public void CalT(int nCam, XScalar xStartPos, XScalar xEndPos)
{
if (0 <= nCam && nCam < MAX_CAM && xStartPos != null && xEndPos != null)
{
m_xTable.CalT(nCam, m_xMoveCalibration.T, xStartPos, xEndPos, m_xCam[nCam].Cal);
}
}
public void CalX(int nCam, XScalar xStartPos, XScalar xEndPos)
{
if (m_xMoveCalibration.X != 0 && 0 <= nCam && nCam < MAX_CAM && xStartPos != null && xEndPos != null)
{
m_xCam[nCam].Cal.X = m_xMoveCalibration.X / (xEndPos.X - xStartPos.X);
}
}
public void CalY(int nCam, XScalar xStartPos, XScalar xEndPos)
{
if (m_xMoveCalibration.Y != 0 && 0 <= nCam && nCam < MAX_CAM && xStartPos != null && xEndPos != null)
{
m_xCam[nCam].Cal.Y = m_xMoveCalibration.Y / (xEndPos.Y - xStartPos.Y);
}
}
public bool GetMotionUVW(ref XVector xMove, ref XScalar xU, ref XScalar xV, ref XScalar xW)
{
GetLocal(ref xMove);
double dTx = 0, dTy = 0;
{ //U
RotateMethod(63640, 63640, xMove.T, ref dTx, ref dTy);
xU.Set(dTx, dTy);
}
{ //V
RotateMethod(-63640, -63640, xMove.T, ref dTx, ref dTy);
xV.Set(dTx, dTy);
}
{ //W
RotateMethod(63640, -63640, xMove.T, ref dTx, ref dTy);
xW.Set(dTx, dTy);
}
xMove.X *= m_xMotorDirection.X;
xMove.Y *= m_xMotorDirection.Y;
xMove.T *= m_xMotorDirection.T * 180000 / Math.PI;
double dLimitT = m_xMoveLimit.T * 180000 / Math.PI;
if (m_xMoveLimit.X > Math.Abs(xMove.X) && m_xMoveLimit.Y > Math.Abs(xMove.Y) && dLimitT > Math.Abs(xMove.T))
{
return(true);
}
return(false);
}
public void CalScale(XVector xDeviation)
{
XScalar xCoor = new XScalar(Coordinate);
xCoor.Rotate(xDeviation.T);
Scale.Set(xCoor - xDeviation - Mark);
}
public XVector GetCalT(int nCam, XScalar xStartPos, XScalar xEndPos)
{
if (0 <= nCam && nCam < MAX_CAM && xStartPos != null && xEndPos != null)
{
return(m_xTable.GetCalT(nCam, m_xMoveCalibration.T, xStartPos, xEndPos, m_xCam[nCam].Cal));
}
return(null);
}
public XVector GetCalT(int nCam, double dMoveT, XScalar xStartPos, XScalar xEndPos, XScalar xCal)
{
XVector xMarkPos = new XVector();
XScalar xDelta = (xEndPos - xStartPos) * xCal;
double dDn = 1.0 + Math.Sin(dMoveT) * Math.Sin(dMoveT) / (1.0 - Math.Cos(dMoveT)) - Math.Cos(dMoveT);
double dUp = xDelta.X * Math.Sin(dMoveT) / (1.0 - Math.Cos(dMoveT)) - xDelta.Y;
xMarkPos.Y = dUp / dDn;
xMarkPos.X = (xMarkPos.Y * Math.Sin(dMoveT) - xDelta.X) / (1.0 - Math.Cos(dMoveT));
return(xMarkPos);
}
private XScalar GetDelta(int a, int b)
{
XScalar xCenter = m_xCam[a].Mark + m_xCam[b].Mark;
if (xCenter.X < 1 && xCenter.Y < 1)
{
return((m_xCam[a].Dist + m_xCam[b].Dist) / 2);
}
else
{
double dT = m_xDeviation.T;
XScalar A = new XScalar(m_xCam[a].Coordinate);
XScalar B = new XScalar(m_xCam[b].Coordinate);
A.Rotate(-dT);
B.Rotate(-dT);
return(((A - m_xCam[a].Mark) + (B - m_xCam[b].Mark)) / 2);
}
}
public PScalar()
{
m_nSelect = 0;
m_dCalX = 1.0;
m_dCalY = 1.0;
m_dNomX = 0.0;
m_dNomY = 0.0;
m_dMinX = -100000.0;
m_dMaxX = 100000.0;
m_dMinY = -100000.0;
m_dMaxY = 100000.0;
m_sFormatX = "{0:F1}";
m_sFormatY = "{0:F1}";
m_cBolderColor = Color.DarkBlue;
m_cValueColor = Color.White;
InitializeComponent();
m_xScalar = new XScalar();
}
public bool GetMotionUVWX(XVector xMove, ref XScalar xU, ref XScalar xV, ref XScalar xW, ref XScalar xX)
{
xMove.X *= m_xMotorDirection.X;
xMove.Y *= m_xMotorDirection.Y;
xMove.T *= m_xMotorDirection.T;
double dTx = 0, dTy = 0;
{ //U
RotateMethod(-1005000, 755000, xMove.T, ref dTx, ref dTy);
xU.Set(dTx, dTy);
}
{ //V
RotateMethod(1005000, 755000, xMove.T, ref dTx, ref dTy);
xV.Set(dTx, dTy);
}
{ //W
RotateMethod(-1005000, -755000, xMove.T, ref dTx, ref dTy);
xW.Set(dTx, dTy);
}
{ //W
RotateMethod(1005000, -755000, xMove.T, ref dTx, ref dTy);
xX.Set(dTx, dTy);
}
xMove.T *= 180000 / Math.PI;
double dLimitT = m_xMoveLimit.T * 180000 / Math.PI;
if (m_xMoveLimit.X > Math.Abs(xMove.X) && m_xMoveLimit.Y > Math.Abs(xMove.Y) && dLimitT > Math.Abs(xMove.T))
{
return(true);
}
return(false);
}
private void GetDelta(int nCameraMode)
{
switch (m_nCamCount)
{
case 1:
{
m_xDeviation.Set(m_xCam[0].Dist);
} break;
case 2:
{
m_xDeviation.Set(GetDelta(0, 1));
} break;
case 3:
switch (m_nCamPoseMode)
{
case 7:
switch (nCameraMode)
{
case 3: m_xDeviation.Set(GetDelta(0, 1)); break;
case 5: m_xDeviation.Set(GetDelta(2, 0)); break;
case 6: m_xDeviation.Set(GetDelta(2, 1)); break;
case 7:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(0, 1));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 1));
m_xDeviation.Set(dDeviationSum / 2);
} break;
}
break;
case 11: break;
case 12: break;
case 13: break;
case 14: break;
}
break;
case 4:
switch (nCameraMode)
{
case 3: m_xDeviation.Set(GetDelta(0, 1)); break;
case 5: m_xDeviation.Set(GetDelta(2, 0)); break;
case 10: m_xDeviation.Set(GetDelta(3, 1)); break;
case 12: m_xDeviation.Set(GetDelta(2, 3)); break;
case 7:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(0, 1));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 1));
m_xDeviation.Set(dDeviationSum / 2);
} break;
case 11:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(0, 1));
dDeviationSum.Set(dDeviationSum + GetDelta(3, 1));
m_xDeviation.Set(dDeviationSum / 2);
} break;
case 13:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(2, 0));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 3));
m_xDeviation.Set(dDeviationSum / 2);
} break;
case 14:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(3, 1));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 1));
m_xDeviation.Set(dDeviationSum / 2);
} break;
case 15:
{
XScalar dDeviationSum = new XScalar();
dDeviationSum.Set(dDeviationSum + GetDelta(0, 1));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 3));
dDeviationSum.Set(dDeviationSum + GetDelta(2, 0));
dDeviationSum.Set(dDeviationSum + GetDelta(3, 1));
m_xDeviation.Set(dDeviationSum / 4);
} break;
}
break;
}
}