/// <summary>
/// 此相机算法单元结果
/// </summary>
/// <param name="par"></param>
/// <param name="baseParCalibrate"></param>
/// <param name="fun"></param>
public void GetCellResultValue(ParGetResultFromCell par, BaseParCalibrate baseParCalibrate, HashAction fun)
{
try
{
Hashtable htResult = null;
ParCellExeReference parCellExecuteReferenceForMult = baseParCalibrate.g_ParCellExecuteReferenceForMult;
g_BaseDealComprehensive.DealComprehensivePosCell_ForTestRun(g_UCDisplayCamera, baseParCalibrate.g_ParCellExecuteReferenceForMult, parCellExecuteReferenceForMult.g_CellExecute_L, out htResult);//执行算法但不显示
if (fun != null)
{
fun(htResult);//刷新列表显示
}
////刷新当前图像
//g_BaseDealComprehensive.RefreshCurrImage();
//foreach (CellReference cellReference in baseParCalibrate.g_ParCellExecuteReferenceForMult.g_CellExecute_L)
//{
// g_BaseDealComprehensive.RefreshHobject(cellReference.NameCell);
// g_BaseDealComprehensive.RefreshShape(cellReference.NameCell);
// g_BaseDealComprehensive.RefreshResultInfo(cellReference.NameCell);
//}
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
}
}
/// <summary>
/// 自动校准旋转中心,1401表示位置1第一次拍照，
/// </summary>
/// <param name="pos">算子序号，不表示拍照位置</param>
/// <param name="index"></param>
/// <param name="htResult">哈希表结果</param>
/// <returns></returns>
bool CalibRotate(int pos, int index, out Hashtable htResult)
{
htResult = null;
Stopwatch sw = new Stopwatch();
try
{
//获取该算子所有的单元格
List <string> nameCell_L = g_BaseParComprehensive.GetAllNameCellByType("旋转中心变换");
if (nameCell_L.Count < pos)
{
WinMsgBox.ShowMsgBox("算子个数小于序号!");
return(false);
}
string nameCell = nameCell_L[pos - 1];//单元格名称
ParCalibRotate par = g_BaseParComprehensive.GetCellParCalibrate(nameCell) as ParCalibRotate;
int indexCell = int.Parse(nameCell.Replace("C", ""));//单元格索引
ParCellExeReference parCellExeReference = par.g_ParCellExecuteReference;
ParGetResultFromCell parGetResultFromCell = par.g_ParGetResultFromCellForRC;//用来计算旋转中心
//调用执行
g_BaseDealComprehensive.DealComprehensivePosCell_ForTestRun(g_UCDisplayCamera, parCellExeReference, par.g_ParCellExecuteReference.g_CellExecute_L, out htResult);//执行算法且显示
string cellError = "";
if (!GetErrorCell(htResult, pos, out cellError))
{
WinMsgBox.ShowMsgBox(string.Format("相机{0}位置{1}，单元格{2}校准计算错误", g_NoCamera.ToString(), pos.ToString(), par.NameCell));
return(false);
}
FunCellDataReferenc fun = new FunCellDataReferenc();
fun.GetResultValue(htResult, parGetResultFromCell, index - 1);
string info = string.Format("相机{0}位置{1}，单元格{2}", g_NoCamera.ToString(), pos.ToString(), par.NameCell);
if (index == 1)
{
info += "旋转中心校准第一次拍照";
ShowState(info);
SaveStdImage(par, "旋转中心位置1");
}
else if (index == 2)
{
info += "旋转中心校准第二次拍照";
ShowState(info);
SaveStdImage(par, "旋转中心位置2");
FunCalibRotate funCalibRotate = new FunCalibRotate();
Point2D point = funCalibRotate.GetOriginPoint(par);
par.XRC = point.DblValue1;
par.YRC = point.DblValue2;
//显示求取的旋转中心
info = string.Format("旋转中心:X{0},Y{1}", par.XRC.ToString(), par.YRC.ToString());
ShowState(info);
//保存此单元格
bool blSave = g_BaseParComprehensive.WriteXmlDoc(par.NameCell);
if (blSave)
{
ShowState(string.Format("将参数旋转中心校准{0}保存到本地成功", par.NameCell));
}
else
{
ShowAlarm(string.Format("将参数旋转中心校准{0}保存到本地失败", par.NameCell));
return(false);
}
//将参数保存到结果中
bool blSaveResult = g_BaseDealComprehensive.InitCalibRotate(indexCell);
if (blSaveResult)
{
ShowState(string.Format("将参数旋转中心校准{0}保存到结果成功", par.NameCell));
}
else
{
ShowAlarm(string.Format("将参数旋转中心校准{0}保存到结果失败", par.NameCell));
return(false);
}
}
return(true);
}
catch (Exception ex)
{
ShowAlarm(string.Format("相机{0}旋转中心计算进入Catch", g_NoCamera.ToString()));
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
/// <summary>
/// 自动轴,1301表示位置1第一次拍照，轴坐标的计算是双数点进行保存，轴计算是两个数据表示一根轴，20181111-zx
/// </summary>
/// <param name="pos">算子的序号，并非拍照位置</param>
/// <param name="index"></param>
/// <param name="htResult">哈希表结果</param>
/// <returns></returns>
bool CalibAxis(int pos, int index, out Hashtable htResult)
{
htResult = null;
Stopwatch sw = new Stopwatch();
sw.Restart();
try
{
List <string> nameCell_L = g_BaseParComprehensive.GetAllNameCellByType("轴坐标校准");
if (nameCell_L.Count < pos)
{
WinMsgBox.ShowMsgBox("算子个数小于序号!");
return(false);
}
string nameCell = nameCell_L[pos - 1];
ParCalibAxis par = g_BaseParComprehensive.GetCellParCalibrate(nameCell) as ParCalibAxis;
int indexCell = int.Parse(nameCell.Replace("C", ""));//单元格索引
ParCellExeReference parCellExeReference = par.g_ParCellExecuteReference;
ParGetResultFromCell parGetResultFromCell = par.g_ParGetResultFromCell;//用来计算轴
//调用执行
g_BaseDealComprehensive.DealComprehensivePosCell_ForTestRun(g_UCDisplayCamera, parCellExeReference, par.g_ParCellExecuteReference.g_CellExecute_L, out htResult);//执行算法且显示
string cellError = "";
if (!GetErrorCell(htResult, pos, out cellError))
{
WinMsgBox.ShowMsgBox(string.Format("相机{0}位置{1}，单元格{2}校准计算错误", g_NoCamera.ToString(), pos.ToString(), par.NameCell));
return(false);
}
FunCellDataReferenc fun = new FunCellDataReferenc();
fun.GetResultValue(htResult, parGetResultFromCell, index - 1);
string info = string.Format("相机{0}位置{1}，单元格{2}", g_NoCamera.ToString(), pos.ToString(), par.NameCell);
//保存基准图片
SaveStdImage(par, "轴校准" + index.ToString());
if (index % 2 == 1)
{
info += string.Format("轴校准第{0}次拍照", index);
//日志
ShowState_Cam(info);
}
else
{
info += string.Format("轴校准第{0}次拍照", index);
//保存基准图片
SaveStdImage(par, "旋转中心位置2");
//日志
ShowState_Cam(info);
FunCalibAxis funCalibCoord = new FunCalibAxis();
Point4D pResult = funCalibCoord.GetAxisAngleDir(par);
par.XAxisAngle_J = pResult.DblValue1;
par.YAxisAngle_J = pResult.DblValue2;
par.XAxisDir = (int)pResult.DblValue3;
par.YAxisDir = (int)pResult.DblValue4;
//显示求取的轴角度
info = string.Format("轴角度:X轴{0},Y轴{1}", par.XAxisAngle_J.ToString(), par.YAxisAngle_J.ToString());
//日志
ShowState_Cam(info);
//显示求取的轴方向
info = string.Format("轴方向:X轴{0},Y轴{1}", par.XAxisDir.ToString(), par.YAxisDir.ToString());
//日志
ShowState_Cam(info);
//保存此单元格
bool blSave = g_BaseParComprehensive.WriteXmlDoc(par.NameCell);
if (blSave)
{
//日志
ShowState_Cam(string.Format("将参数{0}保存到本地成功", par.NameCell));
}
else
{
//日志
ShowAlarm_Cam(string.Format("将参数{0}保存到本地失败", par.NameCell));
return(false);
}
//将参数保存到结果中
bool blSaveResult = g_BaseDealComprehensive.InitCalibAxis(indexCell);
if (blSaveResult)
{
//日志
ShowState_Cam(string.Format("将参数{0}保存到结果成功", par.NameCell));
}
else
{
//日志
ShowAlarm_Cam(string.Format("将参数{0}保存到结果失败", par.NameCell));
return(false);
}
}
return(true);
}
catch (Exception ex)
{
//日志
ShowAlarm_Cam("轴校准计算进入Catch");
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
/// <summary>
/// 自动相机校准,1201表示位置1第一次拍照，
/// </summary>
/// <param name="pos"></param>
/// <param name="index"></param>
/// <returns></returns>
bool CalibCamera(int pos, int index, out Hashtable htResult)
{
htResult = null;
Stopwatch sw = new Stopwatch();
sw.Restart();
try
{
ParCalibCamera par = g_BaseParComprehensive.GetCellParCalibByType("相机校准", pos) as ParCalibCamera;
string nameCell = par.NameCell; //单元格名称
int indexCell = int.Parse(nameCell.Replace("C", "")); //单元格索引
//关联算法，用来获取角点
ParCellExeReference parCellExeReference = par.g_ParCellExecuteReference;
ParGetResultFromCell parGetResultFromCell = par.g_ParGetResultFromCell;
//调用执行
g_BaseDealComprehensive.DealComprehensivePosCell_ForTestRun(g_UCDisplayCamera, parCellExeReference, par.g_ParCellExecuteReference.g_CellExecute_L, out htResult);//执行算法但不显示
string cellError = "";
if (!GetErrorCell(htResult, pos, out cellError))
{
WinMsgBox.ShowMsgBox(string.Format("相机{0}位置{1}，单元格{2}校准计算错误", g_NoCamera.ToString(), pos.ToString(), par.NameCell));
return(false);
}
FunCellDataReferenc fun = new FunCellDataReferenc();
fun.GetResultValue(htResult, parGetResultFromCell, index - 1);
string info = string.Format("相机{0}位置{1}，单元格{2}相机校准触发拍照", g_NoCamera.ToString(), pos.ToString(), par.NameCell);
ShowState(info);
FunCalibCamera funCalibCamera = new FunCalibCamera();
ResultCalibCamera result = funCalibCamera.DealCalibCamera(par);
info = "将标定参数保存到结果";
ShowState(info);
//参数保存到Par
bool blSavePar = funCalibCamera.SaveResultToPar(par, result);
//将参数保存到结果中
bool blSaveResult = funCalibCamera.SaveResultToStdResult(par, htResult);
if (blSaveResult)
{
ShowState(string.Format("将相机{0}参数{1}保存到结果成功", g_NoCamera.ToString(), par.NameCell));
}
else
{
ShowAlarm(string.Format("将相机{0}参数{1}保存到结果失败", g_NoCamera.ToString(), par.NameCell));
return(false);
}
//保存基准图片
SaveStdImage(par, "相机校准");
//保存此单元格
bool blSave = g_BaseParComprehensive.WriteXmlDoc(par.NameCell);
if (blSave)
{
ShowState(string.Format("将相机{0}参数{1}保存到本地成功", g_NoCamera.ToString(), par.NameCell));
}
else
{
ShowAlarm(string.Format("将相机{0}参数{1}保存到本地失败", g_NoCamera.ToString(), par.NameCell));
return(false);
}
return(true);
}
catch (Exception ex)
{
WinMsgBox.ShowMsgBox(string.Format("相机{0}校准计算进入Catch", g_NoCamera.ToString()));
ShowAlarm("相机校准计算进入Catch");
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
/// <summary>
/// 多目校准，获取坐标
/// </summary>
/// <param name="pos">算子的序号，并非拍照位置</param>
/// <param name="index">拍照次序</param>
/// <param name="htResult">哈希表结果</param>
/// <returns></returns>
bool CalibMult_GetPoint(int pos, int index, out Hashtable htResult)
{
htResult = null;
Stopwatch sw = new Stopwatch();
sw.Restart();
try
{
List <string> nameCell_L = g_BaseParComprehensive.GetAllNameCellByType("多目校准");
if (nameCell_L.Count < pos)
{
WinMsgBox.ShowMsgBox("算子个数小于序号!");
return(false);
}
string nameCell = nameCell_L[pos - 1];
ParCalibMult par = g_BaseParComprehensive.GetCellParCalibrate(nameCell) as ParCalibMult;
int indexCell = int.Parse(nameCell.Replace("C", ""));//单元格索引
//关联算法，用来获取角点
ParCellExeReference parCellExeReference = par.g_ParCellExecuteReference;
ParGetResultFromCell parGetResultFromCell = par.g_ParGetResultFromCell;
//第一次获取坐标的时候，清空历史记录,不能Clear，只能赋值0
if (index == 1)
{
for (int i = 0; i < parGetResultFromCell.ResultforCalib_L.Count; i++)
{
parGetResultFromCell.ResultforCalib_L[i].XResult = 0;
parGetResultFromCell.ResultforCalib_L[i].YResult = 0;
}
}
//调用执行
g_UCDisplayCamera.GrabImageAndShow();
g_BaseDealComprehensive.DealComprehensivePosCell_ForTestRun(g_UCDisplayCamera, parCellExeReference, par.g_ParCellExecuteReference.g_CellExecute_L, out htResult);//执行算法且显示
//比对对应的单元格名称，判断结果是否正确
string cellError = "";
if (!GetErrorCell(htResult, par.g_ParCellExecuteReference.NameCellExecute_L, out cellError))
{
WinMsgBox.ShowMsgBox(string.Format("相机{0}位置{1}，单元格{2}校准计算错误", g_NoCamera.ToString(), pos.ToString(), par.NameCell));
return(false);
}
FunCellDataReferenc fun = new FunCellDataReferenc();
fun.GetResultValue(htResult, parGetResultFromCell, index - 1);
string info = string.Format("相机{0}位置{1}，单元格{2}相机多目校准触发拍照", g_NoCamera.ToString(), pos.ToString(), par.NameCell);
ShowState(info);
//保存基准图片
SaveStdImage(par, "多目校准");
//保存此单元格
bool blSave = g_BaseParComprehensive.WriteXmlDoc(par.NameCell);
if (blSave)
{
ShowState(string.Format("将相机{0}参数{1}保存到本地成功", g_NoCamera.ToString(), par.NameCell));
}
else
{
ShowAlarm(string.Format("将相机{0}参数{1}保存到本地失败", g_NoCamera.ToString(), par.NameCell));
return(false);
}
return(true);
}
catch (Exception ex)
{
WinMsgBox.ShowMsgBox(string.Format("相机{0}多目校准计算进入Catch", g_NoCamera.ToString()));
ShowAlarm("相机校准计算进入Catch");
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
/// <summary>
/// 自动相机校准,1201表示位置1第一次拍照，
/// </summary>
/// <param name="pos"></param>
/// <param name="index"></param>
/// <returns></returns>
bool CalibHandEye(int pos, int index, out Hashtable htResult)
{
htResult = null;
Stopwatch sw = new Stopwatch();
sw.Restart();
try
{
string info = "";
ParCalibHandEye par = g_BaseParComprehensive.GetCellParCalibByType("手眼校准", pos) as ParCalibHandEye;
string nameCell = par.NameCell; //单元格名称
int indexCell = int.Parse(nameCell.Replace("C", "")); //单元格索引
if (index != 9)
{
//关联算法，用来获取角点
ParCellExeReference parCellExeReference = par.g_ParCellExecuteReference;
ParGetResultFromCell parGetResultFromCell = par.g_ParGetResultFromCell;
//调用执行
g_BaseDealComprehensive.DealComprehensivePosCell_ForTestRun(g_UCDisplayCamera, parCellExeReference, par.g_ParCellExecuteReference.g_CellExecute_L, out htResult);//执行算法且显示
string cellError = "";
if (!GetErrorCell(htResult, pos, out cellError))
{
WinMsgBox.ShowMsgBox(string.Format("相机{0}位置{1}，单元格{2}手眼校准计算错误", g_NoCamera.ToString(), pos.ToString(), par.NameCell));
return(false);
}
FunCellDataReferenc fun = new FunCellDataReferenc();
fun.GetResultValue(htResult, parGetResultFromCell, index - 1);
info = string.Format("相机{0}位置{1}，单元格{2}手眼校准触发拍照", g_NoCamera.ToString(), pos.ToString(), par.NameCell);
ShowState(info);
//标定开始，清空值
if (index == 0)
{
par.XDelta = 0;
par.YDelta = 0;
parGetResultFromCell.ClearResult();
}
}
//保存基准图片
SaveStdImage(par, "手眼校准" + index.ToString());
//表示标定结束
if (index == 99)
{
FunCalibHandEye funCalibHandEye = new FunCalibHandEye();
ResultCalibHandEye result = funCalibHandEye.CalCalibHandEye(par);
//自校准
funCalibHandEye.CheckSelf(par, -1);
List <double> XDelta_L = new List <double>();
List <double> YDelta_L = new List <double>();
//自动计算偏差
funCalibHandEye.CalDeltaforCalib(par, out XDelta_L, out YDelta_L);
string xInfo = "";
string yInfo = "";
for (int i = 0; i < XDelta_L.Count; i++)
{
xInfo += XDelta_L[i].ToString() + ",";
yInfo += YDelta_L[i].ToString() + ",";
}
ShowState(string.Format("自校准的偏差为X{0}", xInfo));
ShowState(string.Format("自校准的偏差为Y{0}", yInfo));
info = "将标定参数保存到结果";
ShowState(info);
//参数保存到Par
bool blSavePar = funCalibHandEye.SaveResultToPar(par, result);
//将参数保存到结果中
bool blSaveResult = funCalibHandEye.SaveResultToStdResult(par, htResult);
if (blSaveResult)
{
ShowState(string.Format("将相机{0}手眼校准参数{1}保存到结果成功", g_NoCamera.ToString(), par.NameCell));
}
else
{
ShowAlarm(string.Format("将相机{0}手眼校准参数{1}保存到结果失败", g_NoCamera.ToString(), par.NameCell));
return(false);
}
//保存此单元格
bool blSave = g_BaseParComprehensive.WriteXmlDoc(par.NameCell);
if (blSave)
{
ShowState(string.Format("将相机{0}手眼校准参数{1}保存到本地成功", g_NoCamera.ToString(), par.NameCell));
}
else
{
ShowAlarm(string.Format("将相机{0}手眼校准参数{1}保存到本地失败", g_NoCamera.ToString(), par.NameCell));
return(false);
}
}
return(true);
}
catch (Exception ex)
{
WinMsgBox.ShowMsgBox(string.Format("手眼{0}校准计算进入Catch", g_NoCamera.ToString()));
ShowAlarm("手眼校准计算进入Catch");
Log.L_I.WriteError(NameClass, ex);
return(false);
}
}
