public void Run()
{
try
{
// Set running to true so main GUI knows that plugin has not finished
this.Running = true;
this.testThread = Thread.CurrentThread;
// Repeatedly move and snap image
for (int i = 0; i < this.repetitions; i++)
{
this.camera.Snap(this.path + "\\repeatability-" + i + ".bmp");
// Move actuator out and back
this.motor.MoveRel(this.distance);
this.motor.WaitForEndOfMove();
Thread.Sleep(200);
this.motor.MoveRel(-this.distance);
this.motor.WaitForEndOfMove();
Thread.Sleep(200);
}
this.camera.Snap(this.path + "\\repeatability-" + this.repetitions + ".bmp");
var imgProccessing = new MatlabDFTRegistration.DFTRegistration();
MWArray[] argsOut = imgProccessing.get_offsets(2, this.path);
double[,] dx = (double[, ])argsOut[0].ToArray();
double[,] dy = (double[, ])argsOut[1].ToArray();
double stdX = this.CalculateStdev(dx);
double stdY = this.CalculateStdev(dy);
MessageBox.Show(string.Format("Standard deviation x: {0:0.00}, y: {1:0.00}", stdX, stdY));
using (StreamWriter file = new StreamWriter(this.path + "\\results.csv"))
{
for (int r = 0; r < dx.GetLength(0); r++)
{
double dxi = this.camera.Scale * dx[r, 0];
double dyi = this.camera.Scale * dy[r, 0];
file.WriteLine(dxi.ToString() + "," + dyi.ToString());
}
}
}
catch (ThreadInterruptedException e)
{
return;
}
}
/// <summary>
/// Moves actuators and captures images for calibration
/// </summary>
public void Run()
{
try
{
// Create image processing Matlab object
var imgProccessing = new MatlabDFTRegistration.DFTRegistration();
// Set running to true so main GUI knows that plugin has not finished
this.Running = true;
this.testThread = Thread.CurrentThread;
int moves = 10;
double moveDist = (this.camera.Width / 2) / moves;
double[] Positions = new double[moves + 1];
// Snap reference image (stage centered)
this.camera.Snap(this.path + "\\scaling-0.bmp");
// Move stage to left end of motion
this.xMotor.MoveRel(-moves / 2 * moveDist);
this.xMotor.WaitForEndOfMove();
// Repeatedly move right and snap image
for (int i = 0; i < moves; i++)
{
this.camera.Snap(path + "\\scaling-x-" + i + ".bmp");
Positions[i] = moveDist * (-moves / 2 + i);
// Move actuator out and back
this.xMotor.MoveRel(moveDist);
this.xMotor.WaitForEndOfMove();
Thread.Sleep(200);
}
Positions[moves] = moveDist * moves / 2;
this.camera.Snap(path + "\\scaling-x-" + moves + ".bmp");
// Move stage to top end of motion
this.xMotor.MoveRel(-moves / 2 * moveDist);
this.xMotor.WaitForEndOfMove();
this.yMotor.MoveRel(-moves / 2 * moveDist);
this.yMotor.WaitForEndOfMove();
// Repeatedly move down and snap image
for (int i = 0; i < moves; i++)
{
this.camera.Snap(path + "\\scaling-y-" + i + ".bmp");
// Move actuator out and back
this.yMotor.MoveRel(moveDist);
this.yMotor.WaitForEndOfMove();
Thread.Sleep(200);
}
this.camera.Snap(path + "\\scaling-y-" + moves + ".bmp");
// Call image processing routine to get pixel offsets of each image
MWArray[] argsOut = imgProccessing.get_offsets(2, this.path);
double[,] dx = (double[, ])argsOut[0].ToArray();
double[,] dy = (double[, ])argsOut[1].ToArray();
double[,] PixelXX = new double[moves + 1, 1];
double[,] PixelXY = new double[moves + 1, 1];
double[,] PixelYY = new double[moves + 1, 1];
double[,] PixelYX = new double[moves + 1, 1];
Array.Copy(dx, 1, PixelXX, 0, moves + 1);
Array.Copy(dy, 1, PixelXX, 0, moves + 1);
Array.Copy(dy, 2 + moves, PixelXX, 0, moves + 1);
Array.Copy(dx, 2 + moves, PixelXX, 0, moves + 1);
double scaleXX, scaleXY, scaleYY, scaleYX;
double offsetXX, offsetXY, offsetYY, offsetYX;
double rsqXX = CameraCalibration.FindLinearLeastSquaresFit(Positions, PixelXX, out scaleXX, out offsetXX);
double rsqXY = CameraCalibration.FindLinearLeastSquaresFit(Positions, PixelXY, out scaleXY, out offsetXY);
double rsqYY = CameraCalibration.FindLinearLeastSquaresFit(Positions, PixelYY, out scaleYY, out offsetYY);
double rsqYX = CameraCalibration.FindLinearLeastSquaresFit(Positions, PixelYX, out scaleYX, out offsetYX);
// Write results to file
using (StreamWriter file = new StreamWriter(this.path + "\\results.csv"))
{
file.WriteLine("\"X Position\",\"Y Position\",\"Pixel X\",\"Pixel Y\"");
for (int r = 0; r < moves + 1; r++)
{
double dxi = dx[r + 1, 0];
double dyi = dy[r + 1, 0];
file.WriteLine(Positions[r] + ",0," + dxi.ToString() + "," + dyi.ToString());
}
for (int r = 0; r < moves + 1; r++)
{
double dxi = dx[r + moves + 2, 0];
double dyi = dy[r + moves + 2, 0];
file.WriteLine("0," + Positions[r] + "," + dxi.ToString() + "," + dyi.ToString());
}
}
// Display results and ask user to accept calibration
double scale = (scaleXX + scaleYY) / 2;
string resultMsg = string.Format("Scale X:{0:0.00}\tCrosstalk X:{1:0.00}\n" +
"X Scale R^2:{2:0.0000}\tCrosstalk R^2:{3:0.0000}\n" +
"Scale Y:{4:0.00}, Crosstalk Y:{5:0.00}\n" +
"Y Scale R^2:{6:0.0000}\tCrosstalk R^2:{7:0.0000}",
scaleXX, scaleXY, rsqXX, rsqXY,
scaleYY, scaleYX, rsqYY, rsqYX);
DialogResult result = MessageBox.Show(resultMsg, "Results", MessageBoxButtons.YesNo);
if (result == DialogResult.OK)
{
this.camera.SetScale(this.rccm, scale);
}
}
catch (ThreadInterruptedException e)
{
return;
}
}
