/// <summary>
/// Рисует сшитые сканы на одном холсте.
/// </summary>
/// <param name="X1_rl"></param>
/// <param name="Y1_rl"></param>
private void drawCrosslinkedScans(int X1_rl, int Y1_rl)
{
int X0 = crosslinker.getXY0()[0];
int Y0 = crosslinker.getXY0()[1];
//
// int X2 = crosslinker.getXY2()[0];
// int Y2 = crosslinker.getXY2()[1];
//
PixelMap scan01 = new PixelMap(Parameters.getD_scan1() + Parameters.getR_scan(), Parameters.getD_scan1() + Parameters.getR_scan(), 0, 0, 0);
int C = (Parameters.getD_scan() + Parameters.getR_scan()) / 2;
for (int i = 0; i < crosslinker.scan0.xyScan.Count; i++)
{
scan01[crosslinker.scan0.xyScan[i][0] + C, crosslinker.scan0.xyScan[i][1] + C] = new Pixel(Parameters.startColor);
}
for (int i = 0; i < crosslinker.scan1.xyScan.Count; i++)
{
scan01[crosslinker.scan1.xyScan[i][0] + X1_rl - X0 + C, crosslinker.scan1.xyScan[i][1] + Y1_rl - Y0 + C] = new Pixel(Parameters.finishColor);
}
MainForm.drawBitmapOnPictureBox(pictureBox4, scan01.GetBitmap());
}
/// <summary>
/// отрисовать все три центра
/// отрисовать радиусы для scan0 и scan1
/// </summary>
/// <param name="preciseMapBmp"></param>
/// <param name="graphics"></param>
private void interfaceDrawing(Bitmap preciseMapBmp, Graphics graphics)
{
try
{
Pen pen;
int X0 = crosslinker.getXY0()[0];
int Y0 = crosslinker.getXY0()[1];
int X1 = crosslinker.getXY1()[0];
int Y1 = crosslinker.getXY1()[1];
int X2 = crosslinker.getXY2()[0];
int Y2 = crosslinker.getXY2()[1];
if ((X0 >= 0) && (Y0 >= 0))
{
preciseMapBmp.SetPixel(X0, Y0, Parameters.startColor);
pen = new Pen(Parameters.startColor);
graphics.DrawEllipse(pen, X0 - Parameters.getR_scan(), Y0 - Parameters.getR_scan(), Parameters.getD_scan(), Parameters.getD_scan());
graphics.DrawEllipse(pen, X0 - Parameters.getR_robot(), Y0 - Parameters.getR_robot(), Parameters.getD_robot(), Parameters.getD_robot());
}
if ((X1 >= 0) && (Y1 >= 0))
{
preciseMapBmp.SetPixel(X1, Y1, Parameters.finishColor);
pen = new Pen(Parameters.finishColor);
graphics.DrawEllipse(pen, X1 - Parameters.getR_scan(), Y1 - Parameters.getR_scan(), Parameters.getD_scan(), Parameters.getD_scan());
graphics.DrawEllipse(pen, X1 - Parameters.getR_robot(), Y1 - Parameters.getR_robot(), Parameters.getD_robot(), Parameters.getD_robot());
}
if ((X2 >= 0) && (Y2 >= 0))
{
preciseMapBmp.SetPixel(X2, Y2, Parameters.routeColor);
}
}
catch (Exception ex) { }
mouseMoveMap = new PixelMap(preciseMapBmp);
mainForm.drawBitmapOnPictureBox1(preciseMapBmp);
}
public void initialize()
{
this.pictureBox2 = new System.Windows.Forms.PictureBox();
this.pictureBox3 = new System.Windows.Forms.PictureBox();
this.pictureBox4 = new System.Windows.Forms.PictureBox();
this.button2Scan0Center = new System.Windows.Forms.Button();
this.button3Scan1Center = new System.Windows.Forms.Button();
this.button4SupposedScan1Center = new System.Windows.Forms.Button();
this.label4 = new System.Windows.Forms.Label();
this.labelError = new System.Windows.Forms.Label();
this.textBox1Scan0Center = new System.Windows.Forms.TextBox();
this.textBox2Scan1Center = new System.Windows.Forms.TextBox();
this.textBox3SupposedScan1Center = new System.Windows.Forms.TextBox();
this.button1Crosslink = new System.Windows.Forms.Button();
((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBox3)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBox4)).BeginInit();
mainForm.panel1SuspendLayout();
mainForm.setPictureBox1MouseDownHandler(new MouseEventHandler(pictureBox1_MouseDown));
mainForm.setPictureBox1MouseMoveHandler(new MouseEventHandler(pictureBox1_MouseMove));
//
// pictureBox2
//
this.pictureBox2.BackColor = System.Drawing.SystemColors.ControlDark;
this.pictureBox2.Location = new System.Drawing.Point(0, 32);
this.pictureBox2.Name = "pictureBox2";
this.pictureBox2.Size = new System.Drawing.Size(Parameters.getD_scan() + 1, Parameters.getD_scan() + 1);
this.pictureBox2.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.pictureBox2.TabIndex = 11;
this.pictureBox2.TabStop = false;
//
// pictureBox3
//
this.pictureBox3.BackColor = System.Drawing.SystemColors.ControlDark;
this.pictureBox3.Location = new System.Drawing.Point(0, Parameters.getD_scan() + 52 + 10);
this.pictureBox3.Name = "pictureBox3";
this.pictureBox3.Size = new System.Drawing.Size(Parameters.getD_scan() + 1, Parameters.getD_scan() + 1);
this.pictureBox3.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.pictureBox3.TabIndex = 12;
this.pictureBox3.TabStop = false;
//
// pictureBox4
//
this.pictureBox4.BackColor = System.Drawing.SystemColors.ControlDark;
this.pictureBox4.Location = new System.Drawing.Point(Parameters.getD_scan() + 1 + 5, 32);
this.pictureBox4.Name = "pictureBox4";
this.pictureBox4.Size = new System.Drawing.Size(Parameters.getD_scan() + Parameters.getR_scan() + 1, Parameters.getD_scan() + Parameters.getR_scan() + 1);
this.pictureBox4.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.pictureBox4.TabIndex = 13;
this.pictureBox4.TabStop = false;
//
// button2Scan0Center
//
this.button2Scan0Center.AutoSize = true;
this.button2Scan0Center.BackColor = System.Drawing.SystemColors.InactiveCaption;
this.button2Scan0Center.Location = new System.Drawing.Point(0, 6);
this.button2Scan0Center.Name = "button2";
this.button2Scan0Center.Size = new System.Drawing.Size(41, 13);
this.button2Scan0Center.TabIndex = 15;
this.button2Scan0Center.Text = "Scan 0";
button2Scan0Center.MouseClick += button2Scan0Center_Click;
//
// button3Scan1Center
//
this.button3Scan1Center.AutoSize = true;
this.button3Scan1Center.BackColor = System.Drawing.SystemColors.InactiveCaption;
this.button3Scan1Center.Location = new System.Drawing.Point(0, Parameters.getD_scan() + 36);
this.button3Scan1Center.Name = "button3";
this.button3Scan1Center.Size = new System.Drawing.Size(41, 13);
this.button3Scan1Center.TabIndex = 16;
this.button3Scan1Center.Text = "Scan 1";
button3Scan1Center.MouseClick += button3Scan1Center_Click;
//
// button4SupposedScan1Center
//
this.button4SupposedScan1Center.AutoSize = true;
this.button4SupposedScan1Center.BackColor = System.Drawing.SystemColors.InactiveCaption;
this.button4SupposedScan1Center.Location = new System.Drawing.Point(0, pictureBox3.Location.Y + pictureBox3.Height + 2);
this.button4SupposedScan1Center.Name = "button4";
this.button4SupposedScan1Center.Size = new System.Drawing.Size(41, 13);
this.button4SupposedScan1Center.TabIndex = 16;
this.button4SupposedScan1Center.Text = "Supposed";
button4SupposedScan1Center.MouseClick += button4SupposedScan1Center_Click;
//
// label4
//
this.label4.AutoSize = true;
this.label4.BackColor = System.Drawing.SystemColors.InactiveCaption;
this.label4.Location = new System.Drawing.Point(pictureBox4.Location.X, 10);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(61, 13);
this.label4.TabIndex = 17;
this.label4.Text = "Crosslinked";
//
// label5
//
this.labelError.AutoSize = true;
this.labelError.BackColor = System.Drawing.SystemColors.InactiveCaption;
this.labelError.Location = new System.Drawing.Point(pictureBox4.Location.X, pictureBox4.Location.Y + pictureBox4.Height + 4);
this.labelError.Name = "label5";
this.labelError.Size = new System.Drawing.Size(61, 13);
this.labelError.TabIndex = 17;
this.labelError.Text = "error: ";
//
// textBox1
//
this.textBox1Scan0Center.Size = new System.Drawing.Size(50, 13);
this.textBox1Scan0Center.Location = new System.Drawing.Point(pictureBox2.Location.X + pictureBox2.Width - textBox1Scan0Center.Width, button2Scan0Center.Location.Y + 1);
this.textBox1Scan0Center.Name = "textBox1";
this.textBox1Scan0Center.TabIndex = 17;
this.textBox1Scan0Center.Text = "x,y";
//
// textBox2
//
this.textBox2Scan1Center.Size = new System.Drawing.Size(50, 13);
this.textBox2Scan1Center.Location = new System.Drawing.Point(pictureBox2.Location.X + pictureBox2.Width - textBox2Scan1Center.Width, button3Scan1Center.Location.Y + 1);
this.textBox2Scan1Center.Name = "textBox2";
this.textBox2Scan1Center.TabIndex = 17;
this.textBox2Scan1Center.Text = "x,y";
//
// textBox3
//
this.textBox3SupposedScan1Center.Size = new System.Drawing.Size(50, 13);
this.textBox3SupposedScan1Center.Location = new System.Drawing.Point(pictureBox2.Location.X + pictureBox2.Width - textBox3SupposedScan1Center.Width, pictureBox3.Location.Y + pictureBox3.Height + 3);
this.textBox3SupposedScan1Center.Name = "textBox2";
this.textBox3SupposedScan1Center.TabIndex = 17;
this.textBox3SupposedScan1Center.Text = "x,y";
//
// button1
//
this.button1Crosslink.Location = new System.Drawing.Point(pictureBox4.Location.X + pictureBox4.Width - button1Crosslink.Size.Width, pictureBox4.Location.Y + pictureBox4.Height);
this.button1Crosslink.Name = "button1";
this.button1Crosslink.Size = new System.Drawing.Size(75, 23);
this.button1Crosslink.TabIndex = 18;
this.button1Crosslink.Text = "Closslink";
this.button1Crosslink.UseVisualStyleBackColor = true;
this.button1Crosslink.Click += new System.EventHandler(this.button1Crosslink_Click);
//
// Form1
//
mainForm.BackColor = System.Drawing.SystemColors.ActiveCaption;
mainForm.ClientSize = new System.Drawing.Size(1454, 873);
mainForm.addComponentToPanel1(button1Crosslink);
mainForm.addComponentToPanel1(this.labelError);
mainForm.addComponentToPanel1(this.label4);
mainForm.addComponentToPanel1(this.button4SupposedScan1Center);
mainForm.addComponentToPanel1(this.button3Scan1Center);
mainForm.addComponentToPanel1(this.button2Scan0Center);
mainForm.addComponentToPanel1(this.textBox3SupposedScan1Center);
mainForm.addComponentToPanel1(this.textBox2Scan1Center);
mainForm.addComponentToPanel1(this.textBox1Scan0Center);
mainForm.addComponentToPanel1(this.pictureBox4);
mainForm.addComponentToPanel1(this.pictureBox3);
mainForm.addComponentToPanel1(this.pictureBox2);
((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBox3)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBox4)).EndInit();
mainForm.panel1ReleaseLayout();
}
/// <summary>
/// Думаем, что центр scan1 - это X2,Y2. Нужно вернуть X1,Y1.
/// </summary>
/// <returns>Возвращает массив int[3]: X,Y,error: координаты настоящего центра scan1 и квадрат расстояния от него до реального симуляционного центра scan1</returns>
public int[] getRealCoords4()
{
Console.WriteLine("crosslinkig " + X0 + "," + Y0 + ";"
+ X1 + "," + Y1 + ";" + X2 + "," + Y2);
double minsum = 100000000;
int limXY = 20;
double summ;
double min;
int optX = 0, optY = 0;
int C = (Parameters.getD_scan() + Parameters.getR_scan()) / 2;
List <int[]> errorZone = pieErrorZoneSearch(0, 0, X2 - X0, Y2 - Y0);
// Console.WriteLine("errorZone.Count "+ errorZone.Count);
int numberOfMinPoints = 0; //количество точек с одинаковыми минимальными значениями функционала ошибки //TODO
for (int k = 0; k < errorZone.Count; k++)
{
PixelMap map01 = new PixelMap(Parameters.getD_scan1() + Parameters.getR_scan(), Parameters.getD_scan1() + Parameters.getR_scan(), 0, 0, 0);
List <int[]> irrelevantPoints0 = new List <int[]>();
List <int[]> irrelevantPoints1 = new List <int[]>();
int X = errorZone[k][0];
int Y = errorZone[k][1];
for (int i = 0; i < scan0.xyScan.Count; i++)
{
map01[scan0.xyScan[i][0] + C, scan0.xyScan[i][1] + C] = new Pixel(Parameters.wallColor);
}
for (int i = 0; i < scan1.xyScan.Count; i++)
{
map01[scan1.xyScan[i][0] + X + C, scan1.xyScan[i][1] + Y + C] = new Pixel(Parameters.wallColor);
}
int y1 = new int();
int x1 = new int();
bool flagR; //Будет true, если на текущем угле сканирования видно препятствие, иначе false и радиус от текущего угла будет равен нулю
bool flagRepeated; //Будет true, если точка уже сохранена в списке скана
int rPhi = -1;
for (int i = 0; i < Parameters.getN_phi(); i++)
{
//---------------------------------------scan1
flagR = false;
for (ushort r = 1; r < Parameters.getR_scan() + 1; r++)
{
x1 = (int)Math.Round(r * Math.Cos(i * Parameters.getScan_step()));
y1 = (int)Math.Round(r * Math.Sin(i * Parameters.getScan_step()));
if (map01[x1 + X + C, y1 + Y + C].Color == Parameters.wallColor)
{
rPhi = r;
flagR = true;
break;
}
}
if (!flagR)
{
rPhi = 0;
}
if (rPhi == -1)
{
Console.WriteLine("Scanning problems r == -1 on scan1, angle: " + i * Parameters.getScan_step() / Math.PI * 180);
}
if (scan1.rByPhi[i] != rPhi)
{
flagRepeated = false;
for (int j = 0; j < irrelevantPoints1.Count; j++)
{
if ((irrelevantPoints1[j][0] == x1) && (irrelevantPoints1[j][1] == y1))
{
flagRepeated = true;
}
}
if (!flagRepeated)
{
irrelevantPoints1.Add(new int[2] {
x1, y1
});
}
}
//---------------------------------------scan0
flagR = false;
for (ushort r = 1; r < Parameters.getR_scan() + 1; r++)
{
x1 = (int)Math.Round(r * Math.Cos(i * Parameters.getScan_step()));
y1 = (int)Math.Round(r * Math.Sin(i * Parameters.getScan_step()));
if (map01[x1 + C, y1 + C].Color == Parameters.wallColor)
{
rPhi = r;
flagR = true;
break;
}
}
if (!flagR)
{
rPhi = 0;
}
if (rPhi == -1)
{
Console.WriteLine("Scanning problems r == -1 on scan0, angle: " + i * Parameters.getScan_step() / Math.PI * 180);
}
if (scan0.rByPhi[i] != rPhi)
{
flagRepeated = false;
for (int j = 0; j < irrelevantPoints0.Count; j++)
{
if ((irrelevantPoints0[j][0] == x1) && (irrelevantPoints0[j][1] == y1))
{
flagRepeated = true;
}
}
if (!flagRepeated)
{
irrelevantPoints0.Add(new int[2] {
x1, y1
});
}
}
}
summ = 0;
for (int i = 0; i < irrelevantPoints1.Count; i++)
{
min = 1000000;
for (int j = 0; j < scan1.xyScan.Count; j++)
{
if (min > Parameters.getSquaredDistance(irrelevantPoints1[i][0], irrelevantPoints1[i][1], scan1.xyScan[j][0], scan1.xyScan[j][1]))
{
min = Parameters.getSquaredDistance(irrelevantPoints1[i][0], irrelevantPoints1[i][1], scan1.xyScan[j][0], scan1.xyScan[j][1]);
}
}
summ += min;
}
for (int i = 0; i < irrelevantPoints0.Count; i++)
{
min = 1000000;
for (int j = 0; j < scan0.xyScan.Count; j++)
{
if (min > Parameters.getSquaredDistance(irrelevantPoints0[i][0], irrelevantPoints0[i][1], scan0.xyScan[j][0], scan0.xyScan[j][1]))
{
min = Parameters.getSquaredDistance(irrelevantPoints0[i][0], irrelevantPoints0[i][1], scan0.xyScan[j][0], scan0.xyScan[j][1]);
}
}
summ += min;
}
if (minsum > summ)
{
minsum = summ;
optX = X;
optY = Y;
numberOfMinPoints = 0; //TODO
}
if (summ == minsum) //TODO
{
numberOfMinPoints++;
}
}
int errorSquredDistance = Parameters.getSquaredDistance(X1, Y1, X0 + optX, Y0 + optY); //квадрат раастояния от реального положения до предсказанного
//
// Console.WriteLine("opts "+optX+","+optY);
if (errorSquredDistance != 0) //TODO
{
Console.WriteLine("Don't match--------------------------------------");
}
return(new int[5] {
X0 + optX, Y0 + optY, errorSquredDistance, errorZone.Count(), numberOfMinPoints
}); //TODO
}
