public bool NinePointCalMake(SourceBuffer _sourceBuffer, ExecuteBuffer _executeBuffer, out SourceBuffer outsourcebuffer, out ExecuteBuffer outexecutebuffer)
{
outsourcebuffer = _sourceBuffer;
outexecutebuffer = _executeBuffer;
return(true);
}
public bool NinePointCalMake(SourceBuffer _sourceBuffer, ExecuteBuffer _executeBuffer, out SourceBuffer outsourcebuffer, out ExecuteBuffer outexecutebuffer)
{
outsourcebuffer = _sourceBuffer;
outexecutebuffer = _executeBuffer;
m = Convert.ToDouble(txt_m.Text.ToString());
n = Convert.ToDouble(txt_n.Text.ToString());
WorldX = new HTuple(0, m, m, 0, -m, -m, -m, 0, m);
WorldY = new HTuple(0, 0, -n, -n, -n, 0, n, n, n);
for (int i = 0; i < x_point.Count; i++)
{
HOperatorSet.TupleConcat(temp_row, (HTuple)x_point[i], out temp_row_last);
temp_row = temp_row_last;
HOperatorSet.TupleConcat(temp_column, (HTuple)y_point[i], out temp_column_last);
temp_column = temp_column_last;
}
try
{
HOperatorSet.VectorToHomMat2d(temp_column, temp_row, WorldY, WorldX, out PixToWorld);
HOperatorSet.VectorToHomMat2d(WorldY, WorldX, temp_column, temp_row, out WorldToPixel);
}
catch (Exception)
{
MessageBox.Show("点位错误，请确认匹配是否正确");
return(false);
}
//保存PixelToWorld到本地
SaveFileDialog sfd = new SaveFileDialog();
sfd.Title = "PixelToWorld保存";
sfd.RestoreDirectory = true;
if (sfd.ShowDialog() == DialogResult.OK)
{
string strPath = sfd.FileName;
if (!strPath.EndsWith(".tup"))
{
strPath += ".tup";
}
Match match = Regex.Match(strPath, "(\\w+)(.tup)$");
HOperatorSet.WriteTuple(PixToWorld, strPath);
bool cPixToWorld_add = true;
foreach (Info_Source keybuffcontrol in _sourceBuffer._s_ControlBuffer.Keys)
{
if (keybuffcontrol.Name == match.Groups[1].ToString())
{
cPixToWorld_add = false;
break;
}
}
Info_Source control_add_key = new Info_Source();
control_add_key.Name = match.Groups[1].ToString() + ".tuple";
control_add_key.Path = strPath;
control_add_key.Type = "tuple";
if (cPixToWorld_add)
{
_sourceBuffer._s_ControlBuffer.Add(control_add_key, PixToWorld);
}
else
{
_sourceBuffer._s_ControlBuffer[control_add_key] = PixToWorld;
}
if (_executeBuffer.controlBuffer.ContainsKey(match.Groups[1].ToString()))
{
_executeBuffer.controlBuffer[match.Groups[1].ToString()] = PixToWorld;
}
else
{
_executeBuffer.controlBuffer.Add(match.Groups[1].ToString(), PixToWorld);
}
}
//保存WorldToPixel到本地
SaveFileDialog sfd2 = new SaveFileDialog();
sfd2.Title = "WorldToPixel保存";
sfd2.RestoreDirectory = true;
if (sfd2.ShowDialog() == DialogResult.OK)
{
string strPath = sfd2.FileName;
if (!strPath.EndsWith(".tup"))
{
strPath += ".tup";
}
Match match = Regex.Match(strPath, "(\\w+)(.tup)$");
HOperatorSet.WriteTuple(WorldToPixel, strPath);
bool WorldToPixel_add = true;
foreach (Info_Source keybuffcontrol in _sourceBuffer._s_ControlBuffer.Keys)
{
if (keybuffcontrol.Name == match.Groups[1].ToString())
{
WorldToPixel_add = false;
break;
}
}
Info_Source control_add_key = new Info_Source();
control_add_key.Name = match.Groups[1].ToString() + ".tuple";
control_add_key.Path = strPath;
control_add_key.Type = "tuple";
if (WorldToPixel_add)
{
_sourceBuffer._s_ControlBuffer.Add(control_add_key, WorldToPixel);
}
else
{
_sourceBuffer._s_ControlBuffer[control_add_key] = WorldToPixel;
}
if (_executeBuffer.controlBuffer.ContainsKey(match.Groups[1].ToString()))
{
_executeBuffer.controlBuffer[match.Groups[1].ToString()] = WorldToPixel;
}
else
{
_executeBuffer.controlBuffer.Add(match.Groups[1].ToString(), WorldToPixel);
}
}
outsourcebuffer = _sourceBuffer;
outexecutebuffer = _executeBuffer;
MessageBox.Show("9点标定成功");
return(true);
}
public bool CalibrationMake(SourceBuffer _sourceBuffer, ExecuteBuffer _executeBuffer, out SourceBuffer outsourcebuffer, out ExecuteBuffer outexecutebuffer, HWndCtrl hWndCtrl, out string result_info)
{
outsourcebuffer = _sourceBuffer;
outexecutebuffer = _executeBuffer;
result_info = "";
HTuple hv_PixelSize = 0.00001;
HTuple hv_Message = new HTuple(), hv_Row = new HTuple();
HTuple hv_Column = new HTuple(), hv_Index = new HTuple();
HTuple hv_Error = null;
HObject ho_Contours = null, ho_Cross = null, hv_outimage = null;
HTuple hv_HomMat3DIdentity = null;
HTuple hv_cp1Hur1 = null, hv_cam2Hcp2 = null, hv_cam2Hul2 = null;
HTuple hv_PoseNewOrigin2 = null, hv_ULX = null, hv_ULY = null, hv_PoseNewOrigin = null;
double[] Get_actual_pixel = new double[7];
HTuple WorldPixelx, WorldPixely;
HTuple Heightx = new HTuple(), Widthx = new HTuple();
Heightx.Append(Height / 2);
Heightx.Append(Height / 2);
Heightx.Append(Height / 2 + 1);
Widthx.Append(Width / 2);
Widthx.Append(Width / 2 + 1);
Widthx.Append(Width / 2);
HTuple WorldLength1, WorldLength2;
HTuple ScaleForSimilarPixelSize = 0;
HOperatorSet.GenEmptyObj(out ho_Contours);
HOperatorSet.GenEmptyObj(out ho_Cross);
HOperatorSet.GenEmptyObj(out hv_outimage);
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image参数为空或者未赋值");
result_info = " 二值化处理: 输入图像已经不存在，请重置设置输入图像";
return(false);
}
string comboBox_imageoutname = this.Output_image.Text.ToString() + ".img";
if (_executeBuffer.imageBuffer[comboBox_imageoutname] != null)
{
if (_executeBuffer.imageBuffer[comboBox_imageoutname].IsInitialized())
{
_executeBuffer.imageBuffer[comboBox_imageoutname].Dispose();
}
}
HTuple width, height;
int m = _executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"].CountObj();
HOperatorSet.GetImageSize(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], out width, out height);
int number = Convert.ToInt32(this.textBox1.Text.ToString());
if (!this.checkBox1.Checked)
{
if (Get_Cal_pixel)
{
Get_Cal_pixel = false;
}
if (number == 0)
{
hv_StartCamPar = new HTuple();
if (this.checkBox_focalize.Checked)
{
hv_StartCamPar.Append(0);
}
else
{
hv_StartCamPar.Append(Convert.ToDouble(this.textbox_lens.Text.ToString()) / 100);
}
hv_StartCamPar.Append(0);
hv_StartCamPar.Append(Convert.ToDouble(this.textBox_width.Text.ToString()) / 10000000);
hv_StartCamPar.Append(Convert.ToDouble(this.textBox_height.Text.ToString()) / 10000000);
hv_StartCamPar.Append(width / 2);
hv_StartCamPar.Append(height / 2);
hv_StartCamPar.Append(width);
hv_StartCamPar.Append(height);
hv_CalTabDescrFile = this.textBox_file.Text;
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out CalibDataID);
if (this.checkBox_focalize.Checked)
{
HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, "area_scan_telecentric_division", hv_StartCamPar);
}
else
{
HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, "area_scan_division", hv_StartCamPar);
}
HOperatorSet.SetCalibDataCalibObject(CalibDataID, 0, hv_CalTabDescrFile);
}
try
{
HOperatorSet.FindCalibObject(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], CalibDataID, 0, 0, number, new HTuple(), new HTuple());
HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "init_params", out hv_StartCamPar);
HOperatorSet.GetCalibDataObservPoints(CalibDataID, 0, 0, number, out hv_Row, out hv_Column, out hv_Index, out hv_Pose);
HOperatorSet.GetCalibDataObservContours(out ho_Contours, CalibDataID, "caltab", 0, 0, number);
HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row, hv_Column, 6, 0.785398);
hWndCtrl.changeGraphicSettings(GraphicsContext.GC_COLOR, "orange");
hWndCtrl.addIconicVar(ho_Cross);
hWndCtrl.addIconicVar(ho_Contours);
hWndCtrl.repaint();
}
catch
{
MessageBox.Show("找不到标定板");
ho_Contours.Dispose();
ho_Cross.Dispose();
return(false);
}
if (number == hv_NumImages - 1)
{
Read_file = false;
HOperatorSet.CalibrateCameras(CalibDataID, out hv_Error);
HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "params", out hv_CamParam);
HOperatorSet.GetCalibData(CalibDataID, "calib_obj_pose", (new HTuple(0)).TupleConcat(6), "pose", out hv_Pose);
HOperatorSet.HomMat3dIdentity(out hv_HomMat3DIdentity);
HOperatorSet.HomMat3dRotateLocal(hv_HomMat3DIdentity, ((-(hv_Pose.TupleSelect(5)))).TupleRad(), "z", out hv_cp1Hur1);
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_cam2Hcp2);
HOperatorSet.HomMat3dCompose(hv_cam2Hcp2, hv_cp1Hur1, out hv_cam2Hul2);
HOperatorSet.HomMat3dToPose(hv_cam2Hul2, out hv_PoseNewOrigin2);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_PoseNewOrigin2, 0, 0, "m", out hv_ULX, out hv_ULY);
HOperatorSet.SetOriginPose(hv_PoseNewOrigin2, hv_ULX, hv_ULY, 0, out hv_PoseNewOrigin);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, Heightx, Widthx, 1, out WorldPixelx, out WorldPixely);
HOperatorSet.DistancePp(WorldPixely[0], WorldPixelx[0], WorldPixely[1], WorldPixelx[1], out WorldLength1);
HOperatorSet.DistancePp(WorldPixely[0], WorldPixelx[0], WorldPixely[2], WorldPixelx[2], out WorldLength2);
ScaleForSimilarPixelSize = (WorldLength1 + WorldLength2) / 2;
HOperatorSet.GenImageToWorldPlaneMap(out ho_MapSingle1, hv_CamParam,
hv_PoseNewOrigin, width, height, width, height, ScaleForSimilarPixelSize, "bilinear");
HOperatorSet.WriteObject(ho_MapSingle1, this.textBox2.Text.ToString());
Read_file = true;
Get_Calibration = true;
this.checkBox1.Checked = true;
result_info = " 校正参数: 设置完成";
}
this.textBox1.Text = (number + 1).ToString();
}
if (this.checkBox1.Checked)
{
if (Read_file)
{
if (File.Exists(this.textBox2.Text))
{
HOperatorSet.ReadObject(out ho_MapSingle1, this.textBox2.Text);
}
else
{
MessageBox.Show("校正文件不存在 ，请检查");
return(false);
}
}
HOperatorSet.MapImage(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], ho_MapSingle1, out hv_outimage);
_executeBuffer.imageBuffer[comboBox_imageoutname] = hv_outimage;
outexecutebuffer = _executeBuffer;
result_info = " 校正: 完成";
HTuple Distance;
if (!Get_Cal_pixel)
{
try
{
double all_number = 0;
HOperatorSet.FindCalibObject(hv_outimage, CalibDataID, 0, 0, 0, new HTuple(), new HTuple());
HOperatorSet.GetCalibDataObservPoints(CalibDataID, 0, 0, 0, out hv_Row, out hv_Column, out hv_Index, out hv_Pose);
for (int i = 0; i < 7; i++)
{
HOperatorSet.DistancePp(hv_Row[i * 7], hv_Column[i * 7], hv_Row[i * 7 + 6], hv_Column[i * 7 + 6], out Distance);
Get_actual_pixel[i] = Distance.D;
all_number = all_number + Get_actual_pixel[i];
}
Pixel_number = (Convert.ToDouble(this.textBox_pixel.Text)) / (all_number / 7);
Get_Cal_pixel = true;
this.label_pixel.Text = Pixel_number.ToString();
Pixel_Trans = Convert.ToDouble(Pixel_number.ToString());
}
catch
{
MessageBox.Show("请再次添加图像寻找计算像素比");
}
}
if (Read_file)
{
ho_MapSingle1.Dispose();
}
}
return(true);
}
