// In perspective mode, the warping functions are:
// x' = (a0 + a1 x + a2 y) / (c0 x + c1 y + 1)
// y' = (b0 + b1 x + b2 y) / (c0 x + c1 y + 1)
//
// The following calculates the factors a#, b# and c#.
// We do this by creating a set of eight equations with a#, b# and c# as unknowns.
// The equations are derived by:
// 1. substituting the srcPoints for (x, y);
// 2. substituting the corresponding destPoints for (x', y');
// 3. solving the resulting set of equations, with the factors as unknowns.
//
// The equations are like these:
// a0 x a1 y a2 0 0 0 -xx'c0 -yx'c1 = x'
// 0 0 0 b0 x b1 y b2 -xy'c0 -yy'c1 = y'
// The known factors of left hand side ar put in the 8x8 matrix mxLeft for
// all four point pairs, and the right hand side in the one column matrix mxRight.
// After solving, m_mxWarpFactors contains a0, a1, a2, b0, b1, b2, c0, c1.
private void PreCalc(PointD[] destPoints, PointD[] srcPoints)
{
var mxLeft = new GeneralMatrix(8, 8); //mxLeft.Null();
var mxRight = new GeneralMatrix(8, 1);
var row = 0;
for (int i = 0; i < 4; i++)
{
mxLeft.Array[row][0] = 1.0;
mxLeft.Array[row][1] = srcPoints[i].X;
mxLeft.Array[row][2] = srcPoints[i].Y;
mxLeft.Array[row][6] = -srcPoints[i].X * destPoints[i].X;
mxLeft.Array[row][7] = -srcPoints[i].Y * destPoints[i].X;
mxRight.Array[row][0] = destPoints[i].X;
row++;
mxLeft.Array[row][3] = 1.0f;
mxLeft.Array[row][4] = srcPoints[i].X;
mxLeft.Array[row][5] = srcPoints[i].Y;
mxLeft.Array[row][6] = -srcPoints[i].X * destPoints[i].Y;
mxLeft.Array[row][7] = -srcPoints[i].Y * destPoints[i].Y;
mxRight.Array[row][0] = destPoints[i].Y;
row++;
}
_mxWarpFactors = mxLeft.Solve(mxRight);
}
public void SolveLinear()
{
double[][] subavals = { new double[] { 5.0, 8.0, 11.0 }, new double[] { 6.0, 9.0, 12.0 } };
double[][] sqSolution = { new double[] { 13.0 }, new double[] { 15.0 } };
GeneralMatrix sub = new GeneralMatrix(subavals);
GeneralMatrix o = new GeneralMatrix(sub.RowDimension, 1, 1.0);
GeneralMatrix sol = new GeneralMatrix(sqSolution);
GeneralMatrix sq = sub.GetMatrix(0, sub.RowDimension - 1, 0, sub.RowDimension - 1);
Assert.IsTrue(GeneralTests.Check(sq.Solve(sol), o));
}
// In bilinear mode, the warping functions are:
// x' = a0 + a1 x y + a2 x + a3 y
// y' = b0 + b1 x y + b2 x + b3 y
//
// Here, we have two sets of four equations. In the first set, the a# factors
// are the unknowns, in the second set the b# factors.
// The equations are of the form:
// a0 + xy a1 + x a2 + y a3 = x'
// The left hand side is identical for both sets. The right hand side differs.
// Therefore, we can solve them in one operation.
// The left hand side factors are put in the 4x4 matrix mxLeft, the right side
// factors are put in the 4x2 matrix mxRight.
// After solving, the first column of m_mxWarpFactors contains a0, a1, a2, a3; the
// second columne contains b0, b1, b2, b3.
private void PreCalc(PointD[] destPoints, PointD[] srcPoints)
{
var mxLeft = new GeneralMatrix(4, 4);
var mxRight = new GeneralMatrix(4, 2);
for (int row = 0; row < 4; row++)
{
mxLeft.Array[row][0] = 1.0;
mxLeft.Array[row][1] = srcPoints[row].X * srcPoints[row].Y;
mxLeft.Array[row][2] = srcPoints[row].X;
mxLeft.Array[row][3] = srcPoints[row].Y;
mxRight.Array[row][0] = destPoints[row].X;
mxRight.Array[row][1] = destPoints[row].Y;
}
_mxWarpFactors = mxLeft.Solve(mxRight);
}
public void TestSolve()
{
GeneralMatrix _ls = new GeneralMatrix(2, 2);
_ls.SetElement(0, 0, 1);
_ls.SetElement(0, 1, 2);
_ls.SetElement(1, 0, 3);
_ls.SetElement(1, 1, 4);
GeneralMatrix _rs = new GeneralMatrix(2, 1);
_rs.SetElement(0, 0, -3);
_rs.SetElement(1, 0, -5);
GeneralMatrix _solution = _ls.Solve(_rs);
Assert.AreEqual(_solution.GetElement(0, 0), 1);
Assert.AreEqual(_solution.GetElement(1, 0), -2);
}
private void computeaccCalButton_Click(object sender, EventArgs e)
{
int i, j;
calStatusText.Text = "Computing Calibration...";
// Construct D matrix
// D = [x.^2, y.^2, z.^2, x.*y, x.*z, y.*z, x, y, z, ones(N,1)];
for (i = 0; i < SAMPLES; i++)
{
// x^2 term
D.SetElement(i, 0, loggedData[i, 0] * loggedData[i, 0]);
// y^2 term
D.SetElement(i, 1, loggedData[i, 1] * loggedData[i, 1]);
// z^2 term
D.SetElement(i, 2, loggedData[i, 2] * loggedData[i, 2]);
// x*y term
D.SetElement(i, 3, loggedData[i, 0] * loggedData[i, 1]);
// x*z term
D.SetElement(i, 4, loggedData[i, 0] * loggedData[i, 2]);
// y*z term
D.SetElement(i, 5, loggedData[i, 1] * loggedData[i, 2]);
// x term
D.SetElement(i, 6, loggedData[i, 0]);
// y term
D.SetElement(i, 7, loggedData[i, 1]);
// z term
D.SetElement(i, 8, loggedData[i, 2]);
// Constant term
D.SetElement(i, 9, 1);
}
// QR=triu(qr(D))
QRDecomposition QR = new QRDecomposition(D);
// [U,S,V] = svd(D)
SingularValueDecomposition SVD = new SingularValueDecomposition(QR.R);
GeneralMatrix V = SVD.GetV();
GeneralMatrix A = new GeneralMatrix(3, 3);
double[] p = new double[V.RowDimension];
for (i = 0; i < V.RowDimension; i++)
{
p[i] = V.GetElement(i, V.ColumnDimension - 1);
}
/*
* A = [p(1) p(4)/2 p(5)/2;
* p(4)/2 p(2) p(6)/2;
* p(5)/2 p(6)/2 p(3)];
*/
if (p[0] < 0)
{
for (i = 0; i < V.RowDimension; i++)
{
p[i] = -p[i];
}
}
A.SetElement(0, 0, p[0]);
A.SetElement(0, 1, p[3] / 2);
A.SetElement(1, 2, p[4] / 2);
A.SetElement(1, 0, p[3] / 2);
A.SetElement(1, 1, p[1]);
A.SetElement(1, 2, p[5] / 2);
A.SetElement(2, 0, p[4] / 2);
A.SetElement(2, 1, p[5] / 2);
A.SetElement(2, 2, p[2]);
CholeskyDecomposition Chol = new CholeskyDecomposition(A);
GeneralMatrix Ut = Chol.GetL();
GeneralMatrix U = Ut.Transpose();
double[] bvect = { p[6] / 2, p[7] / 2, p[8] / 2 };
double d = p[9];
GeneralMatrix b = new GeneralMatrix(bvect, 3);
GeneralMatrix v = Ut.Solve(b);
double vnorm_sqrd = v.GetElement(0, 0) * v.GetElement(0, 0) + v.GetElement(1, 0) * v.GetElement(1, 0) + v.GetElement(2, 0) * v.GetElement(2, 0);
double s = 1 / Math.Sqrt(vnorm_sqrd - d);
GeneralMatrix c = U.Solve(v);
for (i = 0; i < 3; i++)
{
c.SetElement(i, 0, -c.GetElement(i, 0));
}
U = U.Multiply(s);
for (i = 0; i < 3; i++)
{
for (j = 0; j < 3; j++)
{
calMat[i, j] = U.GetElement(i, j);
}
}
for (i = 0; i < 3; i++)
{
bias[i] = c.GetElement(i, 0);
}
accAlignment00.Text = calMat[0, 0].ToString();
accAlignment01.Text = calMat[0, 1].ToString();
accAlignment02.Text = calMat[0, 2].ToString();
accAlignment10.Text = calMat[1, 0].ToString();
accAlignment11.Text = calMat[1, 1].ToString();
accAlignment12.Text = calMat[1, 2].ToString();
accAlignment20.Text = calMat[2, 0].ToString();
accAlignment21.Text = calMat[2, 1].ToString();
accAlignment22.Text = calMat[2, 2].ToString();
biasX.Text = bias[0].ToString();
biasY.Text = bias[1].ToString();
biasZ.Text = bias[2].ToString();
calStatusText.Text = "Done";
flashCommitButton.Enabled = true;
accAlignmentCommitButton.Enabled = true;
}
internal void FillInFendu(SaveFileDialog saveFileDialog1)
{
bool docopen = false;
Input askdlg = new Input();
decimal t_start;
decimal t_end;
Dictionary <Decimal, Decimal> points = new Dictionary <Decimal, Decimal>();
/*points[-55] = 78.2953M;
* points[-40] = 84.2496M;
* points[-20] = 92.1416M;
* points[0] = 99.9841M;
* points[50] = 119.4089M;
* points[100] = 138.5204M;
* points[125] = 147.9672M;
*/
#region input
askdlg.Message = "请输入铂电阻的出厂编号";
if (askdlg.ShowDialog() != DialogResult.OK)
{
return;
}
string ccbh = askdlg.result;
string ibcid = "";
string pageid = "";
//search the corresponding page id and ibc ids
for (int ibc = 0; ibc < 12; ibc++)
{
pageid = "abcdef"[ibc / 4].ToString();
if (!IsValueAvailable(new string[] { "m_" + (ibc + 1).ToString() + "_ccbh" }))
{
continue;
}
if (StrValue("m_" + (ibc + 1).ToString() + "_ccbh") == ccbh)
{
ibcid = (ibc + 1).ToString();
for (int iwd = 1; iwd <= 3; iwd++)
{
if (!IsValueAvailable(new string[] { "m_" + pageid + "_" + iwd.ToString() + "jddwd",
"c_" + (ibc + 1).ToString() + "_" + iwd.ToString() + "bc" }))
{
continue;
}
string wdd = StrValue("m_" + pageid + "_" + iwd.ToString() + "jddwd").Trim();
if (wdd == "")
{
continue;
}
string sjz = FormatValue(data_record.Property("c_" + (ibc + 1).ToString() + "_" + iwd.ToString() + "sjzbc"), false);
points[Decimal.Parse(wdd)] = Decimal.Parse(sjz);
}
}
}
if (points.Count <= 0)
{
MessageBox.Show("未找到出厂编号为" + ccbh + "的铂电阻，请检查后再试");
return;
}
#endregion
double r0 = 999;
if (points.ContainsKey(0))
{
r0 = Convert.ToDouble(points[0]);
}
else
{
MessageBox.Show("未发现0℃温度点实际值，无法计算分度表");
return;
}
double[][] mn = new double[3][];
double[] yn = new double[3];
decimal ptn1, ptn2, ptn3;
ptn1 = 1000;
ptn2 = 0;
ptn3 = -1000;
mn[0] = new double[3];
mn[1] = new double[3];
mn[2] = new double[3];
decimal ptp1, ptp2;
ptp1 = 1000;
ptp2 = -1000;
double[][] mp = new double[2][];
mp[0] = new double[2];
mp[1] = new double[2];
double[] yp = new double[2];
//count points for range
int np = 0;
int nn = 0;
foreach (Decimal d in points.Keys)
{
double dv;
if ((d < 0) && (d >= -200))
{
if (d < ptn1)
{
ptn2 = ptn1;
ptn1 = d;
}
if (d > ptn3)
{
ptn2 = ptn3;
ptn3 = d;
}
if (points.ContainsKey(ptn1))
{
dv = Convert.ToDouble(ptn1);
mn[0][0] = dv; mn[0][1] = dv * dv; mn[0][2] = (dv - 100) * dv * dv * dv;
yn[0] = Convert.ToDouble(points[ptn1]) / r0 - 1;
}
if (points.ContainsKey(ptn2))
{
dv = Convert.ToDouble(ptn2);
mn[1][0] = dv; mn[1][1] = dv * dv; mn[1][2] = (dv - 100) * dv * dv * dv;
yn[1] = Convert.ToDouble(points[ptn2]) / r0 - 1;
}
if (points.ContainsKey(ptn3))
{
dv = Convert.ToDouble(ptn3);
mn[2][0] = dv; mn[2][1] = dv * dv; mn[2][2] = (dv - 100) * dv * dv * dv;
yn[2] = Convert.ToDouble(points[ptn3]) / r0 - 1;
}
nn++;
}
if ((d > 0) && (d <= 850))
{
if (d < ptp1)
{
ptp1 = d;
dv = Convert.ToDouble(ptp1);
mp[0][0] = dv; mp[0][1] = dv * dv;
yp[0] = Convert.ToDouble(points[ptp1]) / r0 - 1;
}
if (d > ptp2)
{
ptp2 = d;
dv = Convert.ToDouble(ptp2);
mp[1][0] = dv; mp[1][1] = dv * dv;
yp[1] = Convert.ToDouble(points[ptp2]) / r0 - 1;
}
np++;
}
}
if (ptn1 > 0)
{
ptn1 = 0;
}
if (ptp2 < 0)
{
ptp2 = 0;
}
askdlg.Message = "请输入分度表起始温度";
if (askdlg.ShowDialog() != DialogResult.OK)
{
return;
}
if (!Decimal.TryParse(askdlg.result, out t_start) || (t_start < ptn1))
{
MessageBox.Show("无效的起始温度,分度表不能外插");
return;
}
askdlg.Message = "请输入分度表结束温度";
if (askdlg.ShowDialog() != DialogResult.OK)
{
return;
}
if (!Decimal.TryParse(askdlg.result, out t_end) || (t_end > ptp2))
{
MessageBox.Show("无效的结束温度,分度表不能外插");
return;
}
Decimal s = t_start;
Decimal e = t_end;
if ((s < 0) && (nn < 3))
{
MessageBox.Show("检定点不足。-200℃ ~ 0 ℃的分度表计算至少有需要3个检定点.");
return;
}
if ((e > 0) && (np < 2))
{
MessageBox.Show("检定点不足。0℃ ~ 850 ℃的分度表计算至少有需要2个检定点.");
return;
}
double[] xn = new double[3]; //A,B,C
double[] xp = new double[2]; //A,B
GeneralMatrix gxn;
GeneralMatrix gxp;
if (nn >= 3)
{
GeneralMatrix gm = new GeneralMatrix(mn);
gxn = gm.Solve(new GeneralMatrix(yn, yn.Length));
xn[0] = gxn.GetElement(0, 0);
xn[1] = gxn.GetElement(1, 0);
xn[2] = gxn.GetElement(2, 0);
}
if (np >= 2)
{
GeneralMatrix gm = new GeneralMatrix(mp);
gxp = gm.Solve(new GeneralMatrix(yp, yp.Length));
xp[0] = gxp.GetElement(0, 0);
xp[1] = gxp.GetElement(1, 0);
}
List <string> rows = new List <string>();
while (s <= e)
{
double sv = Convert.ToDouble(s);
if (s < 0)
{
rows.Add(String.Format("{0}\t{1:F4}", s.ToString(), r0 * (1 + xn[0] * sv + xn[1] * sv * sv + xn[2] * (sv - 100) * sv * sv * sv)));
}
else
{
rows.Add(String.Format("{0}\t{1:F4}", s.ToString(), r0 * (1 + xp[0] * sv + xp[1] * sv * sv)));
}
s = s + 1;
}
saveFileDialog1.DefaultExt = ".doc";
saveFileDialog1.Filter = "DOC File(*.doc)|*.doc|All Files(*.*)|*.*";
saveFileDialog1.FileName = DateTime.Now.ToString("yyyy-MM-dd") + "分度表证书.doc";
if (saveFileDialog1.ShowDialog() != DialogResult.OK)
{
return;
}
string tofile = saveFileDialog1.FileName;
try
{
string tmpl = "分度表";
string src = Path.Combine(Util.basedir, "报告模板\\" + tmpl + ".doc");
File.Copy(src, tofile, true);
doctool.PrepareWord(tofile);
docopen = true;
doctool.FillInTableByBookMarks("ITEMS", rows);
doctool.FillInHeader(tofile, data_record.Properties(), ibcid, Microsoft.Office.Interop.Word.WdSeekView.wdSeekCurrentPageHeader);
doctool.FillInHeader(tofile, data_record.Properties(), ibcid, Microsoft.Office.Interop.Word.WdSeekView.wdSeekPrimaryHeader);
doctool.SaveWord(tofile);
MessageBox.Show("导出" + tmpl + "成功");
docopen = false;
return;
}
catch (Exception ex)
{
MessageBox.Show("导出报告失败: " + ex.Message);
if (docopen)
{
doctool.SaveWord(tofile);
}
docopen = false;
}
}
