private void buttonSelectWorldPos_Click(object sender, EventArgs e)
{
OpenFileDialog dialog = new OpenFileDialog();
dialog.Multiselect = false;//该值确定是否可以选择多个文件
dialog.Title = "选择输入文件";
dialog.Filter = "所有文件(*.*)|*.*";
if (dialog.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
textBoxWorldCoordianteFilePath.Text = dialog.FileName;
string filePath = dialog.FileName;
listViewParameterSet.Items.Clear();
m_calibrationCenter.AllLineData.Clear();
StreamReader sr = new StreamReader(filePath, Encoding.Default);
String sourceMessage;
while ((sourceMessage = sr.ReadLine()) != null)
{
// sourceMessage = "02, 240.45, -321.864, -341.843, -179.9956, 0.0033, -0.0098";
AqCalibration.CalibrationDataGroup calibrationlineData = new AqCalibration.CalibrationDataGroup();
int startIndex = 0;
for (int i = 0; i < 6; i++)
{
int endIndex = sourceMessage.IndexOf(",", startIndex);
if (i == 0)
{
//ImageA，暂时用作用来标记世界坐标系下对应图像中圆点的索引
calibrationlineData.CameraPosition.ImageA = Convert.ToUInt16(sourceMessage.Substring(startIndex, endIndex - startIndex));
}
else if (i == 1)
{
calibrationlineData.RobotCoordinate.RobotX = Convert.ToDouble(sourceMessage.Substring(startIndex, endIndex - startIndex));
}
else if (i == 2)
{
calibrationlineData.RobotCoordinate.RobotY = Convert.ToDouble(sourceMessage.Substring(startIndex, endIndex - startIndex));
}
else if (i == 5)
{
calibrationlineData.RobotCoordinate.RobotRz = Convert.ToDouble(sourceMessage.Substring(endIndex + 1, sourceMessage.Length - endIndex - 1));
}
startIndex = endIndex + 1;
}
m_calibrationCenter.AllLineData.Add(calibrationlineData);
ListViewItem line = new ListViewItem("", 0);
line.SubItems.Add("");
line.SubItems.Add(calibrationlineData.RobotCoordinate.RobotX.ToString());
line.SubItems.Add(calibrationlineData.RobotCoordinate.RobotY.ToString());
line.SubItems.Add(calibrationlineData.RobotCoordinate.RobotRz.ToString());
listViewParameterSet.Items.Add(line);
}
buttonSelectCalPic.Enabled = true;
}
}
private bool ReadCalibrationDataFromFile()
{
m_calibrationCenter.AllLineData.Clear();
string sectionName = "Calibration";
string keyValue = "LineGroupCount";
int lineGroup = IniFile.ReadValue(sectionName, keyValue, 0);
for (int i = 0; i < lineGroup; i++)
{
AqCalibration.CalibrationDataGroup calibrationlineData = new AqCalibration.CalibrationDataGroup();
keyValue = string.Format("CameraX{0}", i);
calibrationlineData.CameraPosition.ImageX = Convert.ToDouble(IniFile.ReadValue(sectionName, keyValue, "0"));
keyValue = string.Format("CameraY{0}", i);
calibrationlineData.CameraPosition.ImageY = Convert.ToDouble(IniFile.ReadValue(sectionName, keyValue, "0"));
keyValue = string.Format("RobotX{0}", i);
calibrationlineData.RobotCoordinate.RobotX = Convert.ToDouble(IniFile.ReadValue(sectionName, keyValue, "0"));
keyValue = string.Format("RobotY{0}", i);
calibrationlineData.RobotCoordinate.RobotY = Convert.ToDouble(IniFile.ReadValue(sectionName, keyValue, "0"));
keyValue = string.Format("RobotRz{0}", i);
calibrationlineData.RobotCoordinate.RobotRz = Convert.ToDouble(IniFile.ReadValue(sectionName, keyValue, "0"));
m_calibrationCenter.AllLineData.Add(calibrationlineData);
}
keyValue = "ResultImageX";
textBoxImageX.Text = IniFile.ReadValue(sectionName, keyValue, "0");
keyValue = "ResultImageY";
textBoxImageY.Text = IniFile.ReadValue(sectionName, keyValue, "0");
keyValue = "ResultImageRz";
textBoxImageA.Text = IniFile.ReadValue(sectionName, keyValue, "0");
keyValue = "RobotPosX";
textBoxRobotPosX.Text = IniFile.ReadValue(sectionName, keyValue, "0");
keyValue = "RobotPosY";
textBoxRobotPosY.Text = IniFile.ReadValue(sectionName, keyValue, "0");
keyValue = "RobotPosRz";
textBoxRobotPosRz.Text = IniFile.ReadValue(sectionName, keyValue, "0");
keyValue = "CatchPosX";
textBoxCatchRobotX.Text = IniFile.ReadValue(sectionName, keyValue, "0");
keyValue = "CatchPosY";
textBoxCatchRobotY.Text = IniFile.ReadValue(sectionName, keyValue, "0");
keyValue = "CatchPosRz";
textBoxCatchRobotRz.Text = IniFile.ReadValue(sectionName, keyValue, "0");
return(true);
}
private void buttonNewLine_Click(object sender, EventArgs e)
{
ListViewItem line = new ListViewItem(textBoxCameraX.Text, 0);
line.SubItems.Add(textBoxCameraY.Text);
line.SubItems.Add(textBoxRobotX.Text);
line.SubItems.Add(textBoxRobotY.Text);
line.SubItems.Add(textBoxRobotRz.Text);
listViewParameterSet.Items.Add(line);
AqCalibration.CalibrationDataGroup calibrationlineData = new AqCalibration.CalibrationDataGroup();
calibrationlineData.CameraPosition.ImageX = Convert.ToDouble(textBoxCameraX.Text);
calibrationlineData.CameraPosition.ImageY = Convert.ToDouble(textBoxCameraY.Text);
calibrationlineData.RobotCoordinate.RobotX = Convert.ToDouble(textBoxRobotX.Text);
calibrationlineData.RobotCoordinate.RobotY = Convert.ToDouble(textBoxRobotY.Text);
calibrationlineData.RobotCoordinate.RobotRz = Convert.ToDouble(textBoxRobotRz.Text);
m_calibrationCenter.AllLineData.Add(calibrationlineData);
textBoxCameraX.Text = "";
textBoxCameraY.Text = "";
textBoxRobotX.Text = "";
textBoxRobotY.Text = "";
textBoxRobotRz.Text = "";
}
