”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“默认”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“IO_OnMotion”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“OutOnMov(% 1)”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“Mcode”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“M_RunCode(% 1)”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RapidSpeed”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1000</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1">#快速移动到/从路径</gydF4y2Baspan><span class="s2">“四舍五入”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1">#混合半径</gydF4y2Baspan><span class="s2">“RoundingOn”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“SpindleCCW”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“SpindleCW”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“SpindleRPM”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“SetRPM(% 1)”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“ToolChange”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="s2">“SetTool(% 1)”</gydF4y2Baspan><span class="p">｝</gydF4y2Baspan><span class="c1">#更新一个值，例如，使法线不可见</gydF4y2Baspan><span class="n">MachiningUpdate</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">｛｝</gydF4y2Baspan><span class="n">MachiningUpdate</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“VisibleNormals”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">MachiningUpdate</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“自动更新”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">MachiningUpdate</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“RotZ_Range”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“更新机器人加工设置”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“加工”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">MachiningUpdate</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">更新一些值，例如，设置自定义工具更改和设置弧开始和弧结束命令</gydF4y2Baspan><span class="n">ProgEventsUpdate</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">｛｝</gydF4y2Baspan><span class="n">ProgEventsUpdate</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“ToolChange”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“ChangeTool(% 1)”</gydF4y2Baspan><span class="n">ProgEventsUpdate</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“CallPathStart”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“ArcStart(1)”</gydF4y2Baspan><span class="n">ProgEventsUpdate</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“CallPathStartOn”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">ProgEventsUpdate</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“CallPathFinish”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“ArcEnd()”</gydF4y2Baspan><span class="n">ProgEventsUpdate</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“CallPathFinishOn”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“更新程序事件”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“ProgEvents”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ProgEventsUpdate</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#---------------------------------------------------------------------------</gydF4y2Baspan><span class="c1">本节展示了如何更改机器人加工项目的接近/收回设置</gydF4y2Baspan><span class="c1">单位为毫米和度</gydF4y2Baspan><span class="c1">这里有更多的例子:C:/RoboDK/Library/Macros/ sampleapproachwithdraw .py</gydF4y2Baspan><span class="c1">#应用切线方法并缩回(单位:mm)</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“ApproachRetract”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“切50”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><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</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“UpdatePath”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#重新计算工具路径</gydF4y2Baspan><span class="c1">更新加工项目(验证机器人的可行性)</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">更新</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#获取生成的机器人程序</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_PROGRAM</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#运行程序模拟</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#保存程序文件到指定文件夹</gydF4y2Baspan><span class="c1"># program.MakeProgram (" " " C: / Path-to-Folder / " " ")</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="axes-optimization-settings"> <h2><span class="section-number">6.25.</gydF4y2Baspan>轴优化设置<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#axes-optimization-settings" title="¶”>gydF4y2Ba¶</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或机器人参数中选择“轴优化”来查看轴的优化设置。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一个lt="_images / AxesOptimization.png”src="//m.sinclairbody.com/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<strgydF4y2Baong>OptimAxes</strgydF4y2Baong>如下例所示。</p><gydF4y2Badiv 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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#update-axes-optimization-settings" title="¶”>gydF4y2Ba¶</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。</gydF4y2Baspan><span class="c1">#您可以在机器人加工菜单或机器人参数中选择“轴优化”来查看轴优化设置。</gydF4y2Baspan><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。</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">关于RoboDK API的更多信息:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#更多信息请访问:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/PythonAPI/robodk.html robolink-py</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># JSON工具</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">json</gydF4y2Baspan><span class="c1">#启动RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#让用户选择一个机器人手臂(6轴机器人，可以有外轴)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“选择机械臂”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT_ARM</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#默认优化设置测试模板</gydF4y2Baspan><span class="n">AxesOptimSettings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">{</gydF4y2Baspan><span class="c1">#优化参数:</gydF4y2Baspan><span class="s2">“活跃”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1">#使用通用轴优化:0=禁用或1=启用</gydF4y2Baspan><span class="s2">“算法”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1">#优化算法使用:1=Nelder Mead, 2=Samples, 3=Samples+Nelder Mead</gydF4y2Baspan><span class="s2">“麦克斯特”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">650</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1">#马克斯。迭代次数</gydF4y2Baspan><span class="s2">“托尔”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mf">0.0016</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1">#容忍停止迭代</gydF4y2Baspan><span class="c1">#绝对参考接头(双):</gydF4y2Baspan><span class="s2">“AbsJnt_1”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mf">104.17</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsJnt_2”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mf">11.22</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsJnt_3”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mf">15.97</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsJnt_4”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mf">87.48</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsJnt_5”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mf">75.36</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsJnt_6”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mf">63.03</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsJnt_7”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mf">174.13</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsJnt_8”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mf">173.60</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsJnt_9”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1">使用绝对参考关节(0:No, 1: Yes)</gydF4y2Baspan><span class="s2">“AbsOn_1”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsOn_2”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsOn_3”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsOn_4”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsOn_5”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsOn_6”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsOn_7”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsOn_8”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsOn_9”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1">#绝对参考关节重量(双):</gydF4y2Baspan><span class="s2">“AbsW_1”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsW_2”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsW_3”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsW_4”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">89</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsW_5”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">90</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsW_6”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">92</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsW_7”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">92</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsW_8”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">96</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“AbsW_9”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">50</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1">用于相对关节运动平滑(0:No, 1: Yes):</gydF4y2Baspan><span class="s2">“RelOn_1”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelOn_2”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelOn_3”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelOn_4”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelOn_5”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelOn_6”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelOn_7”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelOn_8”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelOn_9”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="c1">#相对关节运动重量(双):</gydF4y2Baspan><span class="s2">“RelW_1”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelW_2”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">47</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelW_3”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">44</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelW_4”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">43</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelW_5”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">36</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelW_6”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">47</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelW_7”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">53</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelW_8”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">59</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“RelW_9”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">｝</gydF4y2Baspan><span class="c1">#更新一个值，例如，使其激活:</gydF4y2Baspan><span class="n">更新</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">｛｝</gydF4y2Baspan><span class="n">更新</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“活跃”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">json_str</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">json</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">转储</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">更新</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“OptimAxes”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">json_str</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">进行部分或全部更新的示例</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">7</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">#部分更新</gydF4y2Baspan><span class="n">更新</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">｛｝</gydF4y2Baspan><span class="n">更新</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“AbsJnt_”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="n">更新</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“AbsOn_”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="n">更新</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s2">“AbsW_”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">json_str</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">json</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">转储</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">更新</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“OptimAxes”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">json_str</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">状态</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#全面更新</gydF4y2Baspan><span class="c1"># OptimAxes_TEST[“RefJoint_”+ str (i + 1) =(计数+ i) * 4</gydF4y2Baspan><span class="c1">#OptimAxes_TEST["RefWeight_" + str(i+1)] = (count+i)</gydF4y2Baspan><span class="c1">#OptimAxes_TEST["RefOn_" + str(i+1)] = count % 2</gydF4y2Baspan><span class="c1">#全面更新</gydF4y2Baspan><span class="c1">#打印(机器人。setParam（“OptimAxes”，str（AxesOptimSettings）））</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#读取设置</gydF4y2Baspan><span class="n">json_data</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“OptimAxes”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">json_object</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">json</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">加载</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">json_data</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">json</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">转储</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">json_object</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">缩进</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">0.2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">读取当前轴优化设置的示例:</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">json_data</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“OptimAxes”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">json_object</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">json</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">加载</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">json_data</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">json</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">转储</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">json_object</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">缩进</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">0.2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="modify-program-instructions"> <h2><span class="section-number">6.26.</gydF4y2Baspan>修改程序说明<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#modify-program-instructions" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了如何修改程序指令。</p><p>gydF4y2Ba此示例迭代选定的程序，更改速度，删除任何暂停指令并添加自定义程序调用。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="id7"> <div class="code-block-caption"> <span class="caption-text">修改程序指令</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id7" title="¶”>gydF4y2Ba¶</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</gydF4y2Baspan><span class="c1">#参见:</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/PythonAPI/robodk.html robodk.robolink.Robolink.AddProgram</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">json</gydF4y2Baspan><span class="c1">#启动RoboDK API</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#要求用户选择一个程序:</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“选择要修改的程序”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_PROGRAM</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"操作取消或没有程序可用"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#要求用户输入一个函数调用，在每次移动后添加:</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“选定的程序:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="c1">#迭代所有指令(索引开始为0，也可以对最后一条指令使用-1)</gydF4y2Baspan><span class="n">ins_count</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">InstructionCount</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">ins_count</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">获取与指令相关的特定数据</gydF4y2Baspan><span class="c1">#这个操作总是返回一个dict (json)</gydF4y2Baspan><span class="n">instruction_dict</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#打印指令数据</gydF4y2Baspan><span class="c1"># indentted_values = json。转储（我n结构体ion＿dict，缩进＝4）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="se">\ n \ n</gydF4y2Baspan><span class="s2">指令:“</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">instruction_dict</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">注意:每条指令的类型是唯一的，不能改变。</gydF4y2Baspan><span class="c1">#然而，将Type值设置为-1将删除该指令(与InstructionDelete()相同)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">instruction_dict</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“类型”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">INS_TYPE_CHANGESPEED</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#降低速度:</gydF4y2Baspan><span class="n">newvalues</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">{</gydF4y2Baspan><span class="s1">“速度”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">50</gydF4y2Baspan><span class="p">｝</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">instruction_dict</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“速度”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">50</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">new_speed</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">0.8</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">instruction_dict</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“速度”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">newvalues</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">{</gydF4y2Baspan><span class="s1">“速度”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">new_speed</gydF4y2Baspan><span class="p">｝</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">将速度降低到:</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">new_speed</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#更新指令数据</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">newvalues</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">如果您不提供新名称，# RoboDK可能会更改指令名称</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">instruction_dict</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“类型”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">INS_TYPE_CODE</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#选择移动指令作为添加新指令的参考</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">InstructionSelect</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">添加一个新的程序调用</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunInstruction</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“职位”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">instruction_dict</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“代码”</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">INSTRUCTION_CALL_PROGRAM</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">重要提示:我们刚刚添加了一条新指令，所以请确保跳过该指令索引!</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">instruction_dict</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“类型”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">INS_TYPE_PAUSE</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“删除暂停指令”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">掠夺</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">InstructionDelete</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#另一种删除指令的方式:</gydF4y2Baspan><span class="c1">#delete_command = {'Type':-1}</gydF4y2Baspan><span class="c1">#掠夺。集Param(ins_id, delete_command)</span><span class="c1">重要提示:我们刚刚删除了一条指令，所以请确保我们重新计算了指令索引</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">instruction_dict</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“类型”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">INS_TYPE_MOVE</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“移动指令:使用setInstruction来修改目标”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#ins_name, ins_type, move_type, isjointttarget, pose, joint = prog.Instruction(ins_id)</gydF4y2Baspan><span class="c1">#掠夺。集Instruction(ins_id, ins_name, ins_type, move_type, isjointtarget, pose, joints)</span><span class="n">ins_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">ins_id</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#删除为新指令自动创建的选区</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setSelection</gydF4y2Baspan><span class="p">([])</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="drawing-an-svg-image"> <h2><span class="section-number">6.27.</gydF4y2Baspan>绘制SVG图像<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#drawing-an-svg-image" title="¶”>gydF4y2Ba¶</一个></h2><p>在给定SVG图像的情况下对机器人进行编程，以模拟绘图应用程序。本例中使用的是ABB IRB 4600-20/2.50。</p><p>3.．gydF4y2BaD HTML模拟本例:<一个类＝”reference external" href="//m.sinclairbody.com/www/simulations/Robot-Drawing.html">//m.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 -用机器人绘图</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#example-03-drawing-with-a-robot" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">机器人被编程给一个SVG图像来模拟绘图应用程序。本例中使用的是ABB IRB 4600-20/2.50。</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信进行仿真和离线/在线编程</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#工业机器人的机器人工具箱世界杯2022美洲预选赛直播</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">sys</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">操作系统</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">再保险</gydF4y2Baspan><span class="c1">#--------------------------------------------------------------------------------</gydF4y2Baspan><span class="c1">#函数定义:</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">point2D_2_pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">切</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""将2D点转换为XY平面(4x4齐次矩阵)中的3D姿态"”“</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">切</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">svg_draw_quick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">svg_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">董事会</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">pix_ref</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""无需检查机器人运动即可快速显示图像结果。"”“</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">svg_img</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#使用像素参考来设置路径颜色，设置像素宽度并复制作为参考</gydF4y2Baspan><span class="n">pix_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">重新着色</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">fill_color</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">nPoints</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“画路径</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">/</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">svg_img</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">p_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getPoint</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">v_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getVector</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">pt_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">point2D_2_pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">p_i</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">v_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">在计算出的像素姿态下，向绘图板对象添加像素几何</gydF4y2Baspan><span class="n">董事会</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddGeometry</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pix_ref</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">pt_pose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">svg_draw_robot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">svg_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">董事会</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">pix_ref</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">item_frame</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">item_tool</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""用机器人绘制图像。它比svg_draw_quick慢，但它确保可以用机器人绘制图像。””“</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="c1">每条路径的接近距离(MM</gydF4y2Baspan><span class="n">home_joints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">90</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">家庭关节，以度为单位</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">item_frame</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">item_tool</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">home_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#根据工具在起始位置的方向获取目标方向</gydF4y2Baspan><span class="n">orient_frame2tool</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">invH</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">item_frame</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SolveFK</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">home_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">item_tool</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">orient_frame2tool</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">垫</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1"># alternative: orient_frame2tool = roty(pi)</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">svg_img</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#使用像素参考来设置路径颜色，设置像素宽度并复制作为参考</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“画</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s1">， RGB color = [</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">]“</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">idname</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">fill_color</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">fill_color</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">fill_color</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">pix_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">重新着色</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">fill_color</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">nPoints</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#机器人运动:接近第一个目标</gydF4y2Baspan><span class="n">p_0</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getPoint</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">target0</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">p_0</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">p_0</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">orient_frame2tool</gydF4y2Baspan><span class="n">target0_app</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">target0</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target0_app</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RunMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“画</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">idname</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调用</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“SetColorRGB (</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">% .3f</gydF4y2Baspan><span class="s1">)”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">fill_color</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">fill_color</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">fill_color</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">p_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getPoint</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">v_i</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getVector</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">pt_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">point2D_2_pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">p_i</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">v_i</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#机器人运动:</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">p_i</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">p_i</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">orient_frame2tool</gydF4y2Baspan><span class="c1">保持刀具方向不变</gydF4y2Baspan><span class="c1">#target = pt_pose*orient_frame2tool #沿着路径移动工具(轴6可能达到极限)</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#创建一个新的像素对象与计算像素姿态</gydF4y2Baspan><span class="n">董事会</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddGeometry</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pix_ref</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">pt_pose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">target_app</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">方法</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">target_app</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">home_joints</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#--------------------------------------------------------------------------------</gydF4y2Baspan><span class="c1">#程序启动</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#找到并导入svgpy模块</gydF4y2Baspan><span class="n">path_stationfile</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“PATH_OPENSTATION”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">sys</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">操作系统</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">abspath</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">path_stationfile</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1"># temporary添加导入空间站模块的路径</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">svgpy.svg</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#选择要绘制的文件</gydF4y2Baspan><span class="n">svgfile</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">path_stationfile</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">' /世界map.svg '</gydF4y2Baspan><span class="c1">#svgfile = path_stationfile + '/RoboDK text.svg'</gydF4y2Baspan><span class="c1">#导入SVG文件</gydF4y2Baspan><span class="n">svgdata</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">svg_load</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">svgfile</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">IMAGE_SIZE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1000</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2000</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#图像的大小，单位为MM</gydF4y2Baspan><span class="n">MM_X_PIXEL</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="c1">#单位为mm，路径将被切割取决于像素大小</gydF4y2Baspan><span class="n">svgdata</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">calc_polygon_fit</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">IMAGE_SIZE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">MM_X_PIXEL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">size_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">svgdata</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">size_poly</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#返回当前多边形的大小</gydF4y2Baspan><span class="c1">#获取机器人、框架和工具对象</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">' abb irb 4600-20/2.50'</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">framedraw</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“帧画”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">tooldraw</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“工具”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取要绘制的像素参考</gydF4y2Baspan><span class="n">pixel_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“像素”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#删除以前的图像，如果有的话</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“板&图像”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">类型</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">ITEM_TYPE_OBJECT</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#在物体参考“黑板250mm”的基础上制作一个绘图板</gydF4y2Baspan><span class="n">board_1m</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">黑板上250毫米的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">board_1m</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">复制</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">board_draw</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">framedraw</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">粘贴</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">board_draw</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“板&图像”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">board_draw</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">规模</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="n">size_img</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">250</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">size_img</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">250</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#调整板的大小到图像的大小(缩放)</gydF4y2Baspan><span class="c1">#快速显示最终结果，不检查机器人的运动:</gydF4y2Baspan><span class="c1">#svg_draw_quick(svgdata, board_draw, pixel_ref)</gydF4y2Baspan><span class="c1">#用机器人绘制图像:</gydF4y2Baspan><span class="n">svg_draw_robot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">svgdata</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">board_draw</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">pixel_ref</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">framedraw</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tooldraw</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="synchronize-3-robots"> <h2><span class="section-number">6.28.</gydF4y2Baspan>同步3个机器人<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#synchronize-3-robots" title="¶”>gydF4y2Ba¶</一个></h2><p>这个例子展示了如何同时同步多个机器人。机器人可以在给定关键点和Python线程的情况下同步在一起。这个例子类似于<一个类＝”reference internal" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#weldexample"><span class="std std-ref">2022世界杯8强赛时间</span></a>但更新后支持同时移动多个机器人。机器人可以通过适当的机器人驱动器连接到计算机上，并从模拟切换到移动真实的机器人。</p><gydF4y2Badiv 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-同时3个机器人</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#offline-programming-3-robots-simultaneously" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">这个例子展示了同步多个机器人在同一时间</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK进行离线/在线编程</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">线程</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">队列</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">函数定义和全局变量声明</gydF4y2Baspan><span class="c1">用于同步机器人运动的全局变量</gydF4y2Baspan><span class="c1">#这些变量由SyncSet()和SynchWait()管理</gydF4y2Baspan><span class="n">SYNC_COUNT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">SYNC_TOTAL</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">SYNC_ID</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">锁</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">线程</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">锁</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">SyncSet</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">total_sync</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">SyncSet将设置必须一起同步的机器人程序(线程)的总数。</gydF4y2Baspan><span class="sd">每次调用SyncSet, SYNC_ID加1。””“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">SYNC_COUNT</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">SYNC_TOTAL</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">SYNC_ID</gydF4y2Baspan><span class="k">与</gydF4y2Baspan><span class="n">锁</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">SYNC_COUNT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">SYNC_TOTAL</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">total_sync</gydF4y2Baspan><span class="n">SYNC_ID</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">SYNC_ID</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#打印(“SyncSet”)</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">SyncWait</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="sd">“”“SyncWait将在必要时阻止机器人的运动，按顺序同步运动。</gydF4y2Baspan><span class="sd">使用SyncSet(nrobots)来定义必须同步多少个机器人。”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">SYNC_COUNT</gydF4y2Baspan><span class="c1">#保存带有同步事件id的本地变量</gydF4y2Baspan><span class="n">sync_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">SYNC_ID</gydF4y2Baspan><span class="k">与</gydF4y2Baspan><span class="n">锁</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">增加同步的线程数</gydF4y2Baspan><span class="n">SYNC_COUNT</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#如果所有线程都达到SyncWait (SYNC_COUNT = SYNC_TOTAL)，则转移到下一个同步事件</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">SYNC_COUNT</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="n">SYNC_TOTAL</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">SyncSet</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">SYNC_TOTAL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="c1">#等待SynchSet向前移动</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="n">sync_id</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="n">SYNC_ID</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">睡眠</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">0.0001</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#移动每个机器人的主程序</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">DoWeld</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">问</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robotname</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">与RoboDK的任何互动都必须通过Robolink()完成。</gydF4y2Baspan><span class="c1">每个机器人运动都需要一个新的Robolink()对象(新的通信链接)。</gydF4y2Baspan><span class="c1">两个机器人不能通过同一通信链路移动。</gydF4y2Baspan><span class="n">rdk</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#获取机器人物品:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">rdk</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robotname</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获得家庭关节目标</gydF4y2Baspan><span class="n">首页</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">JointsHome</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#得到参考焊接目标:</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">rdk</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“目标”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取参考系并将其设置为机器人</gydF4y2Baspan><span class="n">参考</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参考</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取目标的姿态(4x4矩阵):</gydF4y2Baspan><span class="n">poseref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">pose_approach</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">poseref</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#将机器人移动到家中，然后移动到中心:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">首页</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_approach</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">SyncWait</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#在中心周围画一个六边形:</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">7</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">6</gydF4y2Baspan><span class="c1">#角度:0,60,120，…</gydF4y2Baspan><span class="n">posei</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">poseref</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">200</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">盎</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">SyncWait</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">posei</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#搬回中心，然后回家:</gydF4y2Baspan><span class="n">SyncWait</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveL</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_approach</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">MoveJ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">首页</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">问</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">把</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“机器人</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s1">完成的</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">robotname</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------</gydF4y2Baspan><span class="c1"># Python程序启动</gydF4y2Baspan><span class="c1">#检索RoboDK站中所有可用的机器人(作为名称列表)</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemList</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#检索同步机器人的数量</gydF4y2Baspan><span class="n">nrobots</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">SyncSet</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nrobots</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#队列允许线程之间共享消息</gydF4y2Baspan><span class="n">问</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">队列</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">队列</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#启动所有机器人的DoWeld程序。每个机器人将运行在一个单独的线程上。</gydF4y2Baspan><span class="n">线程</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nrobots</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">robotname</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">线程</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">线程</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">目标</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">DoWeld</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">arg游戏</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">问</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robotname</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">守护进程</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">开始</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">线程</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#等待每个头部完成</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">线程</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">加入</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">问</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">得到</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“主程序完成”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="robot-model-dh"> <h2><span class="section-number">6.29.</gydF4y2Baspan>机器人模型(DH)<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#robot-model-dh" title="¶”>gydF4y2Ba¶</一个></h2><p>本例使用RoboDK Python API对ABB IRB 120机器人的正运动学和逆运动学进行建模。参考框架是根据站中现有的机器人放置的。</p><gydF4y2Badiv 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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#robot-model-mirror-test" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">本例使用RoboDK Python API对ABB IRB 120机器人的正运动学和逆运动学进行建模</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># API与RoboDK通信进行仿真和离线/在线编程</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#函数定义</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">FK_Robot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">dh_table</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""计算机器人的正运动学。</gydF4y2Baspan><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。”“</gydF4y2Baspan><span class="n">赤潮</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">Hrel</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">nlinks</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">dh_table</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">HiAbs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">眼睛</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nlinks</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tz</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">处方</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">dh_table</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="n">嗨</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">dh</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rz</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tz</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">处方</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">HiAbs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">HiAbs</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">嗨</gydF4y2Baspan><span class="n">Hrel</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">嗨</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">赤潮</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">HiAbs</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">HiAbs</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">赤潮</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">Hrel</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">Frames_setup_absolute</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">frameparent</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">nframes</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">为父框架添加nframes参考帧。</gydF4y2Baspan><span class="n">帧</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nframes</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">newframe</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">frameparent</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的框架</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">frameparent</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">newframe</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">帧</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newframe</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">帧</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">Frames_setup_relative</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">frameparent</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">nframes</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">添加nframes参考帧级联到frameparent</gydF4y2Baspan><span class="n">帧</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">frameparent</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nframes</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">newframe</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">frameparent</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的框架</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">newframe</gydF4y2Baspan><span class="n">newframe</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">帧</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">newframe</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">帧</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">Set_Items_Pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">itemlist</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">poselist</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""设置项目列表中每个项目的姿态(3D位置)"""</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">邮政编码</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">itemlist</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">poselist</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">are_equal</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">j - 1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">j2</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">如果j1和j2相等返回True，否则返回False """</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">j - 1</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">j2</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="n">sum_diffs_abs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">总和</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">一个</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">b</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">b</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">邮政编码</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">j - 1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">j2</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">sum_diffs_abs</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mf">1 e - 3</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#----------------------------------------------------------</gydF4y2Baspan><span class="c1">#程序从这里开始:</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#-----------------------------------------------------</gydF4y2Baspan><span class="c1">#机器人DH表:ABB IRB 120-3/0.6</gydF4y2Baspan><span class="n">DH_Table</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="c1"># rZ (theta)， tX, tZ, rX (alpha)</gydF4y2Baspan><span class="n">DH_Table</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">290</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">90</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">DH_Table</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">90</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">270</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">DH_Table</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">70</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">90</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">DH_Table</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">302</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">90</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">DH_Table</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">90</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">DH_Table</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">180</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">72</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#自由度:(ABB IRB 120-3/0.6为6)</gydF4y2Baspan><span class="n">自由度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">DH_Table</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#找到机器人:</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">' abb irb 120-3/0.6'</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">清除以前测试中包含“镜像测试”的所有项</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“机器人基地”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#确保找到一个项目</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#只删除帧</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">类型</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的删除:</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">设置测试的父帧:</gydF4y2Baspan><span class="n">parent_frameabs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“机器人基础(绝对框架)”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">parent_framerel</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“机器人基座(相对框架)”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">设置测试的子框架:</gydF4y2Baspan><span class="n">frames_abs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Frames_setup_absolute</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">parent_frameabs</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">自由度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">frames_rel</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Frames_setup_relative</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">parent_framerel</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">自由度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#记住最后的机器人关节更新时，必要的</gydF4y2Baspan><span class="n">last_joints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="c1">#无限循环</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#获取当前机器人关节为浮点数组(list)</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">机器人</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">tolist</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">如果关节与以前相同，则不更新</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">are_equal</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">last_joints</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">#如果关节改变，计算这个位置的正运动学</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">Hrobot</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">HabsList</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">HrelList</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">FK_Robot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">DH_Table</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#关闭渲染当我们更新所有帧:</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#更新所有帧</gydF4y2Baspan><span class="n">Set_Items_Pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">frames_abs</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">HabsList</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">Set_Items_Pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">frames_rel</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">HrelList</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># render并打开渲染</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">渲染</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#记住最后一个机器人关节</gydF4y2Baspan><span class="n">last_joints</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“目前的机器人关节:”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">机器人位姿(正运动学):</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">Hrobot</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="se">\ n \ n</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="camera-2d"> <h2><span class="section-number">6.30.</gydF4y2Baspan>相机(2 d)<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#camera-2d" title="¶”>gydF4y2Ba¶</一个></h2><div class="section" id="camera-live-stream"> <h3><span class="section-number">6.30.1.</gydF4y2Baspan>摄像机直播<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#camera-live-stream" title="¶”>gydF4y2Ba¶</一个></h3.><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。这是计算机视觉算法的一个很好的起点。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="id8"> <div class="code-block-caption"> <span class="caption-text">摄像机直播</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id8" title="¶”>gydF4y2Ba¶</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</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">这个例子演示了使用RoboDK API处理2D相机的一些基本功能。</gydF4y2Baspan><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，并将其作为直播流显示给用户。</gydF4y2Baspan><span class="c1">#这是计算机视觉算法的一个很好的起点。</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><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</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">import_install</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“cv2”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“opencv-python”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">import_install</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“numpy”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“我的镜头”</gydF4y2Baspan><span class="n">CAM_PARAMS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">的大小= 640 x480 '</gydF4y2Baspan><span class="c1">有关更多选项，请参见//m.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.robolink.Robolink.Cam2D_Add</gydF4y2Baspan><span class="n">WINDOW_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“我的相机画面”</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#获取相机项目</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Add</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">“帧”</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">CAM_PARAMS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“开放”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#创建实时feed</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“isOpen”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="s1">' 1 '</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#方法1:通过socket获取相机图像</gydF4y2Baspan><span class="n">img_socket</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">isinstance</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">字节</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="sa">b</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">frombuffer</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint8</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">img_socket</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imdecode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">IMREAD_COLOR</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">img_socket</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#方法2:从磁盘获取相机图像</gydF4y2Baspan><span class="n">img_png</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">tempfile</gydF4y2Baspan><span class="k">与</gydF4y2Baspan><span class="n">tempfile</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">TemporaryDirectory</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">前缀</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“robodk_”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="n">道明</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">道明</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">' / temp.png '</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">img_png</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imread</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">img_png</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#把它展示给全世界!</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WINDOW_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_socket</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">waitKey</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">27</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户按下ESC，退出</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getWindowProperty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WINDOW_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WND_PROP_VISIBLE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户杀死主窗口，退出</gydF4y2Baspan><span class="c1">#关闭预览和相机。确保调用了cam_item。setParam（“开放”，1）before reusing a camera!</span><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">destroyAllWindows</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Close</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="camera-calibration"> <h3><span class="section-number">6.30.2.</gydF4y2Baspan>摄像机标定<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#camera-calibration" title="¶”>gydF4y2Ba¶</一个></h3.><p>这个例子展示了如何使用OpenCV找到相机的内在属性。打印棋盘，并在移动棋盘的同时拍摄一系列至少5张照片。你可以在这里找到更多的信息<一个类＝”reference external" href="https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html">OpenCV校准教程</一个>．</p><一个类＝”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”类＝”一个lign-center" src="https://raw.githubusercontent.com/opencv/opencv/master/doc/pattern.png" style="width: 60%;"></a> <div class="literal-block-wrapper docutils container" id="opencv-camera-calibration"> <div class="code-block-caption"> <span class="caption-text">OpenCV -相机校准</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#opencv-camera-calibration" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><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。</gydF4y2Baspan><span class="c1">关于相机校准的更多细节:https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html</gydF4y2Baspan><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</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">一团</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#您可以编辑这些设置为您的板</gydF4y2Baspan><span class="n">SQUARES_X</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="c1">X轴上正方形的个数</gydF4y2Baspan><span class="n">SQUARES_Y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">7</gydF4y2Baspan><span class="c1">Y轴上正方形的个数</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">SQUARES_X</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">SQUARES_Y</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">SQUARE_LENGTH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">23.0</gydF4y2Baspan><span class="c1"># mm，一个正方形的长度</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#获取图片</gydF4y2Baspan><span class="n">images_dir</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getSaveFolder</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">popup_msg</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">'选择图像的目录'</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">图片</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">一团</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">一团</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s1">/ * . png”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">images_dir</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">一团</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">一团</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s1">/ * . jpg”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">images_dir</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#解析图片</gydF4y2Baspan><span class="n">frame_size</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">obj_points</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="c1"># 3D点在现实世界的空间</gydF4y2Baspan><span class="n">img_points</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="c1">图像平面中的# 2D点。</gydF4y2Baspan><span class="n">objp</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">0</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">float32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#对象点(0,0,0),(1,0,0),(2 0 0)……(8 5 0)</gydF4y2Baspan><span class="n">objp</gydF4y2Baspan><span class="p">(:,</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">mgrid</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">T</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">重塑</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">SQUARE_LENGTH</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">图片</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#读取图像为灰度</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imread</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">灰色的</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cvtColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">COLOR_BGR2GRAY</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">frame_size</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">灰色的</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(::</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#找到棋盘角</gydF4y2Baspan><span class="n">受潮湿腐烂</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">findChessboardCorners</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">灰色的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">如果找到，添加对象点，图像点(精炼后)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">受潮湿腐烂</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">rcorners</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cornerSubPix</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">灰色的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">11</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">11</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">TERM_CRITERIA_EPS</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">TERM_CRITERIA_MAX_ITER</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">30.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.001</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">img_points</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rcorners</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">obj_points</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">objp</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#绘制并显示角</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawChessboardCorners</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rcorners</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">受潮湿腐烂</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">原始图像的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">waitKey</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">250</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">destroyAllWindows</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">获取校准后的相机参数</gydF4y2Baspan><span class="n">rms_err</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">calib_mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">dist_coeffs</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rvecs</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tvecs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">calibrateCamera</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">obj_points</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_points</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">frame_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">总体均方根重投影误差:</gydF4y2Baspan><span class="si">% 0.3度</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">rms_err</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#保存参数</gydF4y2Baspan><span class="n">文件</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getSaveFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RoboDK-Camera-Settings.yaml”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">defaultextension</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“.yaml”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文件类型</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">((</gydF4y2Baspan><span class="s1">YAML文件的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“.yaml”</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">FileStorage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">FILE_STORAGE_WRITE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">isOpened</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“保存校准文件失败”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">写</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“camera_matrix”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">calib_mtx</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">写</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“dist_coeff”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">dist_coeffs</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">写</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“camera_size”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">frame_size</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">释放</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="camera-hand-eye-calibration"> <h3><span class="section-number">6.30.3.</gydF4y2Baspan>相机手眼校准<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#camera-hand-eye-calibration" title="¶”>gydF4y2Ba¶</一个></h3.><p>手眼校准是使用OpenCV确定相机“眼睛”相对于机器人法兰或工具的位置的过程。本例中提供的脚本将帮助您收集执行手眼校准所需的数据。您将需要一个棋盘(checkerboard)或charucoboard来执行校准。</p><p>gydF4y2Ba虽然提供的工具是用于在线编程的(摄像机和机器人连接到您的计算机并由RoboDK访问)，但您仍然可以调整这些脚本以离线执行。</p><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/hand-eye-calibration.png"><img alt="手眼标定”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/hand-eye-calibration.png" style="width: 80%;"></a> <p>第一个脚本是获取脚本。将它添加到RoboDK站点，并在单独的线程中从主程序启动它。使用IOs，你可以触发机器人姿势和相机的记录(见下图)。机器人的姿势和图像以JSON和PNG文件的形式保存在磁盘上，并具有匹配的ID。如果您使用其他相机系统，您可以禁用相机采集，只记录机器人的姿势。</p><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/hand-eye-calibration-1.png"><img alt="手眼标定”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/hand-eye-calibration-1.png" style="width: 30%;"></a> <div class="literal-block-wrapper docutils container" id="opencv-hand-eye-acquisition"> <div class="code-block-caption"> <span class="caption-text">OpenCV -手眼采集</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#opencv-hand-eye-acquisition" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">#实用程序脚本执行手眼校准在一个2D相机。</gydF4y2Baspan><span class="c1">这个脚本可以用于眼对手或眼对手校准。</gydF4y2Baspan><span class="c1">#动态记录机器人姿态，并将相机图像保存在磁盘上以供以后处理。</gydF4y2Baspan><span class="c1">这个脚本运行在一个单独的线程中，主程序通过握手请求定时录音。</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="c1">#取消注释这些行，使用pip自动安装依赖</gydF4y2Baspan><span class="c1"># robolink。进口＿我nstall('cv2', 'opencv-contrib-python==4.5.*')</span><span class="c1"># robolink.import_install(“numpy”)</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">pathlib</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">json</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">枚举</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">枚举</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">时间</gydF4y2Baspan><span class="c1">#--------------------------------------</gydF4y2Baspan><span class="c1">这个脚本支持RoboDK虚拟/模拟摄像机和USB设备(由OpenCV支持)</gydF4y2Baspan><span class="c1">#您可以添加自己的实现来检索图像从任何相机，如康耐视的洞察力，SICK等。</gydF4y2Baspan><span class="k">类</gydF4y2Baspan><span class="nc">CameraTypes</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">枚举</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">ROBODK_SIMULATED</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">OPENCV_USB</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">RECORD_ROBOT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">记录机器人在磁盘上的姿势</gydF4y2Baspan><span class="n">RECORD_CAMERA</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#将相机图像记录到磁盘上</gydF4y2Baspan><span class="n">RECORD_FOLDER</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“Hand-Eye-Data”</gydF4y2Baspan><span class="c1">#保存录音的默认文件夹，相对于电台文件夹</gydF4y2Baspan><span class="n">CAMERA_TYPE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">CameraTypes</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ROBODK_SIMULATED</gydF4y2Baspan><span class="c1">#要使用的相机类型</gydF4y2Baspan><span class="n">CAMERA_ROBODK_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="c1">#[可选]RoboDK相机的默认名称</gydF4y2Baspan><span class="n">ROBOT_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="c1">#[可选]机器人的默认名称</gydF4y2Baspan><span class="c1">与主程序共享的Station变量与此脚本交互</gydF4y2Baspan><span class="n">RECORD_READY</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RECORD_READY”</gydF4y2Baspan><span class="c1">当机器人就位，脚本允许记录机器人和图像时，在主程序中设置此值为true</gydF4y2Baspan><span class="n">RECORD_ACKNOWLEDGE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RECORD_ACKNOWLEDGE”</gydF4y2Baspan><span class="c1">#当记录完成时，在脚本中设置此值为true</gydF4y2Baspan><span class="n">RECORD_STOP</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RECORD_STOP”</gydF4y2Baspan><span class="c1">#请求主程序停止脚本</gydF4y2Baspan><span class="c1">#--------------------------------------</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">get_robot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robot_name</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">#取回机器人</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">robot_name</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">robot_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">robot_name</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“选择手眼机器人”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ITEM_TYPE_ROBOT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">get_camera_handle</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">camera_type</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">CameraTypes</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_name</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">camera_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">CameraTypes</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ROBODK_SIMULATED</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#通过名称检索RoboDK相机</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">camera_name</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">camera_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">camera_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">camera_name</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“为手眼选择相机”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="c1">确保RoboDK中的预览窗口是打开的</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“开放”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="s1">' 1 '</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“开放”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">0.1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">camera_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">CameraTypes</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">OPENCV_USB</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">VideoCapture</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CAP_ANY</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">更多关于支持设备的信息请访问:https://docs.opencv.org/4.x/d8/dfe/classcv_1_1VideoCapture.html#aabce0d83aa0da9af802455e8cf5fd181</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">record_camera</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">camera_type</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">CameraTypes</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_handle</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">camera_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">CameraTypes</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ROBODK_SIMULATED</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">record_robodk_camera</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_handle</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">camera_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">CameraTypes</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">OPENCV_USB</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">record_opencv_camera</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_handle</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">record_robodk_camera</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">#通过套接字检索图像</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_item</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">frombuffer</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint8</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imdecode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">IMREAD_COLOR</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#在磁盘上保存图像为灰度图像</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imwrite</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cvtColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">COLOR_RGB2GRAY</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">record_opencv_camera</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">VideoCapture</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">#检索图像</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">读</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="c1">#在磁盘上保存图像为灰度图像</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imwrite</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cvtColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">COLOR_RGB2GRAY</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">record_robot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">#检索手眼所需的信息</gydF4y2Baspan><span class="n">robot_data</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">｛｝</gydF4y2Baspan><span class="n">robot_data</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“关节”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">tolist</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">robot_data</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“pose_flange”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pose_2_TxyzRxyz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SolveFK</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">()))</gydF4y2Baspan><span class="c1">#以JSON格式保存在磁盘上</gydF4y2Baspan><span class="c1">您也可以提供另一种格式，如YAML</gydF4y2Baspan><span class="k">与</gydF4y2Baspan><span class="nb">开放</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">' w '</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="n">f</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">json</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">转储</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_data</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">f</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">缩进</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">runmain</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">取回相机和机器人</gydF4y2Baspan><span class="n">camera_handle</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">get_camera_handle</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAMERA_TYPE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_ROBODK_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">get_robot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ROBOT_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#检索保存数据的文件夹</gydF4y2Baspan><span class="n">record_folder</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PATH_OPENSTATION</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">RECORD_FOLDER</gydF4y2Baspan><span class="n">record_folder</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">mkdir</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">exist_ok</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">父母</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#如果文件夹不是空的，这个脚本不会删除之前运行的文件</gydF4y2Baspan><span class="c1">#如果文件夹不是空的，检索下一个ID</gydF4y2Baspan><span class="nb">id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">排序</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">阀杆</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">record_folder</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">一团</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">‘* . png”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">阀杆</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">isdigit</gydF4y2Baspan><span class="p">()))</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#启动主循环，等待请求</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RECORD_READY</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">时间</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">睡眠</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">0.01</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">读取主程序设置的请求</gydF4y2Baspan><span class="n">准备好了</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RECORD_READY</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="n">停止</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RECORD_STOP</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">停止</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">准备好了</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">#处理请求</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RECORD_CAMERA</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">img_filename</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="sa">f</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="si">{</gydF4y2Baspan><span class="n">record_folder</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">as_posix</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="si">｝</gydF4y2Baspan><span class="s1">/</gydF4y2Baspan><span class="si">{</gydF4y2Baspan><span class="nb">id</gydF4y2Baspan><span class="si">｝</gydF4y2Baspan><span class="s1">. png”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">record_camera</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAMERA_TYPE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_handle</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_filename</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">as_posix</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RECORD_ROBOT</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">robot_filename</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="sa">f</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="si">{</gydF4y2Baspan><span class="n">record_folder</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">as_posix</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="si">｝</gydF4y2Baspan><span class="s1">/</gydF4y2Baspan><span class="si">{</gydF4y2Baspan><span class="nb">id</gydF4y2Baspan><span class="si">｝</gydF4y2Baspan><span class="s1">. json的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">record_robot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_item</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robot_filename</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">as_posix</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="nb">id</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#通知主程序我们已经完成了请求</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RECORD_ACKNOWLEDGE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RECORD_READY</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="vm">__name__</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="s1">“__main__ '</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">runmain</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> <p>第二个脚本是手眼校准脚本。您可以在IDE中单独运行它，也可以将它添加到站点中。将打开一个对话框，检索前一个脚本获取的图像和机器人姿势。然后可以将手眼校准应用于所选工具(我们建议将手眼校准应用于新工具)。请注意，这是眼对手校准(机器人拿着相机)，但它可以很容易地适应眼对手校准(静态相机指向机器人)。</p><gydF4y2Badiv class="literal-block-wrapper docutils container" id="opencv-hand-eye-calibration"> <div class="code-block-caption"> <span class="caption-text">手眼校准</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#opencv-hand-eye-calibration" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">使用记录的机器人姿势和磁盘上的2D图像进行手眼校准。</gydF4y2Baspan><span class="c1">要求在棋盘或棋盘的不同方向/距离上至少有8种不同的姿势。</gydF4y2Baspan><span class="c1"># -需要校准相机(已知的固有参数，包括失真)，也可以从本地图像执行。</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">你可以在这里找到这个例子中使用的板:</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/4.x/charucoboard.png</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">robodialogs</gydF4y2Baspan><span class="c1">#对话框</gydF4y2Baspan><span class="c1">#取消注释这些行，使用pip自动安装依赖</gydF4y2Baspan><span class="c1"># robolink。进口＿我nstall('cv2', 'opencv-contrib-python==4.5.*')</span><span class="c1"># robolink.import_install(“numpy”)</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">json</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">pathlib</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">枚举</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">枚举</gydF4y2Baspan><span class="c1">#--------------------------------------</gydF4y2Baspan><span class="c1">这个脚本支持棋盘(checkerboard)和ChAruCo板作为校准对象。</gydF4y2Baspan><span class="c1">你可以添加你自己的实现(比如点模式)。</gydF4y2Baspan><span class="k">类</gydF4y2Baspan><span class="nc">MarkerTypes</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">枚举</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">棋盘</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">CHARUCOBOARD</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">相机的内部参数可以用与手眼相同的板执行</gydF4y2Baspan><span class="n">INTRINSIC_FOLDER</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“Hand-Eye-Data”</gydF4y2Baspan><span class="c1">#默认文件夹加载图像用于相机校准，相对于站点文件夹</gydF4y2Baspan><span class="n">HANDEYE_FOLDER</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“Hand-Eye-Data”</gydF4y2Baspan><span class="c1">#默认文件夹加载机器人姿势和图像用于手眼校准，相对于工作站文件夹</gydF4y2Baspan><span class="c1">相机内部校准板参数</gydF4y2Baspan><span class="c1">你可以在这里找到这个棋盘:https://docs.opencv.org/4.x/charucoboard.png</gydF4y2Baspan><span class="n">INTRINSIC_BOARD_TYPE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">MarkerTypes</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">棋盘</gydF4y2Baspan><span class="n">INTRINSIC_CHESS_SIZE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">7</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># X / Y</gydF4y2Baspan><span class="n">INTRINSIC_SQUARE_SIZE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">35</gydF4y2Baspan><span class="c1">#毫米</gydF4y2Baspan><span class="n">INTRINSIC_MARKER_SIZE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">21</gydF4y2Baspan><span class="c1">#毫米</gydF4y2Baspan><span class="c1">手眼校准板参数</gydF4y2Baspan><span class="c1">#你可以在这里找到这个黑板:https://docs.opencv.org/4.x/charucoboard.png</gydF4y2Baspan><span class="n">HANDEYE_BOARD_TYPE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">MarkerTypes</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CHARUCOBOARD</gydF4y2Baspan><span class="n">HANDEYE_CHESS_SIZE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">7</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># X / Y</gydF4y2Baspan><span class="n">HANDEYE_SQUARE_SIZE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">35</gydF4y2Baspan><span class="c1">#毫米</gydF4y2Baspan><span class="n">HANDEYE_MARKER_SIZE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">21</gydF4y2Baspan><span class="c1">#毫米</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">pose_2_Rt</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">垫</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""RoboDK姿势到OpenCV姿势"""</gydF4y2Baspan><span class="n">pose_inv</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">发票</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">R</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">数组</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">pose_inv</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Rot33</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">数组</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Pos</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">R</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">Rt_2_pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">R</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">""" "OpenCV姿势到RoboDK姿势"""</gydF4y2Baspan><span class="n">vx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">v</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">vz</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">R</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">tolist</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">cam_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">眼睛</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_pose</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">cam_pose</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVX</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">vx</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_pose</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVY</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">v</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_pose</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVZ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">vz</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cam_pose</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">发票</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">t</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">tolist</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">find_chessboard</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">完善</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">”“”</gydF4y2Baspan><span class="sd">检测图像中的棋盘图案。</gydF4y2Baspan><span class="sd">”“”</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">减去</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#角数</gydF4y2Baspan><span class="c1">#首选灰度图像</gydF4y2Baspan><span class="n">_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cvtColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">COLOR_RGB2GRAY</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">找到棋盘的角</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">findChessboardCorners</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"没有找到棋盘"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#精炼</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">完善</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">标准</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">TERM_CRITERIA_EPS</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">TERM_CRITERIA_MAX_ITER</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">30.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.001</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">search_size</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">11</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">11</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">zero_size</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cornerSubPix</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">search_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">zero_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">标准</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawChessboardCorners</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#找到相机姿势。只有与相机矩阵可用!</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">cb_corners</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">0</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">float32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cb_corners</gydF4y2Baspan><span class="p">(:,</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">mgrid</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">T</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">重塑</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rvec</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tvec</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">solvePnP</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cb_corners</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"没有找到棋盘"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">R_target2cam</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">罗德里格斯</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rvec</gydF4y2Baspan><span class="p">) [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">t_target2cam</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tvec</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">R_target2cam</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">t_target2cam</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">find_charucoboard</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">markers_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">predefined_dict</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">DICT_6X6_100</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">-></gydF4y2Baspan><span class="nb">dict</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="sd">”“”</gydF4y2Baspan><span class="sd">检测图像中的charuco板图案。</gydF4y2Baspan><span class="sd">”“”</gydF4y2Baspan><span class="c1">请注意，对于棋盘，图案大小是“内角”的数量，而charucoboards是棋盘方块的数量</gydF4y2Baspan><span class="c1">#查鲁科板和字典</gydF4y2Baspan><span class="n">charuco_board</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CharucoBoard_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">markers_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getPredefinedDictionary</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">predefined_dict</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">charuco_dict</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">charuco_board</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">字典</gydF4y2Baspan><span class="c1">#先找到标记</gydF4y2Baspan><span class="n">marker_corners</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">marker_ids</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">detectMarkers</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">charuco_dict</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">marker_ids</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">marker_ids</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"未找到白板"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#然后是charuco</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">interpolateCornersCharuco</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">marker_corners</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">marker_ids</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">charuco_board</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># MTX和dist在这里是可选的</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"未找到白板"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawDetectedCornersCharuco</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#找到相机姿势。只有与相机矩阵可用!</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rot_vec</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">trans_vec</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">estimatePoseCharucoBoard</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">charuco_board</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># MTX和dist在这里是强制性的</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"找不到黑板姿势"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawFrameAxes</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rot_vec</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">trans_vec</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">马克斯</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">1.5</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">R_target2cam</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">罗德里格斯</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rot_vec</gydF4y2Baspan><span class="p">) [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">R_target2cam</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">trans_vec</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">calibrate_static</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">chessboard_images</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">board_type</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">MarkerTypes</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">浮动</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">markers_edge</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">浮动</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">min_detect</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">show_images</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">”“”</gydF4y2Baspan><span class="sd">用棋盘或棋盘图案校准相机。</gydF4y2Baspan><span class="sd">”“”</gydF4y2Baspan><span class="c1">#棋盘参数</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">减去</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#角数</gydF4y2Baspan><span class="n">img_size</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="c1">#找到棋盘角</gydF4y2Baspan><span class="n">img_corners</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">show_images</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">WDW_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“棋盘”</gydF4y2Baspan><span class="n">MAX_W</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">MAX_H</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">640</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">480</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">namedWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WINDOW_NORMAL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">文件</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">chessboard_images</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项目</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="c1">#确保图像大小一致</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">img_size</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">img_size</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">[:</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">[:</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">img_size</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“不同图像的相机分辨率不一致!”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#找到棋盘角</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">show_images</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cvtColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">COLOR_GRAY2RGB</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">试一试</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">board_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">MarkerTypes</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">棋盘</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">find_chessboard</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">find_charucoboard</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">markers_edge</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">markers_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">除了</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="sa">f</gydF4y2Baspan><span class="s1">找不到棋盘</gydF4y2Baspan><span class="si">{</gydF4y2Baspan><span class="n">文件</gydF4y2Baspan><span class="si">｝</gydF4y2Baspan><span class="s1">！'</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">show_images</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">resizeWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">MAX_W</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">MAX_H</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">waitKey</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">img_corners</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">检查我们是否处理了足够的图像</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">min_detect</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_corners</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="n">min_detect</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">show_images</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">destroyAllWindows</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_corners</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">min_detect</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_corners</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">min_detect</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“探测不够!”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">校准相机</gydF4y2Baspan><span class="c1">创建角的平面棋盘表示</gydF4y2Baspan><span class="n">cb_corners</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">0</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">float32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cb_corners</gydF4y2Baspan><span class="p">(:,</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">mgrid</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">模式</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">T</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">重塑</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">img_size</gydF4y2Baspan><span class="n">rms_err</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rot_vecs</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">trans_vecs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">calibrateCamera</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="n">cb_corners</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_corners</gydF4y2Baspan><span class="p">))),</gydF4y2Baspan><span class="n">img_corners</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">calibrate_handeye</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_poses</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">chessboard_images</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_matrix</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_distortion</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">board_type</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">MarkerTypes</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">浮动</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">markers_edge</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">浮动</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">show_images</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">”“”</gydF4y2Baspan><span class="sd">使用机器人姿势列表和每个姿势的图像列表校准安装在机器人手臂上的相机。</gydF4y2Baspan><span class="sd">机器人姿态应该在法兰(移除. posetool)，除非你有一个校准的工具。</gydF4y2Baspan><span class="sd">”“”</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html gaebfc1c9f7434196a374c382abf43439b</gydF4y2Baspan><span class="c1">从齐次矩阵中提取旋转部分，将夹持架中表示的点转换为机器人基架(bTg)。</gydF4y2Baspan><span class="c1">#这是一个向量(vector<Mat>)，它包含旋转，(3x3)旋转矩阵或(3x1)旋转向量，用于从抓取架到机器人基架的所有转换。</gydF4y2Baspan><span class="n">R_gripper2base_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="c1">从齐次矩阵中提取的平移部分，将夹持架中表示的点转换为机器人基架(bTg)。</gydF4y2Baspan><span class="c1">#这是一个向量(vector<Mat>)，它包含从抓取架到机器人基架的所有转换的(3x1)平移向量。</gydF4y2Baspan><span class="n">t_gripper2base_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="c1">#从齐次矩阵中提取的旋转部分，将目标帧中表示的点转换为相机帧(cTt)。</gydF4y2Baspan><span class="c1">#这是一个向量(vector<Mat>)，包含旋转，(3x3)旋转矩阵或(3x1)旋转向量，用于从校准目标帧到相机帧的所有转换。</gydF4y2Baspan><span class="n">R_target2cam_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="c1">#从齐次矩阵中提取的旋转部分，将目标帧中表示的点转换为相机帧(cTt)。</gydF4y2Baspan><span class="c1">#这是一个向量(向量<Mat>)，包含从校准目标帧到相机帧的所有转换的(3x1)平移向量。</gydF4y2Baspan><span class="n">t_target2cam_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">show_images</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">WDW_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“Charucoboard”</gydF4y2Baspan><span class="n">MAX_W</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">MAX_H</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">640</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">480</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">namedWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WINDOW_NORMAL</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">chessboard_images</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">键</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">robot_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robot_poses</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">chessboard_images</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">show_images</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cvtColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">COLOR_GRAY2RGB</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">试一试</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">board_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">MarkerTypes</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">棋盘</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">R_target2cam</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">t_target2cam</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">find_chessboard</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_matrix</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_distortion</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">R_target2cam</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">t_target2cam</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">find_charucoboard</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_matrix</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_distortion</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">chess_size</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">squares_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">markers_edge</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">除了</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="sa">f</gydF4y2Baspan><span class="s1">找不到棋盘</gydF4y2Baspan><span class="si">{</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="si">｝</gydF4y2Baspan><span class="s1">！'</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">show_images</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">draw_img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">resizeWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">MAX_W</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">MAX_H</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">waitKey</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">R_target2cam_list</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">R_target2cam</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">t_target2cam_list</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">t_target2cam</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">R_gripper2base</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">t_gripper2base</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">pose_2_Rt</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_pose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">R_gripper2base_list</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">R_gripper2base</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">t_gripper2base_list</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">t_gripper2base</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">show_images</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">destroyAllWindows</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">R_cam2gripper</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">t_cam2gripper</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">calibrateHandEye</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">R_gripper2base_list</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">t_gripper2base_list</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">R_target2cam_list</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">t_target2cam_list</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">Rt_2_pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">R_cam2gripper</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">t_cam2gripper</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">runmain</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="c1">#------------------------------------------------------</gydF4y2Baspan><span class="c1">校准相机内部参数</gydF4y2Baspan><span class="c1"># 1。打印一个棋盘，用卡尺测量</gydF4y2Baspan><span class="c1"># 2。静态安装相机，拍摄棋盘在不同距离、方向、偏移量等的一系列图像。</gydF4y2Baspan><span class="c1"># 3。使用图像校准相机(可以离线完成)</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">校准相机位置(手眼)</gydF4y2Baspan><span class="c1"># 4。在RoboDK中创建一个机器人程序，使机器人在静态棋盘上以不同的距离、方向、偏移量等移动。</gydF4y2Baspan><span class="c1"># 5。在每个位置，记录机器人的姿势(robot. pose()，甚至robot. joint())，并用相机截图</gydF4y2Baspan><span class="c1"># 6。使用机器人的姿势和图像来校准相机位置</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">#很高兴知道</gydF4y2Baspan><span class="c1">你可以使用cv在OpenCV中检索相机图像。cv.CAP_DSHOW VideoCapture (0)</gydF4y2Baspan><span class="c1">你可以使用cv.imread(filename)和cv.imread(文件名)来加载/保存图像。imwrite(文件名,img)</gydF4y2Baspan><span class="c1"># -你可以保存你的校准相机参数与JSON，即打印(JSON)。转储({“mtx”:mtx,“距离”:dist}))</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">#------------------------------------------------------</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#------------------------------------------------------</gydF4y2Baspan><span class="c1">使用棋盘的本地图像校准相机，检索相机的内在参数</gydF4y2Baspan><span class="c1">#获取输入文件夹</gydF4y2Baspan><span class="n">intrinsic_folder</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PATH_OPENSTATION</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">INTRINSIC_FOLDER</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">intrinsic_folder</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">存在</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">intrinsic_folder</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robodialogs</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getSaveFolder</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">intrinsic_folder</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">as_posix</gydF4y2Baspan><span class="p">()，</gydF4y2Baspan><span class="s1">“选择包含相机内部校准图像(.png)的目录”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">intrinsic_folder</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="n">intrinsic_folder</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">intrinsic_folder</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#检索图片</gydF4y2Baspan><span class="n">image_files</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">排序</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">intrinsic_folder</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">一团</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">‘* . png”</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">图片</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">{</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">image_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">阀杆</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imread</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">image_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">as_posix</gydF4y2Baspan><span class="p">()，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">IMREAD_GRAYSCALE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">image_file</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">image_files</gydF4y2Baspan><span class="p">｝</gydF4y2Baspan><span class="c1">执行图像校准</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">大小</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">calibrate_static</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图片</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">INTRINSIC_BOARD_TYPE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">INTRINSIC_CHESS_SIZE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">INTRINSIC_SQUARE_SIZE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">INTRINSIC_MARKER_SIZE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">min_detect</gydF4y2Baspan><span class="o">= -</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="sa">f</gydF4y2Baspan><span class="s1">“摄像机矩阵:</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="si">{</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="si">｝</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="sa">f</gydF4y2Baspan><span class="s1">畸变系数:</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="si">{</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="si">｝</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="sa">f</gydF4y2Baspan><span class="s1">“相机分辨率:</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="si">{</gydF4y2Baspan><span class="n">大小</gydF4y2Baspan><span class="si">｝</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#------------------------------------------------------</gydF4y2Baspan><span class="c1">加载图像和机器人姿势来校准手眼相机</gydF4y2Baspan><span class="c1">#获取输入文件夹</gydF4y2Baspan><span class="n">handeye_folder</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PATH_OPENSTATION</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">HANDEYE_FOLDER</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">handeye_folder</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">存在</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">handeye_folder</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robodialogs</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getSaveFolder</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“选择图像目录(.png)和机器人姿势目录(.json)进行手眼校准”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">handeye_folder</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="n">handeye_folder</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">handeye_folder</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#检索图像和机器人姿势</gydF4y2Baspan><span class="n">image_files</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">排序</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">handeye_folder</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">一团</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">‘* . png”</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">robot_files</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">排序</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">handeye_folder</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">一团</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">‘* . json‘</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">图片</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">提出了</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">{},</gydF4y2Baspan><span class="p">{},</gydF4y2Baspan><span class="p">｛｝</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">image_file</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robot_file</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">邮政编码</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">image_files</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">robot_files</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">image_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">阀杆</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">阀杆</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="nb">id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">image_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">阀杆</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imread</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">image_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">as_posix</gydF4y2Baspan><span class="p">()，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">IMREAD_GRAYSCALE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">图片</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="nb">id</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="k">与</gydF4y2Baspan><span class="nb">开放</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">as_posix</gydF4y2Baspan><span class="p">()，</gydF4y2Baspan><span class="s1">“r”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="n">f</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">robot_data</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">json</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">负载</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">f</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">关节</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="nb">id</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robot_data</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“关节”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">提出了</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="nb">id</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">TxyzRxyz_2_Pose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robot_data</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“pose_flange”</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">执行手眼校准</gydF4y2Baspan><span class="n">camera_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">calibrate_handeye</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">提出了</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">图片</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mtx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">经销</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">HANDEYE_BOARD_TYPE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">HANDEYE_CHESS_SIZE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">HANDEYE_SQUARE_SIZE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">HANDEYE_MARKER_SIZE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="sa">f</gydF4y2Baspan><span class="s1">相机姿势(相对于机器人法兰):</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="si">{</gydF4y2Baspan><span class="n">camera_pose</gydF4y2Baspan><span class="si">｝</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“手眼位置:</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">camera_pose</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#------------------------------------------------------</gydF4y2Baspan><span class="c1">在RoboDK中，将相机位置wrt设置为机器人法兰在校准后的手眼位置(使用.tool)</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">选择“眼睛”工具进行校准</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemList</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robolink</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">工具</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPoseTool</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">camera_pose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="vm">__name__</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="s1">“__main__ '</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">runmain</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="camera-pose"> <h3><span class="section-number">6.30.4.</gydF4y2Baspan>相机的姿势<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#camera-pose" title="¶”>gydF4y2Ba¶</一个></h3.><p>这个例子展示了如何使用OpenCV实时估计相机姿势。你需要一个校准过的相机来估计相机姿势，参见前面的例子。你可以在<一个类＝”reference external" href="https://docs.opencv.org/master/df/d4a/tutorial_charuco_detection.html">OpenCV ChArUco教程</一个>．</p><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/CameraPose.png"><img alt="相机姿势示例”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/CameraPose.png" style="width: 60%;"></a> <p>打印<一个类＝”reference external" href="https://docs.opencv.org/master/charucoboard.jpg">charucoboard</一个>以字母的形式，把它放在镜头前。</p><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/charucoboard.jpg"><img alt="https://docs.opencv.org/master/charucoboard.jpg”类＝”一个lign-center" src="//m.sinclairbody.com/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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#opencv-camera-pose" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">#估计相机姿势使用OpenCV和ChArUco板。</gydF4y2Baspan><span class="c1">关于ChArUco董事会的更多细节:https://docs.opencv.org/master/df/d4a/tutorial_charuco_detection.html</gydF4y2Baspan><span class="c1">#你可以打印这个板的信件格式:https://docs.opencv.org/master/charucoboard.jpg</gydF4y2Baspan><span class="c1">相机校准需要姿态估计，参见//m.sinclairbody.com/doc/en/PythonAPI/examples.html#camera-calibration</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#如果您有多个设备，请相应地更改此选项</gydF4y2Baspan><span class="n">DEVICE_ID</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="c1">#您可以编辑这些设置为您的板</gydF4y2Baspan><span class="n">SQUARES_X</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="c1">X轴上正方形的个数</gydF4y2Baspan><span class="n">SQUARES_Y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">7</gydF4y2Baspan><span class="c1">Y轴上正方形的个数</gydF4y2Baspan><span class="n">SQUARE_LENGTH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">35.0</gydF4y2Baspan><span class="c1"># mm，一个正方形的长度</gydF4y2Baspan><span class="n">MARKER_LENGTH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">23.0</gydF4y2Baspan><span class="c1"># mm，一个标记的长度</gydF4y2Baspan><span class="n">DICTIONNARY</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getPredefinedDictionary</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">DICT_6X6_250</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># 250个6x6位标记的预定义字典</gydF4y2Baspan><span class="n">CHARUCOBOARD</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CharucoBoard_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">SQUARES_X</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">SQUARES_Y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">SQUARE_LENGTH</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">MARKER_LENGTH</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DICTIONNARY</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#相机设置</gydF4y2Baspan><span class="n">CAMERA_WIDTH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1920</gydF4y2Baspan><span class="c1"># px</gydF4y2Baspan><span class="n">CAMERA_HEIGHT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1080</gydF4y2Baspan><span class="c1"># px</gydF4y2Baspan><span class="n">CAMERA_APERTURE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">2.0</gydF4y2Baspan><span class="c1">#毫米</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">链接到RoboDK</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#拿起相机</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">VideoCapture</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">DEVICE_ID</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">isOpened</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"所选设备id [</gydF4y2Baspan><span class="si">{0}</gydF4y2Baspan><span class="s2">无法打开。确保摄像头已插入，并且没有其他应用程序正在使用它。”</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">格式</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">DEVICE_ID</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#设置相机分辨率。如果没有找到该分辨率，它将默认为下一个可用的分辨率。</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">集</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CAP_PROP_FRAME_WIDTH</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_WIDTH</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">集</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CAP_PROP_FRAME_HEIGHT</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_HEIGHT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">得到</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CAP_PROP_FRAME_WIDTH</gydF4y2Baspan><span class="p">))，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">得到</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CAP_PROP_FRAME_HEIGHT</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“相机分辨率:</gydF4y2Baspan><span class="si">{0}</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">{1}</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">格式</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">获取相机校准参数</gydF4y2Baspan><span class="c1">#参见//m.sinclairbody.com/doc/en/PythonAPI/examples.html#camera-calibration</gydF4y2Baspan><span class="n">文件</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getOpenFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RoboDK-Camera-Settings.yaml”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">strtitle</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“打开校准设置文件……”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">defaultextension</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“.yaml”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文件类型</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">((</gydF4y2Baspan><span class="s1">YAML文件的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“.yaml”</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">FileStorage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">FILE_STORAGE_READ</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">isOpened</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"处理校准文件失败"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getNode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“camera_matrix”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">垫</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">DIST_COEFFS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getNode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“dist_coeff”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">垫</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">CALIB_SIZE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getNode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“camera_size”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">垫</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">astype</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">释放</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#如果校准的相机分辨率和当前分辨率不同，则近似相机矩阵</gydF4y2Baspan><span class="n">c_width</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">c_height</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">CALIB_SIZE</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">c_width</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">c_height</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">校准分辨率与当前分辨率不同。将使用近似的校准矩阵。</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">w_ratio</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">c_width</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># (dimx' / dimx)</gydF4y2Baspan><span class="n">h_ratio</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">c_height</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># (dimy' / dimy)</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">w_ratio</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1"># fx' = (dimx' / dimx) * fx</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">h_ratio</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1"># fy' = (dimy' / dimy) * fy</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">w_ratio</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1"># cx' = (dimx' / dimx) * cx</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">h_ratio</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1"># cy' = (dimy' / dimy) * cy</gydF4y2Baspan><span class="c1">#假设光圈为2mm，请根据需要进行更新</gydF4y2Baspan><span class="n">fovx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">fovy</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">focal_length</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">p_point</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">比</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">calibrationMatrixValues</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">CAMERA_APERTURE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_APERTURE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#关闭相机窗口，如果有的话</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Close</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#为姿态估计创建charuco帧</gydF4y2Baspan><span class="n">board_frame_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“ChArUco框架”</gydF4y2Baspan><span class="n">board_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">board_frame_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">board_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">board_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">board_frame_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#创建一个连接相机的框架</gydF4y2Baspan><span class="n">cam_frame_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“相机帧”</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_frame_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_frame_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParent</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">board_ref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#模拟摄像机</gydF4y2Baspan><span class="n">cam_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“相机”</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">重复使用相同的相机不会正确应用设置</gydF4y2Baspan><span class="n">camera_settings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">' FOCAL_LENGTH =</gydF4y2Baspan><span class="si">{0:0.0f}</gydF4y2Baspan><span class="s1">FOV =</gydF4y2Baspan><span class="si">{1:0.0f}</gydF4y2Baspan><span class="s1">快照=</gydF4y2Baspan><span class="si">{2:0.0f}</gydF4y2Baspan><span class="s1">x</gydF4y2Baspan><span class="si">{3:0.0f}</gydF4y2Baspan><span class="s1">大小=</gydF4y2Baspan><span class="si">{2:0.0f}</gydF4y2Baspan><span class="s1">x</gydF4y2Baspan><span class="si">{3:0.0f}</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">格式</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">focal_length</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">fovy</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Add</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_settings</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParent</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#创建输出窗口</gydF4y2Baspan><span class="n">preview_window</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“相机窗口”</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">namedWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">preview_window</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WINDOW_KEEPRATIO</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">resizeWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">preview_window</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#找到相机姿势</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">isOpened</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="c1">#从相机获取图像</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">读</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">找到黑板上的记号笔</gydF4y2Baspan><span class="n">mcorners</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mids</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">detectMarkers</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DICTIONNARY</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DIST_COEFFS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">mids</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">mids</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">从标记中插入圆角</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">interpolateCornersCharuco</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">mcorners</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mids</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CHARUCOBOARD</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DIST_COEFFS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“检测到角落:</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">id:</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="c1">在图像上绘制角</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawDetectedCornersCharuco</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#估计charuco板姿势</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rvec</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tvec</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">estimatePoseCharucoBoard</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CHARUCOBOARD</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DIST_COEFFS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#在图像上绘制轴</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawAxis</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DIST_COEFFS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rvec</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tvec</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">One hundred.</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">你可以过滤多少标记需要找到，以便更新姿势如下</gydF4y2Baspan><span class="n">board_size</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">CHARUCOBOARD</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getChessboardSize</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">min_corners</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="n">board_size</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">board_size</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#作为总额的百分比</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="n">min_corners</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">大小</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="n">min_corners</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#找到相机姿势</gydF4y2Baspan><span class="n">rmat</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">罗德里格斯</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rvec</gydF4y2Baspan><span class="p">) [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">camera_position</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">矩阵</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rmat</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">T</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">矩阵</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tvec</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_xyz</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">camera_position</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">T</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">tolist</gydF4y2Baspan><span class="p">() (</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">vx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">v</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">vz</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">rmat</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">tolist</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#为RoboDK建立相机姿势</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">眼睛</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_xyz</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVX</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">vx</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVY</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">v</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVZ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">vz</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">更新RoboDK的姿势</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#显示charuco板</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">preview_window</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">waitKey</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">27</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户按下ESC，退出</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getWindowProperty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">preview_window</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WND_PROP_VISIBLE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户杀死主窗口，退出</gydF4y2Baspan><span class="c1">#释放设备</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">释放</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">destroyAllWindows</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="augmented-reality"> <h3><span class="section-number">6.30.5.</gydF4y2Baspan>增强现实<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#augmented-reality" title="¶”>gydF4y2Ba¶</一个></h3.><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送上。你需要一个校准过的相机来估计相机姿势，参见前面的例子。</p><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/AugReality.png"><img alt="增强现实”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/AugReality.png" style="width: 60%;"></a> <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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#opencv-augmented-reality" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">#使用OpenCV和ChArUco板应用增强现实。</gydF4y2Baspan><span class="c1">关于ChArUco董事会的更多细节:https://docs.opencv.org/master/df/d4a/tutorial_charuco_detection.html</gydF4y2Baspan><span class="c1">#你可以打印这个板的信件格式:https://docs.opencv.org/master/charucoboard.jpg</gydF4y2Baspan><span class="c1">相机校准需要姿态估计，参见//m.sinclairbody.com/doc/en/PythonAPI/examples.html#camera-calibration</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#如果您有多个设备，请相应地更改此选项</gydF4y2Baspan><span class="n">DEVICE_ID</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="c1">#您可以编辑这些设置为您的板</gydF4y2Baspan><span class="n">SQUARES_X</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">5</gydF4y2Baspan><span class="c1">X轴上正方形的个数</gydF4y2Baspan><span class="n">SQUARES_Y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">7</gydF4y2Baspan><span class="c1">Y轴上正方形的个数</gydF4y2Baspan><span class="n">SQUARE_LENGTH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">35.0</gydF4y2Baspan><span class="c1"># mm，一个正方形的长度</gydF4y2Baspan><span class="n">MARKER_LENGTH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">23.0</gydF4y2Baspan><span class="c1"># mm，一个标记的长度</gydF4y2Baspan><span class="n">规模</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">如果你不希望有1:1的比例，你可能需要编辑这个。</gydF4y2Baspan><span class="n">DICTIONNARY</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getPredefinedDictionary</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">DICT_6X6_250</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># 250个6x6位标记的预定义字典</gydF4y2Baspan><span class="n">CHARUCOBOARD</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CharucoBoard_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">SQUARES_X</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">SQUARES_Y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">SQUARE_LENGTH</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">规模</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">MARKER_LENGTH</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">规模</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DICTIONNARY</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#相机设置</gydF4y2Baspan><span class="n">CAMERA_WIDTH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1920</gydF4y2Baspan><span class="c1"># px</gydF4y2Baspan><span class="n">CAMERA_HEIGHT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1080</gydF4y2Baspan><span class="c1"># px</gydF4y2Baspan><span class="n">CAMERA_APERTURE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">2.0</gydF4y2Baspan><span class="c1">#毫米</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">将RoboDK图像与输入图像合并的实用函数</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">merge_img</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_bg</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_fg</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="c1">AR图像的掩码和反掩码</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">面具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">阈值</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cvtColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_fg</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">COLOR_BGR2GRAY</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">10</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">THRESH_BINARY</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">mask_inv</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">bitwise_not</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">面具</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#从环境图像中关闭AR区域</gydF4y2Baspan><span class="n">img1_bg</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">bitwise_and</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_bg</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_bg</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">面具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">mask_inv</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#从AR图像中取出AR区域</gydF4y2Baspan><span class="n">img2_fg</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">bitwise_and</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_fg</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_fg</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">面具</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">面具</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#合并</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">添加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img1_bg</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img2_fg</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">链接到RoboDK</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#拿起相机</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">VideoCapture</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">DEVICE_ID</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">isOpened</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"所选设备id [</gydF4y2Baspan><span class="si">{0}</gydF4y2Baspan><span class="s2">无法打开。确保摄像头已插入，并且没有其他应用程序正在使用它。”</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">格式</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">DEVICE_ID</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#设置相机分辨率。如果没有找到该分辨率，它将默认为下一个可用的分辨率。</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">集</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CAP_PROP_FRAME_WIDTH</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_WIDTH</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">集</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CAP_PROP_FRAME_HEIGHT</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_HEIGHT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">得到</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CAP_PROP_FRAME_WIDTH</gydF4y2Baspan><span class="p">))，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">得到</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CAP_PROP_FRAME_HEIGHT</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“相机分辨率:</gydF4y2Baspan><span class="si">{0}</gydF4y2Baspan><span class="s1">，</gydF4y2Baspan><span class="si">{1}</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">格式</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">获取相机校准参数</gydF4y2Baspan><span class="n">文件</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getOpenFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RoboDK-Camera-Settings.yaml”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">strtitle</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“打开校准设置文件……”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">defaultextension</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“.yaml”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文件类型</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">((</gydF4y2Baspan><span class="s1">YAML文件的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“.yaml”</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">FileStorage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">FILE_STORAGE_READ</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">isOpened</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"处理校准文件失败"</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getNode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“camera_matrix”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">垫</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">DIST_COEFFS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getNode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“dist_coeff”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">垫</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">CALIB_SIZE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getNode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“camera_size”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">垫</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">astype</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cv_file</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">释放</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#如果校准的相机分辨率和当前分辨率不同，则近似相机矩阵</gydF4y2Baspan><span class="n">c_width</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">c_height</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">CALIB_SIZE</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">c_width</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">c_height</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ShowMessage</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">校准分辨率与当前分辨率不同。将使用近似的校准矩阵。</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">c_width</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1"># fx' = (dimx' / dimx) * fx</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">c_height</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1"># fy' = (dimy' / dimy) * fy</gydF4y2Baspan><span class="c1">#假设光圈为2mm，请根据需要进行更新</gydF4y2Baspan><span class="n">fovx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">fovy</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">focal_length</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">p_point</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">比</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">calibrationMatrixValues</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">CAMERA_APERTURE</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_APERTURE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#关闭相机窗口，如果有的话</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Close</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#为姿态估计创建charuco帧</gydF4y2Baspan><span class="n">board_frame_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“ChArUco框架”</gydF4y2Baspan><span class="n">board_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">board_frame_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">board_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">board_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">board_frame_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#创建一个连接相机的框架</gydF4y2Baspan><span class="n">cam_frame_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“相机帧”</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_frame_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_frame_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParent</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">board_ref</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#模拟摄像机</gydF4y2Baspan><span class="n">cam_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“相机”</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">删除</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">重复使用相同的相机不会正确应用设置</gydF4y2Baspan><span class="n">camera_settings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">' FOCAL_LENGTH =</gydF4y2Baspan><span class="si">{0:0.0f}</gydF4y2Baspan><span class="s1">FOV =</gydF4y2Baspan><span class="si">{1:0.0f}</gydF4y2Baspan><span class="s1">BG_COLOR=黑色FAR_LENGTH=5000 SNAPSHOT=</gydF4y2Baspan><span class="si">{2:0.0f}</gydF4y2Baspan><span class="s1">x</gydF4y2Baspan><span class="si">{3:0.0f}</gydF4y2Baspan><span class="s1">大小=</gydF4y2Baspan><span class="si">{2:0.0f}</gydF4y2Baspan><span class="s1">x</gydF4y2Baspan><span class="si">{3:0.0f}</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">格式</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">focal_length</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">fovy</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Add</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">camera_settings</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_name</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParent</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="c1">#创建输出窗口</gydF4y2Baspan><span class="n">preview_window</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“相机窗口”</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">namedWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">preview_window</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WINDOW_KEEPRATIO</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">resizeWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">preview_window</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#找到相机姿势</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">isOpened</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="c1">#从相机获取图像</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">读</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">找到黑板上的记号笔</gydF4y2Baspan><span class="n">mcorners</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mids</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">detectMarkers</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DICTIONNARY</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DIST_COEFFS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">mids</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">mids</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">从标记中插入圆角</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">interpolateCornersCharuco</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">mcorners</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mids</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CHARUCOBOARD</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DIST_COEFFS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“检测到角落:</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">id:</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="c1">在图像上绘制角</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawDetectedCornersCharuco</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#估计charuco板姿势</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rvec</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tvec</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">estimatePoseCharucoBoard</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CHARUCOBOARD</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DIST_COEFFS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">成功</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#在图像上绘制轴</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">aruco</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawAxis</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">CAMERA_MTX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DIST_COEFFS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rvec</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">tvec</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">One hundred.</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">你可以过滤多少标记需要找到，以便更新姿势如下</gydF4y2Baspan><span class="n">board_size</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">CHARUCOBOARD</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getChessboardSize</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">min_corners</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="n">board_size</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">board_size</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mf">0.8</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#作为总额的百分比</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">角落</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="n">min_corners</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="n">id</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">大小</gydF4y2Baspan><span class="o">> =</gydF4y2Baspan><span class="n">min_corners</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#找到相机姿势</gydF4y2Baspan><span class="n">rmat</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">罗德里格斯</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rvec</gydF4y2Baspan><span class="p">) [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">camera_position</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">矩阵</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rmat</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">T</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">矩阵</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">tvec</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_xyz</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">camera_position</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">T</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">tolist</gydF4y2Baspan><span class="p">() (</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">vx</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">v</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">vz</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">rmat</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">tolist</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#为RoboDK建立相机姿势</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">眼睛</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_xyz</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVX</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">vx</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVY</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">v</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setVZ</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">vz</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">更新RoboDK的姿势</gydF4y2Baspan><span class="n">cam_ref</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#获取RDK相机图像</gydF4y2Baspan><span class="n">image_rdk</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_id</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">frombuffer</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint8</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">image_rdk</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imdecode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">IMREAD_COLOR</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#应用AR</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">merge_img</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">image_rdk</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#显示charuco板</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">preview_window</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">waitKey</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">27</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户按下ESC，退出</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getWindowProperty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">preview_window</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WND_PROP_VISIBLE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户杀死主窗口，退出</gydF4y2Baspan><span class="c1">#释放设备</gydF4y2Baspan><span class="n">捕获</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">释放</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">destroyAllWindows</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="qr-codes-and-barcodes"> <h3><span class="section-number">6.30.6.</gydF4y2Baspan>QR码和条形码<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#qr-codes-and-barcodes" title="¶”>gydF4y2Ba¶</一个></h3.><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站点。</p><p>gydF4y2Ba检测到的QR码和条形码将显示在一个单独的视图窗口中，检测结果以红色突出显示。检测后，您可以根据读数要求机器人将物品放置在特定的输送机，垃圾箱等上。</p><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/QRBarcodeReader.png"><img alt="_images / QRBarcodeReader.png”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/QRBarcodeReader.png" style="width: 60%;"></a> <div class="section" id="generating-qr-codes"> <h4><span class="section-number">6.30.6.1.</gydF4y2Baspan>生成QR码<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#generating-qr-codes" title="¶”>gydF4y2Ba¶</一个></h4><div class="literal-block-wrapper docutils container" id="qr-codes-generator"> <div class="code-block-caption"> <span class="caption-text">QR码-生成器</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#qr-codes-generator" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">这个脚本允许你创建一个包含QR码的RoboDK对象。</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">import_install</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“qrcode”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">qrcode</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#设置</gydF4y2Baspan><span class="n">ASK_USER_SAVE_TO_DISK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="c1"># True要求用户在磁盘上保存。否则，使用临时文件夹添加到RoboDK。</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#创建QR码</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">mbox</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"输入要嵌入QR码的文本"</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">条目</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“m.sinclairbody.com”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">类型</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#用户取消</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">qrcode</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">使</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#保存到文件</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“QR_”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“。”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“:”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">' / '</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># //m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">ASK_USER_SAVE_TO_DISK</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getSaveFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strtitle</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“将QR保存在磁盘上，或取消以跳过”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">defaultextension</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“使用”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文件类型</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">((</gydF4y2Baspan><span class="s1">PNG文件的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">‘* . png”</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">tempfile</gydF4y2Baspan><span class="n">tempdir</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tempfile</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">gettempdir</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tempdir</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="se">＼＼</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">“使用”</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">保存</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">os.path</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">操作系统</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">存在</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#导入RoboDK</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">img_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFile</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">img_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="generating-barcodes-ean-13"> <h4><span class="section-number">6.30.6.2.</gydF4y2Baspan>生成条码(EAN-13)<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#generating-barcodes-ean-13" title="¶”>gydF4y2Ba¶</一个></h4><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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#barcode-ean-13-generator" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><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。</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">import_install</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“条形码”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“python-barcode”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">条形码</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#设置</gydF4y2Baspan><span class="n">ASK_USER_SAVE_TO_DISK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="c1"># True要求用户在磁盘上保存。否则，使用临时文件夹添加到RoboDK。</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#创建条形码</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">mbox</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"输入您的条形码(EAN 13位数字)"</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">条目</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“5701234567899”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">类型</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#用户取消</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">isdecimal</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">13</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#无效输入</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">条形码</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">EAN13</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">作家</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">条形码</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">作家</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">图像打印机</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="c1">#您可以轻松地复制此脚本来生成其他条形码类型，如UPC-A</gydF4y2Baspan><span class="c1">#img =条形码。UPCA(数据、作家= barcode.writer.ImageWriter ())</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#保存到文件</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“EAN13_”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">数据</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“。”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“:”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">取代</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">' / '</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">ASK_USER_SAVE_TO_DISK</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getSaveFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strtitle</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“在磁盘上保存条形码，或取消以跳过”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">strfile</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">defaultextension</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“使用”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文件类型</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">((</gydF4y2Baspan><span class="s1">PNG文件的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">‘* . png”</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">tempfile</gydF4y2Baspan><span class="n">tempdir</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tempfile</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">gettempdir</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tempdir</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="se">＼＼</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">保存</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="s1">“使用”</gydF4y2Baspan><span class="c1"># barcode .save添加。png格式</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">os.path</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">操作系统</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">路径</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">存在</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#导入RoboDK</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">img_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFile</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">文件名</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">img_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="reading-qr-codes-and-bar-codes"> <h4><span class="section-number">6.30.6.3.</gydF4y2Baspan>阅读QR码和条形码<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#reading-qr-codes-and-bar-codes" title="¶”>gydF4y2Ba¶</一个></h4><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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#qr-and-barcode-reader" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">#这个脚本处理一个相机帧提取QR和条形码。</gydF4y2Baspan><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。</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="n">import_install</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“cv2”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s2">“opencv-contrib-python”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#贡献版本增加了条形码支持</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">tempfile</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#设置</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#退出前需要处理多少帧。-1表示无限。</gydF4y2Baspan><span class="n">DETECT_COLOR</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#启动摄像头馈送。</gydF4y2Baspan><span class="c1">#如果您正在使用连接的设备，请使用cv。视频捕捉，以获得现场直播。</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/master/d8/dfe/classcv_1_1VideoCapture.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1"># capture = cv. videoccapture (0)</gydF4y2Baspan><span class="c1"># retval, image = capture.read()</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#从RoboDK那里拿相机</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“选择相机”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">辞职</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#初始化QR和条形码探测器</gydF4y2Baspan><span class="n">qr_detector</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">QRCodeDetector</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/master/de/dc3/classcv_1_1QRCodeDetector.html</gydF4y2Baspan><span class="n">barcode_detector</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">barcode_BarcodeDetector</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/master/d2/dea/group__barcode.html</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#目前，我们需要在磁盘上保存RDK快照。</gydF4y2Baspan><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”)</gydF4y2Baspan><span class="n">tempdir</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tempfile</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">gettempdir</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">snapshot_file</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tempdir</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="se">＼＼</gydF4y2Baspan><span class="s2">code_reader_temp.png”</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#处理相机帧</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#保存并从RoboDK获取图像</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">snapshot_file</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imread</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">snapshot_file</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#检查二维码</gydF4y2Baspan><span class="n">retval</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">decoded_info_list</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">points_list</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">straight_qrcode_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">qr_detector</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">detectAndDecodeMulti</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">retval</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">points_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">points_list</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">astype</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">n_qr</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">decoded_info_list</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">n_qr</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“找到二维码:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">decoded_info_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#绘制轮廓线</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">points_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">n_lines</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">n_lines</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">point1</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">卷帘窗</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">((</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">n_lines</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">point1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">卷帘窗</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">颜色</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">DETECT_COLOR</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">厚度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#打印QR内容</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">putText</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">decoded_info_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">FONT_HERSHEY_SIMPLEX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DETECT_COLOR</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">LINE_AA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">检查条形码</gydF4y2Baspan><span class="n">retval</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">decoded_info_list</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">decoded_type_list</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">points_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">barcode_detector</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">detectAndDecode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">retval</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">points_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">points_list</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">astype</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">n_bar</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">decoded_info_list</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">n_bar</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">barcodeType</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">decoded_type</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">-></gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">decoded_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">条形码</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">EAN_8</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="s2">“EAN8”</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">decoded_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">条形码</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">EAN_13</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="s2">“EAN13”</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">decoded_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">条形码</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">UPC_A</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="s2">“UPC-A”</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">decoded_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">条形码</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">UPC_E</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="s2">“UPC-E”</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">decoded_type</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">条形码</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">UPC_EAN_EXTENSION</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="s2">“UPC-EAN”</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="s2">“没有”</gydF4y2Baspan><span class="n">barcode_type</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">barcodeType</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">decoded_type_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“找到条形码:”</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">decoded_info_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">”,(</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">)”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">barcode_type</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#绘制轮廓线</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">points_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">n_lines</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">n_lines</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">point1</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">卷帘窗</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">((</gydF4y2Baspan><span class="n">j</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">n_lines</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">point1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">卷帘窗</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">颜色</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">DETECT_COLOR</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">厚度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#打印条形码内容</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">putText</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">decoded_info_list</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">FONT_HERSHEY_SIMPLEX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DETECT_COLOR</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">LINE_AA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#显示在屏幕上</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“二维码及条码阅读器”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">waitKey</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#此时，您可以处理项目。</gydF4y2Baspan><span class="c1">例如，要求机器人将物品放在特定的传送带、垃圾箱等上。</gydF4y2Baspan><span class="n">暂停</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">destroyAllWindows</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> </div> <div class="section" id="object-detection"> <h3><span class="section-number">6.30.7.</gydF4y2Baspan>对象检测<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#object-detection" title="¶”>gydF4y2Ba¶</一个></h3.><div class="section" id="d-pose-estimation-of-a-known-object"> <h4><span class="section-number">6.30.7.1.</gydF4y2Baspan>已知物体的二维姿态估计<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#d-pose-estimation-of-a-known-object" title="¶”>gydF4y2Ba¶</一个></h4><p>这个例子展示了如何匹配输入图像(源对象)与相机馈送，以确定它的2D姿势使用OpenCV。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偏移量。它不是用于3D定位的。你可以在<一个类＝”reference external" href="https://docs.opencv.org/master/d7/dff/tutorial_feature_homography.html">OpenCV单语教程</一个>．</p><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/SIFT.png"><img alt="_images / SIFT.png”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/SIFT.png" style="width: 60%;"></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</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id9" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">这个例子展示了如何匹配输入图像(源对象)与相机馈送，以确定它的2D姿势使用SIFT算法。</gydF4y2Baspan><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。</gydF4y2Baspan><span class="c1">#警告:这只计算沿Z轴的旋转和X/Y偏移量。它不是用于3D定位的。</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">你可以在OpenCV同形图教程中找到更多信息:</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/master/d7/dff/tutorial_feature_homography.html</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/master/d9/dab/tutorial_homography.html</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robodialogs</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">import_install</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“cv2”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“opencv-contrib-python”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">tempfile</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">数学</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#设置</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#退出前需要处理多少帧。-1表示无限。</gydF4y2Baspan><span class="c1">#相机</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“相机”</gydF4y2Baspan><span class="n">CAMERA_SIZE_X</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">1280.0</gydF4y2Baspan><span class="c1">#像素</gydF4y2Baspan><span class="n">CAMERA_SIZE_Y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">720.0</gydF4y2Baspan><span class="c1">#像素</gydF4y2Baspan><span class="n">PIXEL_SIZE_X</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">100.0</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mf">175.0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># mm/像素，实验发现</gydF4y2Baspan><span class="n">PIXEL_SIZE_Y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">100.0</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mf">175.0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># mm /像素</gydF4y2Baspan><span class="n">Z_OFFSET</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">715.0</gydF4y2Baspan><span class="c1"># mm，相机与零件表面之间的距离</gydF4y2Baspan><span class="c1">#计算框架和目标</gydF4y2Baspan><span class="n">OBJ_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“RoboDK盒子”</gydF4y2Baspan><span class="n">CALC_FRAME_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">Calc框架”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">OBJ_NAME</gydF4y2Baspan><span class="n">CALC_TARGET_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">选择“</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">OBJ_NAME</gydF4y2Baspan><span class="n">CALC_TARGET_APPROACH_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">的方法”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">CALC_TARGET_NAME</gydF4y2Baspan><span class="n">APPROACH_DIST</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="c1">#毫米</gydF4y2Baspan><span class="c1">#检测</gydF4y2Baspan><span class="n">MATCH_DIST_THRESH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">0.75</gydF4y2Baspan><span class="c1">洛氏比率阈值</gydF4y2Baspan><span class="n">MIN_MATCH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">15</gydF4y2Baspan><span class="c1">最小的SIFT匹配来考虑检测的有效性</gydF4y2Baspan><span class="n">OBJ_IMG_PATH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="c1">#源图像的绝对路径。留空打开文件对话框。</gydF4y2Baspan><span class="c1">#绘制结果</gydF4y2Baspan><span class="n">DISPLAY_RESULT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#打开一个窗口与SIFT匹配</gydF4y2Baspan><span class="n">DRAW_AXIS_LENGTH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">50</gydF4y2Baspan><span class="c1">#像素</gydF4y2Baspan><span class="n">DRAW_LINE_WEIGHT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#像素</gydF4y2Baspan><span class="n">DRAW_LINE_COLOR</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># RGB</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#获取源图像进行识别</gydF4y2Baspan><span class="n">img_path</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">OBJ_IMG_PATH</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">img_path</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">img_path</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">getOpenFileName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">strtitle</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“选择源对象图像”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">defaultextension</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“使用”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">文件类型</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">((</gydF4y2Baspan><span class="s1">“PNG”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“使用”</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“JPEG”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“jpg”</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imread</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_path</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">IMREAD_GRAYSCALE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“无法检索源图像进行识别!”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#让部分识别</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">部分</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">OBJ_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_OBJECT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">部分</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“没找到!”</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">OBJ_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">part_frame</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">部分</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">part_frame</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">part_frame</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">类型</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“部分父母无效，确保是框架!”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">从RoboDK那里拿到模拟摄像机</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“找不到相机!”</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_tool</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_tool</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">cam_tool</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">类型</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="n">ITEM_TYPE_TOOL</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“摄像头家长无效，确保它是一个工具!”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#获取或创建计算对象姿态帧</gydF4y2Baspan><span class="n">calc_frame</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CALC_FRAME_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">calc_frame</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">calc_frame</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFrame</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CALC_FRAME_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">part_frame</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">父</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">calc_pick</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CALC_TARGET_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_TARGET</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">calc_pick</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">calc_pick</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTarget</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CALC_TARGET_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">calc_frame</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">calc_pick_approach</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CALC_TARGET_APPROACH_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_TARGET</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">calc_pick_approach</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">calc_pick_approach</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddTarget</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CALC_TARGET_APPROACH_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">calc_frame</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#启动摄像头馈送。</gydF4y2Baspan><span class="c1">#如果您正在使用连接的设备，请使用cv。视频捕捉，以获得现场直播。</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/master/d8/dfe/classcv_1_1VideoCapture.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1"># capture = cv. videoccapture (0)</gydF4y2Baspan><span class="c1"># retval, image = capture.read()</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#目前，我们需要在磁盘上保存RDK快照。</gydF4y2Baspan><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”)</gydF4y2Baspan><span class="n">tempdir</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tempfile</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">gettempdir</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">snapshot_file</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">tempdir</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="se">＼＼</gydF4y2Baspan><span class="s2">sift_temp.png”</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#处理相机帧</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#保存并从RoboDK获取图像</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">snapshot_file</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">img_scene</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imread</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">snapshot_file</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">IMREAD_GRAYSCALE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#使用SIFT检测器检测关键点，计算描述符</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SIFT_create</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">keypoints_obj</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">descriptors_obj</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">detectAndCompute</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">keypoints_scene</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">descriptors_scene</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">detectAndCompute</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_scene</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">descriptors_obj</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">descriptors_scene</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">keypoints_obj</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">keypoints_scene</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="p">[]：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“无法检测关键点”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">#匹配描述符向量</gydF4y2Baspan><span class="n">匹配器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">DescriptorMatcher_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">DescriptorMatcher_FLANNBASED</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">knn_matches</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">匹配器</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">knnMatch</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">descriptors_obj</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">descriptors_scene</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#使用劳氏比率测试过滤匹配</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">[]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">n</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">knn_matches</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">距离</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">MATCH_DIST_THRESH</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">n</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">距离</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">附加</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">米</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#平局</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">空</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="nb">马克斯</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">img_scene</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">img_scene</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">dtype</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint8</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawMatches</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">keypoints_obj</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_scene</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">keypoints_scene</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">旗帜</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">DrawMatchesFlags_NOT_DRAW_SINGLE_POINTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#停止处理低匹配计数</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">MIN_MATCH</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“没有足够的火柴”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#本地化对象</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">空</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">dtype</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">float32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">场景</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">空</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">dtype</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">float32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">范围</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="p">））：</gydF4y2Baspan><span class="c1">#从好的匹配中获取关键点</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">keypoints_obj</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">queryIdx</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">keypoints_obj</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">queryIdx</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">场景</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">keypoints_scene</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">trainIdx</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">场景</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">keypoints_scene</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">good_matches</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">trainIdx</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#计算透视变换，或单性矩阵</gydF4y2Baspan><span class="n">H</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">findHomography</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">obj</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">场景</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RANSAC</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">H</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">H</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“不可能进行改造”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="c1">我们可以直接从H中提取旋转角度</gydF4y2Baspan><span class="n">θ</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">数学</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">量化</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">H</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">H</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">有很多方法来计算姿势。</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1"># 1。使用相机矩阵</gydF4y2Baspan><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)。</gydF4y2Baspan><span class="c1">查看我们关于如何校准相机的示例:</gydF4y2Baspan><span class="c1"># - //m.sinclairbody.com/doc/en/PythonAPI/examples.html#camera-calibration</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1"># cam_mtx = np.array([[1.3362190822261939e+ 04,0 .]， 8.4795067509033629e+02]， [0.]，1．3.361819220.999134e+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)</gydF4y2Baspan><span class="c1"># for I in range(n_solution):</gydF4y2Baspan><span class="c1"># vx, vy, vz = 0 [i].tolist()</gydF4y2Baspan><span class="c1"># tx, ty, tz = trans[i].tolist()</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1"># 2。使用的时刻</gydF4y2Baspan><span class="c1">该方法不考虑相机矩阵，误差较小。</gydF4y2Baspan><span class="c1">#了解更多信息，请访问:</gydF4y2Baspan><span class="c1"># - https://en.wikipedia.org/wiki/Image_moment</gydF4y2Baspan><span class="c1"># - https://docs.opencv.org/master/d8/d23/classcv_1_1Moments.html</gydF4y2Baspan><span class="c1">#从对象图像中获取角</gydF4y2Baspan><span class="n">obj_corners</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">0</gydF4y2Baspan><span class="p">（（</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">dtype</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">float32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#命令id, x, y</gydF4y2Baspan><span class="n">obj_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">obj_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">obj_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">obj_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">将物体的角转换为相机图像</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">perspectiveTransform</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">obj_corners</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">H</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">获取图像力矩，并提取中心</gydF4y2Baspan><span class="n">时刻</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">时刻</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">残雪</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">时刻</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“m10”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">时刻</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“m00”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">cy</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">时刻</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“m01”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">时刻</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“m00”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#计算相对于相机帧的X和Y</gydF4y2Baspan><span class="n">rel_x</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">残雪</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">CAMERA_SIZE_X</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mf">2.0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">PIXEL_SIZE_X</gydF4y2Baspan><span class="n">rel_y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cy</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">CAMERA_SIZE_Y</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mf">2.0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">PIXEL_SIZE_Y</gydF4y2Baspan><span class="n">rel_theta</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">浮动</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">θ</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#居中宽容</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rel_x</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">rel_x</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">0．0</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rel_y</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">rel_y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">0．0</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">腹肌</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rel_theta</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mf">0.0005</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">rel_theta</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">0．0</gydF4y2Baspan><span class="c1">#精度公差</gydF4y2Baspan><span class="n">rel_x</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">轮</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rel_x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">rel_y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">轮</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rel_y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">rel_theta</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">轮</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rel_theta</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#计算姿势wrt到相机</gydF4y2Baspan><span class="n">calc_frame_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cam_tool</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">calc_frame_pose</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPos</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="n">rel_x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">rel_y</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">Z_OFFSET</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">calc_frame_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">calc_frame_pose</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">rotz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rel_theta</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">计算一组相对姿势的懒惰方法是静态移动它们!</gydF4y2Baspan><span class="n">calc_frame</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParent</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_tool</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">calc_frame</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">calc_frame_pose</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">calc_pick</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">眼睛</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">4</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">calc_pick_approach</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">calc_pick</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">transl</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">APPROACH_DIST</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">calc_frame</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParentStatic</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">part_frame</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#向用户显示检测结果(参考图像和相机图像并列显示检测结果)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">DISPLAY_RESULT</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">旋转</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">起源</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""绕一个给定原点逆时针旋转一个给定的角度(弧度)。"”“</gydF4y2Baspan><span class="n">牛</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">oy</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">起源</gydF4y2Baspan><span class="n">px</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">py</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="n">qx、</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">牛</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">数学</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">因为</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">px</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">牛</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">数学</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">罪</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">py</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">oy</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">qy</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">oy</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">数学</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">罪</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">px</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">牛</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">数学</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">因为</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">py</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">oy</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">qx、</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">qy</gydF4y2Baspan><span class="c1">#构造绘图参数</gydF4y2Baspan><span class="n">cx_off</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">残雪</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">cx_off</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cy</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">DRAW_AXIS_LENGTH</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">旋转</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">θ</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">旋转</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mf">2.0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="c1">绘制被检测对象的方向矢量</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">圆</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">arrowedLine</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">LINE_AA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># X</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">arrowedLine</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">LINE_AA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># Y</gydF4y2Baspan><span class="c1">#在被检测对象的角之间画线</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">))),</gydF4y2Baspan>＼<gydF4y2Baspan class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">))),</gydF4y2Baspan><span class="n">DRAW_LINE_COLOR</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DRAW_LINE_WEIGHT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">))),</gydF4y2Baspan>＼<gydF4y2Baspan class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">))),</gydF4y2Baspan><span class="n">DRAW_LINE_COLOR</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DRAW_LINE_WEIGHT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">))),</gydF4y2Baspan>＼<gydF4y2Baspan class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">))),</gydF4y2Baspan><span class="n">DRAW_LINE_COLOR</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DRAW_LINE_WEIGHT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">行</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">3.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">))),</gydF4y2Baspan>＼<gydF4y2Baspan class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">img_object</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">scene_corners</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">))),</gydF4y2Baspan><span class="n">DRAW_LINE_COLOR</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">DRAW_LINE_WEIGHT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#显示检测到的匹配</gydF4y2Baspan><span class="n">wdw_name</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RoboDK -匹配和检测对象”</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">wdw_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">waitKey</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">27</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户按下ESC，退出</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getWindowProperty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">wdw_name</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WND_PROP_VISIBLE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户杀死主窗口，退出</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">destroyAllWindows</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="blob-detection"> <h4><span class="section-number">6.30.7.2.</gydF4y2Baspan>Blob检测<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#blob-detection" title="¶”>gydF4y2Ba¶</一个></h4><p>这个例子展示了如何使用OpenCV检测简单的几何形状(blobs)。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<一个类＝”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><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/BlobDetection.png"><img alt="_images / BlobDetection.png”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/BlobDetection.png" style="width: 60%;"></a> <div class="literal-block-wrapper docutils container" id="id10"> <div class="code-block-caption"> <span class="caption-text">Blob检测</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id10" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">这个例子展示了如何使用OpenCV检测相机馈线中的斑点。</gydF4y2Baspan><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。</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">你可以在OpenCV轮廓教程中找到更多信息:</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/master/d3/d05/tutorial_py_table_of_contents_contours.html</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="n">import_install</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“cv2”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“opencv-python”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#设置</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#退出前需要处理多少帧。-1表示无限。</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“相机”</gydF4y2Baspan><span class="n">DISPLAY_SETTINGS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">RoboDK - Blob检测参数</gydF4y2Baspan><span class="n">DISPLAY_RESULT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="n">WDW_NAME_RESULTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">RoboDK -斑点检测</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">从RoboDK那里拿到模拟摄像机</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“找不到相机!”</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“开放”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#强制打开相机视图</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">使用默认参数设置检测器。</gydF4y2Baspan><span class="c1">#默认参数提取暗圆形斑点。</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_Params</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#设置参数滑块，使用OpenCV的轨迹条</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">DISPLAY_SETTINGS</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">namedWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WINDOW_FREERATIO</gydF4y2Baspan><span class="o">|</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WINDOW_GUI_EXPANDED</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">minDistBetweenBlobs</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">""两个斑点之间的最小距离，以像素为单位。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minDistBetweenBlobs</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#图像阈值</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">minThreshold</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">最小强度阈值，单位为uint8。”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minThreshold</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">maxThreshold</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">“最大强度阈值，单位为uint8。””“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">maxThreshold</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">thresholdStep</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">“”“最小和最大阈值之间的强度阈值步长，uint8。””“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">thresholdStep</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">马克斯</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">minRepeatability</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""在整个阈值处理步骤中检测到一个斑点的最小次数。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minRepeatability</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">马克斯</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#按区域过滤</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">filterByArea</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""启用按斑点区域过滤。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">filterByArea</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">minArea</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">""最小斑点面积，单位为像素^2。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minArea</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">maxArea</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""最大斑点面积，以像素^2为单位。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">maxArea</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#圆度过滤器(4*pi*面积/周长^2)</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">filterByCircularity</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""启用按团圆度过滤。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">filterByCircularity</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">minCircularity</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""最小圆度，单位为%。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minCircularity</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">maxCircularity</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""最大圆度，单位为%。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">maxCircularity</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#按凸性过滤(面积/斑点凸壳面积)</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">filterByConvexity</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""启用按斑点凸度过滤。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">filterByConvexity</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">minConvexity</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""最小斑点凸度，单位为%。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minConvexity</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">maxConvexity</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""最大斑点凸度，单位为%。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">maxConvexity</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#按颜色过滤(浅色与深色)</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">filterByColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""启用按斑点颜色过滤。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">filterByColor</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">blobColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">""斑点的颜色，以uint8为单位。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">blobColor</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="c1">#[0(暗)，255(亮)]</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#惯性过滤(伸长)</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">filterByInertia</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""启用按团惯性过滤。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">filterByInertia</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">minInertiaRatio</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""最小水滴惯性，单位为%。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minInertiaRatio</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="c1"># [0,1]</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">maxInertiaRatio</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""最大水滴惯性，单位为%。"”“</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="k">全球</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">maxInertiaRatio</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">价值</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="c1"># [0,1]</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">SimpleBlobDetector_create</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#所有范围从0到'count'，初始化为默认值。</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的距离</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minDistBetweenBlobs</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">999</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">minDistBetweenBlobs</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“打</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minThreshold</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">minThreshold</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“打</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">maxThreshold</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">maxThreshold</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“打</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">Stp的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">thresholdStep</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">thresholdStep</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“打</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">代表的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minRepeatability</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">minRepeatability</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的区域</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">在“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">保龄球</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">filterByArea</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">filterByArea</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的区域</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minArea</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">minArea</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的区域</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">maxArea</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">5000</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">maxArea</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“中国保监会</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">在“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">保龄球</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">filterByCircularity</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">filterByCircularity</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“中国保监会</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minCircularity</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">minCircularity</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“中国保监会</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">最小值</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">maxCircularity</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">))，</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">maxCircularity</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“Conv</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">在“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">保龄球</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">filterByConvexity</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">filterByConvexity</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“Conv</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minConvexity</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">minConvexity</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“Conv</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">最小值</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">maxConvexity</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">))，</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">maxConvexity</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的颜色</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">在“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">保龄球</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">filterByColor</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">filterByColor</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“颜色”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">blobColor</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">blobColor</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的惰性</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">在“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">保龄球</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">filterByInertia</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">filterByInertia</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的惰性</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minInertiaRatio</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">minInertiaRatio</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的惰性</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">最小值</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">参数个数</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">maxInertiaRatio</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">))，</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">maxInertiaRatio</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">创建一个可调整大小的结果窗口</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">DISPLAY_RESULT</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">namedWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME_RESULTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1"># cv.WINDOW_NORMAL)</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#启动摄像头馈送。</gydF4y2Baspan><span class="c1">#如果您正在使用连接的设备，请使用cv。视频捕捉，以获得现场直播。</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/master/d8/dfe/classcv_1_1VideoCapture.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1"># capture = cv. videoccapture (0)</gydF4y2Baspan><span class="c1"># retval, image = capture.read()</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#处理相机帧</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">"============================================="</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“处理图片</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#从RoboDK获取图像</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="sa">b</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="c1">#来自RoboDK的图像是BGR, uchar， (h,w,3)</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">frombuffer</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint8</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imdecode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">IMREAD_UNCHANGED</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#检测斑点</gydF4y2Baspan><span class="n">要点</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">探测器</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">检测</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">关键点</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">要点</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="nb">打印</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">id:</gydF4y2Baspan><span class="si">%我</gydF4y2Baspan><span class="s2">coord = (</gydF4y2Baspan><span class="si">% 0.0度</gydF4y2Baspan><span class="s2">，</gydF4y2Baspan><span class="si">% 0.0度</gydF4y2Baspan><span class="s2">）"</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">关键点</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">关键点</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#用你的探测做点什么!</gydF4y2Baspan><span class="c1">这里有几个例子:</gydF4y2Baspan><span class="c1">如果关键点(螺丝孔)的数量不等于3，则拒绝该零件</gydF4y2Baspan><span class="c1">计算每个关键点的世界坐标来移动机器人</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#向用户显示检测结果(参考图像和相机图像并列显示检测结果)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">DISPLAY_RESULT</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">绘制检测到的blobs和它们的id</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawKeypoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">要点</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">关键点</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">要点</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">关键点</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">pt</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">putText</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">str</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">x</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">y</gydF4y2Baspan><span class="p">))，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">FONT_HERSHEY_SIMPLEX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">LINE_AA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#调整图像大小，使其适合您的屏幕</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">调整</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mf">综合成绩</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="mf">综合成绩</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME_RESULTS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_matches</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">waitKey</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">500</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">27</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户按下ESC，退出</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getWindowProperty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME_RESULTS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WND_PROP_VISIBLE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户杀死了窗口，退出</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">destroyAllWindows</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="orientation-of-elongated-parts"> <h4><span class="section-number">6.30.7.3.</gydF4y2Baspan>拉长零件的定位<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#orientation-of-elongated-parts" title="¶”>gydF4y2Ba¶</一个></h4><p>这个例子展示了如何使用OpenCV在摄像机馈送中检测伸长部分的方向。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<一个类＝”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><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/PartOrientation.png"><img alt="_images / PartOrientation.png”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/PartOrientation.png" style="width: 60%;"></a> <div class="literal-block-wrapper docutils container" id="part-orientation"> <div class="code-block-caption"> <span class="caption-text">部分取向</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#part-orientation" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">这个例子展示了如何使用OpenCV检测相机馈送中拉长部分的方向。</gydF4y2Baspan><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。</gydF4y2Baspan><span class="c1">#警告:最好的结果是观察细长的部分是对称的。</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">你可以在OpenCV轮廓教程中找到更多信息:</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/master/d3/d05/tutorial_py_table_of_contents_contours.html</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robomath</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1">#机器人工具箱</gydF4y2Baspan><span class="n">import_install</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“cv2”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“opencv-contrib-python”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#设置</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#退出前需要处理多少帧。-1表示无限。</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s2">“相机”</gydF4y2Baspan><span class="n">DISPLAY_SETTINGS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">RoboDK -零件方向参数</gydF4y2Baspan><span class="n">DISPLAY_RESULT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="n">WDW_NAME_RESULTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RoboDK -零件定位”</gydF4y2Baspan><span class="n">DRAW_AXIS_LENGTH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">30.</gydF4y2Baspan><span class="n">THRESH_MIN</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">50</gydF4y2Baspan><span class="n">THRESH_MAX</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="n">LENGTH_MIN</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="n">LENGTH_MAX</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">400</gydF4y2Baspan><span class="n">AREA_MIN</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">400</gydF4y2Baspan><span class="n">AREA_MAX</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">1000</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">从RoboDK那里拿到模拟摄像机</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="ne">异常</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“找不到相机!”</gydF4y2Baspan><span class="si">% s</gydF4y2Baspan><span class="s2">”</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">CAM_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“开放”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#强制打开相机视图</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#启动摄像头馈送。</gydF4y2Baspan><span class="c1">#如果您正在使用连接的设备，请使用cv。视频捕捉，以获得现场直播。</gydF4y2Baspan><span class="c1"># https://docs.opencv.org/master/d8/dfe/classcv_1_1VideoCapture.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1"># capture = cv. videoccapture (0)</gydF4y2Baspan><span class="c1"># retval, image = capture.read()</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#创建一个可调整大小的结果窗口，带有参数滑块</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">DISPLAY_RESULT</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">namedWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME_RESULTS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">DISPLAY_SETTINGS</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">没有什么</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">通过</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">namedWindow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“打</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">THRESH_MIN</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">没有什么</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“打</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">THRESH_MAX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">没有什么</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的长度</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">LENGTH_MIN</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1000</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">没有什么</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的长度</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">LENGTH_MAX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">没有什么</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的区域</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">AREA_MIN</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1000</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">没有什么</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">createTrackbar</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的区域</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">AREA_MAX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2500</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">没有什么</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#处理相机帧</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">PROCESS_COUNT</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">数</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">从RoboDK获取镜像(从5.3.0开始)</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="sa">b</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="c1">#来自RoboDK的图像是BGR, uchar， (h,w,3)</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">frombuffer</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint8</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imdecode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">IMREAD_UNCHANGED</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">形状</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#获取此迭代的滑块值</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">DISPLAY_SETTINGS</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">THRESH_MIN</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getTrackbarPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“打</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">THRESH_MAX</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getTrackbarPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“打</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">LENGTH_MIN</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getTrackbarPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的长度</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">LENGTH_MAX</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getTrackbarPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的长度</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">AREA_MIN</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getTrackbarPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的区域</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最小值的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">AREA_MAX</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getTrackbarPos</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">的区域</gydF4y2Baspan><span class="se">\ n</gydF4y2Baspan><span class="s1">最大的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">WDW_NAME_PARAMS</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#提取特征最简单的方法是根据背景设置阈值</gydF4y2Baspan><span class="c1">深色背景上的浅色部分效果最佳，反之亦然</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img_bw</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">阈值</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cvtColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">COLOR_BGR2GRAY</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">THRESH_MIN</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">THRESH_MAX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">THRESH_BINARY</gydF4y2Baspan><span class="o">|</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">THRESH_OTSU</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#查找并解析二进制图像中的所有轮廓</gydF4y2Baspan><span class="n">轮廓</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">＿</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">findContours</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img_bw</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RETR_LIST</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">CHAIN_APPROX_NONE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">c</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="nb">列举</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">轮廓</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="n">拒绝</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="c1">#计算轮廓的长度(只适用于CHAIN_APPROX_NONE)</gydF4y2Baspan><span class="n">长度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">len</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">c</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">长度</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">LENGTH_MIN</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">长度</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="n">LENGTH_MAX</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">拒绝</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#计算轮廓的面积</gydF4y2Baspan><span class="n">区域</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">contourArea</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">c</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">区域</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">AREA_MIN</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">区域</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="n">AREA_MAX</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">拒绝</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">创建轮廓线的边界框</gydF4y2Baspan><span class="n">矩形</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">minAreaRect</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">c</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">中心</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">矩形</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">矩形</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">矩形</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">矩形</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">] [</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">弧度</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">矩形</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#角度为[0,90]，从水平方向到框的左下和右下边缘</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mf">2.0</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="o">></gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="o">- =</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#你也可以最适合一个椭圆，并使用它的角度</gydF4y2Baspan><span class="c1">#if length > 4:</gydF4y2Baspan><span class="c1"># well = cv.fitEllipse(c)</gydF4y2Baspan><span class="c1"># center = (ell[0][0]， ell[0][1])</gydF4y2Baspan><span class="c1"># width = ell[1][0]</gydF4y2Baspan><span class="c1"># height = ell[1][1]</gydF4y2Baspan><span class="c1"># Angle = np.radians(ell[2])</gydF4y2Baspan><span class="c1"># if width < height: 2;</gydF4y2Baspan><span class="c1">#角度+= PI / 2.0</gydF4y2Baspan><span class="c1"># if angle2 > pi:</gydF4y2Baspan><span class="c1"># Angle -= PI</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#用你的探测做点什么!</gydF4y2Baspan><span class="c1">这里有几个例子:</gydF4y2Baspan><span class="c1">如果零件的方向与预期不同，则拒绝</gydF4y2Baspan><span class="c1">如果零件的面积太小，就拒绝它</gydF4y2Baspan><span class="c1"># -计算机器人的旋转角度来挑选一个零件</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#向用户显示检测结果(参考图像和相机图像并列显示检测结果)</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">DISPLAY_RESULT</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">颜色</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">拒绝</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">颜色</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">绘制边界框</gydF4y2Baspan><span class="n">盒子</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">boxPoints</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">矩形</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">盒子</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">int0</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">盒子</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawContours</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">盒子</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">颜色</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#绘制轮廓线</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">drawContours</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">轮廓</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">颜色</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">拒绝</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">旋转</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">起源</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="sd">"""绕一个给定原点逆时针旋转一个给定的角度(弧度)。"”“</gydF4y2Baspan><span class="n">牛</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">oy</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">起源</gydF4y2Baspan><span class="n">px</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">py</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="n">qx、</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">牛</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">数学</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">因为</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">px</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">牛</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">数学</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">罪</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">py</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">oy</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">qy</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">oy</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">数学</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">罪</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">px</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">牛</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">数学</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">因为</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">py</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="n">oy</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">qx、</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">qy</gydF4y2Baspan><span class="c1">#构造轴参数</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">中心</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="n">DRAW_AXIS_LENGTH</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">旋转</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">旋转</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mf">2.0</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">)))</gydF4y2Baspan><span class="c1">#绘制方向向量</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">圆</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">arrowedLine</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">x_axis</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">LINE_AA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">arrowedLine</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">y_axis</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">LINE_AA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#绘制角度</gydF4y2Baspan><span class="n">标签</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="si">% 0.1度</gydF4y2Baspan><span class="s1">＇</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">度</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">角</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">putText</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">标签</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="mi">30.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">center_pt</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]),</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">FONT_HERSHEY_SIMPLEX</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.7</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">255</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">LINE_AA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME_RESULTS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">img</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">waitKey</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">27</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户按下ESC，退出</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getWindowProperty</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">WDW_NAME_RESULTS</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">WND_PROP_VISIBLE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="c1">#用户杀死主窗口，退出</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">destroyAllWindows</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> </div> </div> <div class="section" id="depth-camera-3d"> <h2><span class="section-number">6.31.</gydF4y2Baspan>深度相机(3D)<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#depth-camera-3d" title="¶”>gydF4y2Ba¶</一个></h2><div class="section" id="depth-map"> <h3><span class="section-number">6.31.1.</gydF4y2Baspan>深度图<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#depth-map" title="¶”>gydF4y2Ba¶</一个></h3.><p>这个例子展示了如何检索和显示模拟相机的32位深度图。</p><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/example_depth_camera.png"><img alt="_images / example_depth_camera.png”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/example_depth_camera.png" style="width: 60%;"></a> <div class="literal-block-wrapper docutils container" id="depth-camera"> <div class="code-block-caption"> <span class="caption-text">深度相机</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#depth-camera" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><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。</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="c1"># RoboDK API</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">tempfile</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">TemporaryDirectory</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">matplotlib</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">pyplot</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="n">plt</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">从RoboDK那里拿到模拟摄像机</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“深度相机”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Add</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ActiveStation</gydF4y2Baspan><span class="p">()，</gydF4y2Baspan><span class="s1">“深度”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“深度相机”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“开放”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#从RoboDK获取图像</gydF4y2Baspan><span class="n">道明</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">TemporaryDirectory</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">前缀</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“robodk_”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">道明</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">名字</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">' / temp.grey32 '</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">grey32</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">fromfile</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">dtype</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">> u4的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">grey32</gydF4y2Baspan><span class="p">[:</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">grey32</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">flipud</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">重塑</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">grey32</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">:,</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">提高</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#显示</gydF4y2Baspan><span class="n">grey32</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">grey32</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="o">**</gydF4y2Baspan><span class="mi">32</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="c1">#这只是为了显示!0的值没有任何测量值。</gydF4y2Baspan><span class="n">plt</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imshow</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">grey32</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“灰色”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">plt</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">显示</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="mesh-reconstruction"> <h3><span class="section-number">6.31.2.</gydF4y2Baspan>网格重建<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#mesh-reconstruction" title="¶”>gydF4y2Ba¶</一个></h3.><p>这个例子展示了如何使用Open3D将深度图转换为网格对象。使用斯坦福兔和RoboDK模拟相机，您可以提取32位深度图，将其转换为点云，近似网格，在3D查看器中可视化，并将对象导入RoboDK。</p><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/DepthCameraOpen3D.png"><img alt="_images / DepthCameraOpen3D.png”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/DepthCameraOpen3D.png" style="width: 60%;"></a> <div class="literal-block-wrapper docutils container" id="id12"> <div class="code-block-caption"> <span class="caption-text">网格重建</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id12" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">这个例子展示了如何从一个模拟相机的32位深度图重建一个网格。</gydF4y2Baspan><span class="c1">它使用Open3D将深度图转换为点云，重建网格并进行可视化。</gydF4y2Baspan><span class="c1">左键点击视图，在查看器中移动网格。</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">tempfile</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="n">TemporaryDirectory</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">open3d</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">o3d</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">你可能需要根据对象/设置来调整这些设置</gydF4y2Baspan><span class="n">CAMERA_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RGB-D相机”</gydF4y2Baspan><span class="n">O3D_NORMALS_K_SIZE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="n">O3D_MESH_POISSON_DEPTH</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">9</gydF4y2Baspan><span class="n">O3D_MESH_DENSITIES_QUANTILE</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mf">0.05</gydF4y2Baspan><span class="n">O3D_DISPLAY_POINTS</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="n">O3D_DISPLAY_WIREFRAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">从RoboDK那里拿到模拟摄像机</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAMERA_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Add</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ActiveStation</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAMERA_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“开放”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#检索相机设置/相机矩阵</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">settings_to_dict</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="p">｛｝</gydF4y2Baspan><span class="n">settings_dict</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">｛｝</gydF4y2Baspan><span class="n">settings_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">分裂</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“=”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">带</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">分裂</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">' '</gydF4y2Baspan><span class="p">）]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">settings_list</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">上</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“视场”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“PIXELSIZE”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“FOCAL_LENGTH”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“FAR_LENGTH”</gydF4y2Baspan><span class="p">]：</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">浮动</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“大小”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“ACTUALSIZE”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“快照”</gydF4y2Baspan><span class="p">]：</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">分裂</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“x”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">上</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#国旗</gydF4y2Baspan><span class="n">settings_dict</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">settings_dict</gydF4y2Baspan><span class="n">cam_settings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">settings_to_dict</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“设置”</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cam_settings</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“大小”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">财政年度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">棕褐色</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">弧度</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_settings</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“视场”</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">cam_mtx</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">相机</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PinholeCameraIntrinsic</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">外汇</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">财政年度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">财政年度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">财政年度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">残雪</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cy</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_pose</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">getLink</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">ITEM_TYPE_FRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#获取深度图</gydF4y2Baspan><span class="c1">方法一:使用socket (required RoboDK v5.4.3-2022-06-20)</gydF4y2Baspan><span class="n">depth32_socket</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“深度”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="nb">isinstance</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">字节</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">! =</gydF4y2Baspan><span class="sa">b</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#按插座</gydF4y2Baspan><span class="n">depth32_socket</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">frombuffer</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">dtype</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">> u4的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">depth32_socket</gydF4y2Baspan><span class="p">[:</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">depth32_socket</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">flipud</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">重塑</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">depth32_socket</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">:,</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">astype</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#方法二:从磁盘</gydF4y2Baspan><span class="n">depth32_disk</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="k">与</gydF4y2Baspan><span class="n">TemporaryDirectory</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">前缀</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“robodk_”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="n">道明</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">道明</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">' / temp.grey32 '</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“深度”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">depth32_disk</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">fromfile</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">dtype</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">> u4的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">depth32_disk</gydF4y2Baspan><span class="p">[:</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">depth32_disk</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">flipud</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">重塑</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">depth32_disk</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">:,</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">astype</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#缩放</gydF4y2Baspan><span class="n">深度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">depth32_socket</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">iinfo</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">马克斯</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">cam_settings</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“FAR_LENGTH”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">深度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">深度</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">astype</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">float32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">转换为点云，近似网格</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">几何</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PointCloud</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">create_from_depth_image</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">几何</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">深度</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">cam_mtx</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">变换</gydF4y2Baspan><span class="p">([[</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]])</gydF4y2Baspan><span class="c1">#与相机视图对齐</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">estimate_normals</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">orient_normals_consistent_tangent_plane</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">O3D_NORMALS_K_SIZE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">mesh_poisson</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">密度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">几何</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">TriangleMesh</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">create_from_point_cloud_poisson</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">深度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">O3D_MESH_POISSON_DEPTH</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">vertices_to_remove</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">密度</gydF4y2Baspan><span class="o"><</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">分位数</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">密度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">O3D_MESH_DENSITIES_QUANTILE</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">mesh_poisson</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">remove_vertices_by_mask</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">vertices_to_remove</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">mesh_poisson</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">paint_uniform_color</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#把它展示给全世界!</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">可视化</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">draw_geometries</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mesh_poisson</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">O3D_DISPLAY_POINTS</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">mesh_poisson</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="n">mesh_show_back_face</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mesh_show_wireframe</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">O3D_DISPLAY_WIREFRAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#将网格导入RoboDK</gydF4y2Baspan><span class="k">与</gydF4y2Baspan><span class="n">TemporaryDirectory</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">前缀</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“robodk_”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="n">道明</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">道明</gydF4y2Baspan><span class="o">+</gydF4y2Baspan><span class="s1">' / mesh.ply '</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">io</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">write_triangle_mesh</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">mesh_poisson</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">write_ascii</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">mesh_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">AddFile</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">特遣部队</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">mesh_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_pose</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">rotx</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">π</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">mesh_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">改变颜色</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mf">0.5</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">mesh_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“重建网格”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan></pre> </div> </div> </div> </div> <div class="section" id="rgb-d-livestream"> <h3><span class="section-number">6.31.3.</gydF4y2Baspan>RGB-D转播画面<一个类＝”headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#rgb-d-livestream" title="¶”>gydF4y2Ba¶</一个></h3.><p>这个例子展示了如何使用Open3D在3D中可视化RGB-D相机。使用斯坦福兔和RoboDK模拟相机，您可以提取32位深度图，将其转换为点云并在3D查看器中可视化。</p><一个类＝”reference internal image-reference" href="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/RGBDCameraOpen3D.png"><img alt="_images / RGBDCameraOpen3D.png”类＝”一个lign-center" src="//m.sinclairbody.com/www/doc/en/PythonAPI/_images/RGBDCameraOpen3D.png" style="width: 60%;"></a> <div class="literal-block-wrapper docutils container" id="id13"> <div class="code-block-caption"> <span class="caption-text">RGB-D转播画面</gydF4y2Baspan> <a class="headerlink" href="//m.sinclairbody.com/www/doc/en/PythonAPI/#id13" title="¶”>gydF4y2Ba¶</一个></div> <div class="highlight-default notranslate"> <div class="highlight"> <pre><span></span><span class="c1">输入help("robolink")或help("robodk")获取更多信息</gydF4y2Baspan><span class="c1">#按F5运行脚本</gydF4y2Baspan><span class="c1">#文档://m.sinclairbody.com/doc/en/RoboDK-API.html</gydF4y2Baspan><span class="c1">#参考://m.sinclairbody.com/doc/en/PythonAPI/index.html</gydF4y2Baspan><span class="c1">＃</gydF4y2Baspan><span class="c1">这个例子展示了如何检索RGB和Depth图像，以便在3D中使用模拟相机来可视化彩色点云。</gydF4y2Baspan><span class="c1">#它使用Open3D将深度图转换为点云并进行可视化。</gydF4y2Baspan><span class="c1">左键点击视图，在查看器中移动网格。</gydF4y2Baspan><span class="kn">从</gydF4y2Baspan><span class="nn">robodk.robolink</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">numpy</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">np</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">open3d</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">o3d</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">cv2</gydF4y2Baspan><span class="k">作为</gydF4y2Baspan><span class="nn">简历</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">你可能需要根据对象/设置来调整这些设置</gydF4y2Baspan><span class="n">CAMERA_NAME</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">“RGB-D相机”</gydF4y2Baspan><span class="n">ANIMATE_OBJECT</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">从RoboDK那里拿到模拟摄像机</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">Robolink</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">项</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAMERA_NAME</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">ITEM_TYPE_CAMERA</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Add</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ActiveStation</gydF4y2Baspan><span class="p">（））</gydF4y2Baspan><span class="c1">不要在这里设置DEPTH选项，因为我们正在检索RGB和DEPTH图像</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setName</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">CAMERA_NAME</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“开放”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#获取扫描对象，旋转它</gydF4y2Baspan><span class="n">obj_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">ItemUserPick</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">itemtype_or_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">ITEM_TYPE_OBJECT</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">obj_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">有效的</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">obj_item</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">#检索相机设置/相机矩阵</gydF4y2Baspan><span class="k">def</gydF4y2Baspan><span class="nf">settings_to_dict</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="p">）:</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="p">｛｝</gydF4y2Baspan><span class="n">settings_dict</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">｛｝</gydF4y2Baspan><span class="n">settings_list</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">分裂</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“=”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">带</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">分裂</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">' '</gydF4y2Baspan><span class="p">）]</gydF4y2Baspan><span class="k">为</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="n">settings_list</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">上</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">设置</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“视场”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“PIXELSIZE”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“FOCAL_LENGTH”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“FAR_LENGTH”</gydF4y2Baspan><span class="p">]：</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="nb">浮动</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="ow">在</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“大小”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“ACTUALSIZE”</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“快照”</gydF4y2Baspan><span class="p">]：</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">分裂</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“x”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="nb">int</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="k">elif</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">上</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="c1">#国旗</gydF4y2Baspan><span class="n">settings_dict</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="n">关键</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">瓦尔</gydF4y2Baspan><span class="k">返回</gydF4y2Baspan><span class="n">settings_dict</gydF4y2Baspan><span class="n">cam_settings</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">settings_to_dict</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setParam</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s1">“设置”</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">cam_settings</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“大小”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">财政年度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">棕褐色</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">弧度</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">cam_settings</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“视场”</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="n">cam_params</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">相机</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PinholeCameraParameters</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">cam_params</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">内在</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">相机</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PinholeCameraIntrinsic</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">宽度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">高度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">外汇</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">财政年度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">财政年度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">财政年度</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">残雪</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cy</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------</gydF4y2Baspan><span class="c1">初始化非阻塞3D查看器</gydF4y2Baspan><span class="n">力</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">可视化</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">视觉型的人</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="n">力</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">create_window</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">“RoboDK RGB-D查看器”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">源</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="k">而</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#从RoboDK获取RDB+D映像</gydF4y2Baspan><span class="c1">#获取RGB图像</gydF4y2Baspan><span class="n">rgb</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="nb">isinstance</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">字节</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="sa">b</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">frombuffer</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint8</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">rgb</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">imdecode</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">nparr</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">IMREAD_ANYCOLOR</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">rgb</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">cvtColor</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rgb</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">简历</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">COLOR_RGB2BGR</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#获取深度图像</gydF4y2Baspan><span class="n">depth32</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">RDK</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">Cam2D_Snapshot</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="s2">”“</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_item</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="s1">“深度”</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="nb">isinstance</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="nb">字节</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="ow">或</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="sa">b</gydF4y2Baspan><span class="s1">”</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="k">继续</gydF4y2Baspan><span class="n">depth32</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">frombuffer</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">bytes_img</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">dtype</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="s1">> u4的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">depth32</gydF4y2Baspan><span class="p">[:</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">depth32</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">flipud</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">重塑</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">depth32</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">2</gydF4y2Baspan><span class="p">:,</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">h</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">w</gydF4y2Baspan><span class="p">）））</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">astype</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">深度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">depth32</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">iinfo</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">uint32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">马克斯</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">cam_settings</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="s1">“FAR_LENGTH”</gydF4y2Baspan><span class="p">]</gydF4y2Baspan><span class="n">深度</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">深度</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">astype</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">np</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">float32</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">rgbd_image</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">几何</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">RGBDImage</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">create_from_color_and_depth</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">几何</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rgb</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">几何</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">图像</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">深度</gydF4y2Baspan><span class="p">)，</gydF4y2Baspan><span class="n">convert_rgb_to_intensity</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">假</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#转换为点云</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">o3d</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">几何</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">PointCloud</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">create_from_rgbd_image</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">rgbd_image</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">cam_params</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">内在</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">变换</gydF4y2Baspan><span class="p">([[</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="o">-</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">]，</gydF4y2Baspan><span class="p">(</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]])</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">#更新查看器</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">源</gydF4y2Baspan><span class="ow">是</gydF4y2Baspan><span class="kc">没有一个</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">源</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">源</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">点</gydF4y2Baspan><span class="n">源</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">颜色</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">纤毛运动</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">颜色</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">＝＝</gydF4y2Baspan><span class="mi">0</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">力</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">add_geometry</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">源</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">reset_bounding_box</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="kc">真正的</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">其他的</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">力</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">update_geometry</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">源</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="ow">不</gydF4y2Baspan><span class="n">力</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">poll_events</gydF4y2Baspan><span class="p">（）：</gydF4y2Baspan><span class="k">打破</gydF4y2Baspan><span class="n">力</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">update_renderer</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="c1">#----------------------------------------------</gydF4y2Baspan><span class="c1">彩虹色循环并旋转对象</gydF4y2Baspan><span class="k">如果</gydF4y2Baspan><span class="n">ANIMATE_OBJECT</gydF4y2Baspan><span class="ow">和</gydF4y2Baspan><span class="n">obj_item</gydF4y2Baspan><span class="p">：</gydF4y2Baspan><span class="n">obj_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">setPose</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">obj_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">构成</gydF4y2Baspan><span class="p">（）</gydF4y2Baspan><span class="o">＊</gydF4y2Baspan><span class="n">robomath</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">rotz</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="mf">0.05</gydF4y2Baspan><span class="p">））</gydF4y2Baspan><span class="kn">进口</gydF4y2Baspan><span class="nn">colorsys</gydF4y2Baspan><span class="n">r</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">g</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">b</gydF4y2Baspan><span class="o">＝</gydF4y2Baspan><span class="n">colorsys</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">hsv_to_rgb</gydF4y2Baspan><span class="p">（</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">％</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="o">/</gydF4y2Baspan><span class="mi">One hundred.</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">）</gydF4y2Baspan><span class="n">obj_item</gydF4y2Baspan><span class="o">．</gydF4y2Baspan><span class="n">改变颜色</gydF4y2Baspan><span class="p">（[</gydF4y2Baspan><span class="n">r</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">g</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="n">b</gydF4y2Baspan><span class="p">，</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan><span class="p">]）</gydF4y2Baspan><span class="n">我</gydF4y2Baspan><span class="o">+ =</gydF4y2Baspan><span class="mi">1</gydF4y2Baspan></pre> </div> </div> </div> </div> </div> </div> </div> </div> <footer> <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation"> <a href="//m.sinclairbody.com/www/doc/en/PythonAPI/app.html" class="btn btn-neutral float-left" title="以前的”一个ccesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" 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