private static void TestCalibration(string pixelShape, bool uncalibrated, PointF pt1, PointF pt2, double calibrationValue, double expectedRowSpacing, double expectedColSpacing)
{
using (IPresentationImage image = GetCalibrationTestImage(pixelShape, uncalibrated))
{
Trace.WriteLine(string.Format("TEST {0} image with {1} pixels", uncalibrated ? "uncalibrated" : "calibrated", pixelShape));
Trace.WriteLine(string.Format("calibrating [{0}, {1}] to {2} mm", pt1, pt2, calibrationValue));
PolylineGraphic lineGraphic;
IOverlayGraphicsProvider overlayGraphicsProvider = (IOverlayGraphicsProvider)image;
overlayGraphicsProvider.OverlayGraphics.Add(new VerticesControlGraphic(lineGraphic = new PolylineGraphic()));
lineGraphic.CoordinateSystem = CoordinateSystem.Source;
lineGraphic.Points.Add(pt1);
lineGraphic.Points.Add(pt2);
lineGraphic.ResetCoordinateSystem();
CalibrationTool.TestCalibration(calibrationValue, lineGraphic);
IImageSopProvider imageSopProvider = (IImageSopProvider)image;
Trace.WriteLine(string.Format("Pixel Spacing (Actual)/(Expected): ({0:F4}:{1:F4})/({2:F4}:{3:F4})",
imageSopProvider.Frame.NormalizedPixelSpacing.Row, imageSopProvider.Frame.NormalizedPixelSpacing.Column,
expectedRowSpacing, expectedColSpacing));
float percentErrorRow = Math.Abs((float)((imageSopProvider.Frame.NormalizedPixelSpacing.Row - expectedRowSpacing) / expectedRowSpacing * 100F));
float percentErrorCol = Math.Abs((float)((imageSopProvider.Frame.NormalizedPixelSpacing.Column - expectedColSpacing) / expectedColSpacing * 100F));
Trace.WriteLine(String.Format("Percent Error (Row/Column): {0:F3}%/{1:F3}%", percentErrorRow, percentErrorCol));
Assert.AreEqual(expectedColSpacing, imageSopProvider.Frame.NormalizedPixelSpacing.Column, 0.005, "Column Spacing appears to be wrong");
Assert.AreEqual(expectedRowSpacing, imageSopProvider.Frame.NormalizedPixelSpacing.Row, 0.005, "Row Spacing appears to be wrong");
Assert.IsTrue(percentErrorCol < 1.5, "Column Spacing appears to be wrong");
Assert.IsTrue(percentErrorRow < 1.5, "Row Spacing appears to be wrong");
}
}
public void TestComputationIsotropicPixel()
{
double widthInPixels = 4;
double heightInPixels = 3;
double pixelAspectRatio = 1;
double pixelSpacingWidth, pixelSpacingHeight;
double testPixelSpacingWidth = 1;
double testPixelSpacingHeight = testPixelSpacingWidth * pixelAspectRatio;
double testWidthInMm = testPixelSpacingWidth * widthInPixels;
double testHeightInMm = testPixelSpacingHeight * heightInPixels;
double lengthInMm = Math.Sqrt(testWidthInMm * testWidthInMm + testHeightInMm * testHeightInMm);
CalibrationTool.CalculatePixelSpacing(
lengthInMm,
widthInPixels,
heightInPixels,
pixelAspectRatio,
out pixelSpacingWidth,
out pixelSpacingHeight);
Assert.AreEqual(1, pixelSpacingWidth, 1e-10);
Assert.AreEqual(1, pixelSpacingHeight, 1e-10);
}
public CalibrationWindow(OptiTrackSystem optiTrack, KUKARobot robot1, KUKARobot robot2)
{
calibrationTool = new CalibrationTool(optiTrack);
InitializeComponent();
Text = title;
MinimumSize = new Size(Width, Height);
MaximumSize = new Size(Width, Height);
BindingList <KUKARobot> robotsList = new BindingList <KUKARobot>();
robotSelect.DropDown += (s, e) => {
if (robotsList.Contains(robot1))
{
if (!robot1.IsInitialized())
{
robotsList.Remove(robot1);
}
}
else
{
if (robot1.IsInitialized())
{
robotsList.Add(robot1);
}
}
if (robotsList.Contains(robot2))
{
if (!robot2.IsInitialized())
{
robotsList.Remove(robot2);
}
}
else
{
if (robot2.IsInitialized())
{
robotsList.Add(robot2);
}
}
};
robotSelect.TextChanged += (s, e) => {
selectedRobot = (KUKARobot)robotSelect.SelectedItem;
if (selectedRobot != null)
{
startBtn.Enabled = true;
}
else
{
startBtn.Enabled = false;
}
};
robotSelect.DataSource = robotsList;
robotSelect.Text = "- Select robot -";
FormClosing += (s, e) => calibrationTool.Cancel();
startBtn.Click += (s, e) => {
calibrationTool.Calibrate(selectedRobot, (int)intermediatePoints.Value, (int)samplesPerPoint.Value);
};
stopBtn.Click += (s, e) => {
Text = title;
robotSelect.Enabled = true;
startBtn.Enabled = true;
calibrationTool.Cancel();
};
calibrationTool.Start += () => {
UpdateUI(() => {
Text = $"{title} (0%)";
robotSelect.Enabled = false;
startBtn.Enabled = false;
});
};
calibrationTool.ProgressChanged += (progress, transformation) => {
selectedRobot.OptiTrackTransformation = transformation;
UpdateUI(() => {
Text = $"{title} ({progress}%)";
progressBar.Value = progress;
m11.Text = transformation[0, 0].ToString("F3");
m12.Text = transformation[0, 1].ToString("F3");
m13.Text = transformation[0, 2].ToString("F3");
m14.Text = transformation[0, 3].ToString("F3");
m21.Text = transformation[1, 0].ToString("F3");
m22.Text = transformation[1, 1].ToString("F3");
m23.Text = transformation[1, 2].ToString("F3");
m24.Text = transformation[1, 3].ToString("F3");
m31.Text = transformation[2, 0].ToString("F3");
m32.Text = transformation[2, 1].ToString("F3");
m33.Text = transformation[2, 2].ToString("F3");
m34.Text = transformation[2, 3].ToString("F3");
m41.Text = transformation[3, 0].ToString("F3");
m42.Text = transformation[3, 1].ToString("F3");
m43.Text = transformation[3, 2].ToString("F3");
m44.Text = transformation[3, 3].ToString("F3");
});
};
calibrationTool.Completed += (transformation) => {
selectedRobot.OptiTrackTransformation = transformation;
UpdateUI(() => {
robotSelect.Enabled = true;
startBtn.Enabled = true;
});
};
}
public CalibrationWindow(Robot robot, OptiTrackSystem optiTrack)
{
InitializeComponent();
Transformation currentTransformation = null;
calibrationTool = new CalibrationTool(robot, optiTrack);
calibrationTool.Start += () => {
Dispatcher.Invoke(() => {
progressBar.Value = 0;
progressBarLabel.Content = "0%";
startBtn.IsEnabled = false;
cancelBtn.IsEnabled = true;
});
};
calibrationTool.ProgressChanged += (progress, transformation) => {
currentTransformation = transformation;
Dispatcher.Invoke(() => {
progressBar.Value = progress;
progressBarLabel.Content = $"{progress}%";
t00.Text = transformation[0, 0].ToString("F3");
t01.Text = transformation[0, 1].ToString("F3");
t02.Text = transformation[0, 2].ToString("F3");
t03.Text = transformation[0, 3].ToString("F3");
t10.Text = transformation[1, 0].ToString("F3");
t11.Text = transformation[1, 1].ToString("F3");
t12.Text = transformation[1, 2].ToString("F3");
t13.Text = transformation[1, 3].ToString("F3");
t20.Text = transformation[2, 0].ToString("F3");
t21.Text = transformation[2, 1].ToString("F3");
t22.Text = transformation[2, 2].ToString("F3");
t23.Text = transformation[2, 3].ToString("F3");
t30.Text = transformation[3, 0].ToString("F3");
t31.Text = transformation[3, 1].ToString("F3");
t32.Text = transformation[3, 2].ToString("F3");
t33.Text = transformation[3, 3].ToString("F3");
});
};
calibrationTool.Completed += () => {
Completed?.Invoke(currentTransformation);
Close();
};
startBtn.Click += (s, e) => {
try {
calibrationTool.Calibrate(10, 200);
} catch (Exception ex) {
MainWindow.ShowErrorDialog("Unable to start calibration.", ex);
}
};
cancelBtn.Click += (s, e) => {
calibrationTool.Cancel();
};
Closing += (s, e) => {
calibrationTool.Cancel();
};
robotIpAdress.Content += robot.ToString();
}
