在 VisionPro 项目开发中使用CogPMAlignTool做模板匹配是最常用的定位手段。默认 PM 工具只能在结果面板查看位姿数据很多场景需要直接在图像上叠加文字标签直观展示匹配目标的 X 坐标、Y 坐标、旋转角度。 VisionPro 的脚本工具UserScript可以自定义绘图逻辑在模板匹配完成后自动把位姿文本绘制到图像上不用借助额外图形工具。下面完整介绍实现思路、源码解析、使用步骤与常见坑点。开发环境VisionPro 9.x/ 10.xC# 脚本ToolBlock 工具组内脚本实现原理在 mToolBlock 脚本的RunTool函数中先执行组内所有工具运行CogPMAlignTool1模板匹配获取 PM 匹配结果集合遍历每一个匹配目标从匹配结果CogPMAlignResult中读取位姿PoseTranslationX、TranslationY、Rotation弧度弧度转角度弧度 × 180 / Math.PI创建CogGraphicLabel文本图形放在匹配目标中心位置设置红色文字将图形存入图形集合gc重写ModifyLastRunRecord方法把图形添加到运行记录图像窗口即可看到叠加文字。CogPAMlignTool的脚本函数1. 图形集合CogGraphicCollection gc new CogGraphicCollection();全局图形容器每次 Run 先 Clear防止多次运行图形叠加存储所有文本标签。2. 读取 PM 匹配位姿double x pma.Results[i].GetPose().TranslationX; double y pma.Results[i].GetPose().TranslationY; double angle pma.Results[i].GetPose().Rotation * 180 / Math.PI;PM 匹配输出旋转为弧度需要乘以180/Math.PI转为角度GetPose()获取目标在图像坐标系下的位姿。3. CogGraphicLabel 文本绘制CogGraphicLabel label new CogGraphicLabel(); // 获取匹配位姿X、Y平移旋转弧度 double x pma.Results[i].GetPose().TranslationX; double y pma.Results[i].GetPose().TranslationY; double angle pma.Results[i].GetPose().Rotation * 180 / Math.PI; // 拼接文本保留2位小数 string str X: x.ToString(F2) , Y: y.ToString(F2) , θ: angle.ToString(F2) °; // 设置文本绘制坐标与文字内容 label.SetXYText(x,y,str); // 设置文字颜色为绿色 label.Color CogColorConstants.Green; // 设置字体宋体12号 label.Font new Font(宋体,12); // 将标签加入图形集合 gc.Add(label);SetXYText(x,y,str)在指定图像坐标 (x,y) 位置绘制文本CogColorConstants.GreenVisionPro 内置颜色常量Font(宋体,12)自定义字体字号。4. ModifyLastRunRecord 绘图回调// 将图形集合里所有标注添加到图像运行记录 foreach(ICogGraphic g in gc) { // 参数说明图形对象运行记录绑定图像源图层名称 mToolBlock.AddGraphicToRunRecord(g,lastRecord,CogPMAlignTool1.InputImage,); }AddGraphicToRunRecord将图形挂载到指定工具的输入图像记录。⚠️注意第二个参数CogPMAlignTool1.InputImage必须和 ToolBlock 内部 PM 工具名称保持一致如果你的 PM 工具改名这里字符串同步修改否则图形无法显示。CogToolBlock工具高级脚本完整代码#region namespace imports using System; using System.Collections; using System.Drawing; using System.IO; using System.Windows.Forms; using Cognex.VisionPro; using Cognex.VisionPro.ToolBlock; using Cognex.VisionPro3D; using Cognex.VisionPro.PMAlign; #endregion public class CogToolBlockAdvancedScript : CogToolBlockAdvancedScriptBase { #region Private Member Variables private Cognex.VisionPro.ToolBlock.CogToolBlock mToolBlock; CogGraphicCollection gc new CogGraphicCollection(); #endregion /// summary /// Called when the parent tool is run. /// Add code here to customize or replace the normal run behavior. /// /summary /// param namemessageSets the Message in the tools RunStatus./param /// param nameresultSets the Result in the tools RunStatus/param /// returnsTrue if the tool should run normally, /// False if GroupRun customizes run behavior/returns public override bool GroupRun(ref string message, ref CogToolResultConstants result) { // To let the execution stop in this script when a debugger is attached, uncomment the following lines. // #if DEBUG // if (System.Diagnostics.Debugger.IsAttached) System.Diagnostics.Debugger.Break(); // #endif // Run each tool using the RunTool function foreach(ICogTool tool in mToolBlock.Tools) mToolBlock.RunTool(tool, ref message, ref result); gc.Clear(); CogPMAlignTool pma mToolBlock.Tools[0] as CogPMAlignTool; for(int i 0; i pma.Results.Count; i ) { CogGraphicLabel label new CogGraphicLabel(); double x pma.Results[i].GetPose().TranslationX; double y pma.Results[i].GetPose().TranslationY; double angle pma.Results[i].GetPose().Rotation * 180 / Math.PI; string str X: x.ToString(F2) , Y: y.ToString(F2) , θ: angle.ToString(F2) °; label.SetXYText(x,y,str); label.Color CogColorConstants.Green; label.Font new Font(宋体,12); gc.Add(label); } return false; } #region When the Current Run Record is Created /// summary /// Called when the current record may have changed and is being reconstructed /// /summary /// param namecurrentRecord /// The new currentRecord is available to be initialized or customized./param public override void ModifyCurrentRunRecord(Cognex.VisionPro.ICogRecord currentRecord) { } #endregion #region When the Last Run Record is Created /// summary /// Called when the last run record may have changed and is being reconstructed /// /summary /// param namelastRecord /// The new last run record is available to be initialized or customized./param public override void ModifyLastRunRecord(Cognex.VisionPro.ICogRecord lastRecord) { foreach(ICogGraphic g in gc) { mToolBlock.AddGraphicToRunRecord(g,lastRecord,CogPMAlignTool1.InputImage,); } } #endregion #region When the Script is Initialized /// summary /// Perform any initialization required by your script here /// /summary /// param namehostThe host tool/param public override void Initialize(Cognex.VisionPro.ToolGroup.CogToolGroup host) { // DO NOT REMOVE - Call the base class implementation first - DO NOT REMOVE base.Initialize(host); // Store a local copy of the script host this.mToolBlock ((Cognex.VisionPro.ToolBlock.CogToolBlock)(host)); } #endregion }五、部署步骤VisionPro 操作在 ToolBlock 内添加CogPMAlignTool模板匹配工具训练模板打开 ToolBlock 脚本编辑器选择Advanced Script 高级脚本粘贴代码核对 PM 工具名称脚本中CogPMAlignTool1.InputImage和工具名匹配运行 ToolBlock图像窗口会在每个匹配目标位置显示 X/Y/ 角度绿色文字支持多目标找到多少个匹配就生成多少组文本标注。 
长河君 · 2026/10/26 1:47:17 · 阅读 1.2k 机器视觉VisionPro高级用法——如何使用脚本工具显示CogPMAlignTool工具的X坐标、Y坐标、角度
在 VisionPro 项目开发中使用CogPMAlignTool做模板匹配是最常用的定位手段。默认 PM 工具只能在结果面板查看位姿数据很多场景需要直接在图像上叠加文字标签直观展示匹配目标的 X 坐标、Y 坐标、旋转角度。 VisionPro 的脚本工具UserScript可以自定义绘图逻辑在模板匹配完成后自动把位姿文本绘制到图像上不用借助额外图形工具。下面完整介绍实现思路、源码解析、使用步骤与常见坑点。开发环境VisionPro 9.x/ 10.xC# 脚本ToolBlock 工具组内脚本实现原理在 mToolBlock 脚本的RunTool函数中先执行组内所有工具运行CogPMAlignTool1模板匹配获取 PM 匹配结果集合遍历每一个匹配目标从匹配结果CogPMAlignResult中读取位姿PoseTranslationX、TranslationY、Rotation弧度弧度转角度弧度 × 180 / Math.PI创建CogGraphicLabel文本图形放在匹配目标中心位置设置红色文字将图形存入图形集合gc重写ModifyLastRunRecord方法把图形添加到运行记录图像窗口即可看到叠加文字。CogPAMlignTool的脚本函数1. 图形集合CogGraphicCollection gc new CogGraphicCollection();全局图形容器每次 Run 先 Clear防止多次运行图形叠加存储所有文本标签。2. 读取 PM 匹配位姿double x pma.Results[i].GetPose().TranslationX; double y pma.Results[i].GetPose().TranslationY; double angle pma.Results[i].GetPose().Rotation * 180 / Math.PI;PM 匹配输出旋转为弧度需要乘以180/Math.PI转为角度GetPose()获取目标在图像坐标系下的位姿。3. CogGraphicLabel 文本绘制CogGraphicLabel label new CogGraphicLabel(); // 获取匹配位姿X、Y平移旋转弧度 double x pma.Results[i].GetPose().TranslationX; double y pma.Results[i].GetPose().TranslationY; double angle pma.Results[i].GetPose().Rotation * 180 / Math.PI; // 拼接文本保留2位小数 string str X: x.ToString(F2) , Y: y.ToString(F2) , θ: angle.ToString(F2) °; // 设置文本绘制坐标与文字内容 label.SetXYText(x,y,str); // 设置文字颜色为绿色 label.Color CogColorConstants.Green; // 设置字体宋体12号 label.Font new Font(宋体,12); // 将标签加入图形集合 gc.Add(label);SetXYText(x,y,str)在指定图像坐标 (x,y) 位置绘制文本CogColorConstants.GreenVisionPro 内置颜色常量Font(宋体,12)自定义字体字号。4. ModifyLastRunRecord 绘图回调// 将图形集合里所有标注添加到图像运行记录 foreach(ICogGraphic g in gc) { // 参数说明图形对象运行记录绑定图像源图层名称 mToolBlock.AddGraphicToRunRecord(g,lastRecord,CogPMAlignTool1.InputImage,); }AddGraphicToRunRecord将图形挂载到指定工具的输入图像记录。⚠️注意第二个参数CogPMAlignTool1.InputImage必须和 ToolBlock 内部 PM 工具名称保持一致如果你的 PM 工具改名这里字符串同步修改否则图形无法显示。CogToolBlock工具高级脚本完整代码#region namespace imports using System; using System.Collections; using System.Drawing; using System.IO; using System.Windows.Forms; using Cognex.VisionPro; using Cognex.VisionPro.ToolBlock; using Cognex.VisionPro3D; using Cognex.VisionPro.PMAlign; #endregion public class CogToolBlockAdvancedScript : CogToolBlockAdvancedScriptBase { #region Private Member Variables private Cognex.VisionPro.ToolBlock.CogToolBlock mToolBlock; CogGraphicCollection gc new CogGraphicCollection(); #endregion /// summary /// Called when the parent tool is run. /// Add code here to customize or replace the normal run behavior. /// /summary /// param namemessageSets the Message in the tools RunStatus./param /// param nameresultSets the Result in the tools RunStatus/param /// returnsTrue if the tool should run normally, /// False if GroupRun customizes run behavior/returns public override bool GroupRun(ref string message, ref CogToolResultConstants result) { // To let the execution stop in this script when a debugger is attached, uncomment the following lines. // #if DEBUG // if (System.Diagnostics.Debugger.IsAttached) System.Diagnostics.Debugger.Break(); // #endif // Run each tool using the RunTool function foreach(ICogTool tool in mToolBlock.Tools) mToolBlock.RunTool(tool, ref message, ref result); gc.Clear(); CogPMAlignTool pma mToolBlock.Tools[0] as CogPMAlignTool; for(int i 0; i pma.Results.Count; i ) { CogGraphicLabel label new CogGraphicLabel(); double x pma.Results[i].GetPose().TranslationX; double y pma.Results[i].GetPose().TranslationY; double angle pma.Results[i].GetPose().Rotation * 180 / Math.PI; string str X: x.ToString(F2) , Y: y.ToString(F2) , θ: angle.ToString(F2) °; label.SetXYText(x,y,str); label.Color CogColorConstants.Green; label.Font new Font(宋体,12); gc.Add(label); } return false; } #region When the Current Run Record is Created /// summary /// Called when the current record may have changed and is being reconstructed /// /summary /// param namecurrentRecord /// The new currentRecord is available to be initialized or customized./param public override void ModifyCurrentRunRecord(Cognex.VisionPro.ICogRecord currentRecord) { } #endregion #region When the Last Run Record is Created /// summary /// Called when the last run record may have changed and is being reconstructed /// /summary /// param namelastRecord /// The new last run record is available to be initialized or customized./param public override void ModifyLastRunRecord(Cognex.VisionPro.ICogRecord lastRecord) { foreach(ICogGraphic g in gc) { mToolBlock.AddGraphicToRunRecord(g,lastRecord,CogPMAlignTool1.InputImage,); } } #endregion #region When the Script is Initialized /// summary /// Perform any initialization required by your script here /// /summary /// param namehostThe host tool/param public override void Initialize(Cognex.VisionPro.ToolGroup.CogToolGroup host) { // DO NOT REMOVE - Call the base class implementation first - DO NOT REMOVE base.Initialize(host); // Store a local copy of the script host this.mToolBlock ((Cognex.VisionPro.ToolBlock.CogToolBlock)(host)); } #endregion }五、部署步骤VisionPro 操作在 ToolBlock 内添加CogPMAlignTool模板匹配工具训练模板打开 ToolBlock 脚本编辑器选择Advanced Script 高级脚本粘贴代码核对 PM 工具名称脚本中CogPMAlignTool1.InputImage和工具名匹配运行 ToolBlock图像窗口会在每个匹配目标位置显示 X/Y/ 角度绿色文字支持多目标找到多少个匹配就生成多少组文本标注。