/// <summary>
/// 测试标定
/// </summary>
/// <returns></returns>
public bool ceShiBiaoDing(ICalibrationShuJu Ical_, ref string col_pixel_x, ref string row_pixel_y)
{
bool ok = false;
if (Ical_.HomMat2D == null)
{
return(false);
}
if ((col_pixel_x == "") || (row_pixel_y == ""))
{
return(false);
}
double x = Convert.ToDouble(col_pixel_x);
double y = Convert.ToDouble(row_pixel_y);
HTuple hv_col_x, hv_row_y, hv_x_col_out, hv_y_row_out;
hv_col_x = x;
hv_row_y = y;
//HOperatorSet.AffineTransPixel(Ical_.HomMat2D, hv_col_x, hv_row_y, out hv_x_col_out, out hv_y_row_out);
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, hv_col_x, hv_row_y, out hv_x_col_out, out hv_y_row_out);
col_pixel_x = hv_x_col_out.D.ToString();
row_pixel_y = hv_y_row_out.D.ToString();
ok = true;
return(ok);
}
/// <summary>
/// 显示标定工具
/// </summary>
public void Set_showTool(ICalibrationShuJu Ical_, ListBox list_One)
{
Ical_._Cal_tool_path = this.ShuaXinToolJiHe(Ical_._Cal_tool_path);
list_One.Items.Clear();
foreach (string str in Ical_._Cal_tool_path)
{
list_One.Items.Add(str);
}
}
/// <summary>
/// 标定
/// </summary>
/// <param name="ICal_"></param>
/// <returns></returns>
public bool Set_Calibration(ICalibrationShuJu ICal_)
{
bool ok = false;
HTuple HomMat2D;
HOperatorSet.VectorToHomMat2d(ICal_.Calcol_pixel_x, ICal_.Calrow_pixel_y, ICal_.Calcol_world_x, ICal_.Calrow_world_y, out HomMat2D);
ICal_.HomMat2D = HomMat2D;
ok = true;
return(ok);
}
private void CalibrationFrm_Load(object sender, EventArgs e)
{
#region 初始化树
//TreeNode tr_0 = new TreeNode();
//tr_0.Text = "驱动1";
//tr_0.Name = "System_1"; //新建一个驱动
//if (treeView1.Nodes != null)
//{
// treeView1.Nodes.Clear();
//}//清空树
//TreeStatic.load_MultTreeNode_To_TreeNode_ContainsSelf(tr_0, _ICheckStr.Check_Root);
//treeView1.Nodes.Add(tr_0);//添加一个检测
//treeView1.ExpandAll();
MultTree.operationTreeViewTool.initTreeView(treeView1, _ICheckStr.Check_Root);
#endregion
_Set_Cal = new SetCalibrationShuJu();
#if DEBUG == true
if (TreeStatic.Mult_Tree_Node.Obj == null)
{
_ICal = new CalibrationShuJu();
}
else
{
_ICal = (CalibrationShuJu)TreeStatic.Mult_Tree_Node.Obj;;
}
#else
_ICircleShuJu = new CircleShuJu();
#endif
_Set_Cal.Set_show_row_col(_ICal, this.Controls);
#region 显示标定的工具
this._Set_Cal.Set_showTool(this._ICal, listBox_cal_tool);
//foreach (string tool in _ICal._Cal_tool_path)
//{
// listBox_cal_tool.Items.Add(tool);
//}
#endregion
}
/// <summary>
/// 设置世界坐标数据
/// </summary>
/// <param name="ICal_"></param>
/// <param name="calcol_world_x"></param>
/// <param name="calrow_world_y"></param>
/// <returns></returns>
public bool Set_Cal_world(ICalibrationShuJu ICal_, ref List <double> calcol_world_x, ref List <double> calrow_world_y)
{
bool ok = false;
int num1 = calcol_world_x.Count;
int num2 = calrow_world_y.Count;
if ((num1 == 9) && (num2 == 9))
{
for (int i = 0; i < num1; i++)
{
ICal_.Calcol_world_x[i] = (HTuple)calcol_world_x[i];
ICal_.Calrow_world_y[i] = (HTuple)calrow_world_y[i];
}
}
ok = true;
return(ok);
}
/// <summary>
/// 验证9点标定的精度
/// </summary>
/// <param name="Ical_"></param>
/// <param name="cal_wu_cha"></param>
/// <returns></returns>
public bool Set_YanZhengJingDu(ICalibrationShuJu Ical_, ref string cal_wu_cha)
{
bool ok = false;
/************求取放射变化数据与实际值的误差***************/
HTuple[] x_col_wu_cha = new HTuple[9];
HTuple[] y_row_wu_cha = new HTuple[9];
HTuple hv_x_col, hv_y_row;
#region 1
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, Ical_.Calcol_pixel_x[0], Ical_.Calrow_pixel_y[0], out hv_x_col, out hv_y_row);
x_col_wu_cha[0] = Ical_.Calcol_world_x[0] - hv_x_col;
y_row_wu_cha[0] = Ical_.Calrow_world_y[0] - hv_y_row;
#endregion
#region 2
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, Ical_.Calcol_pixel_x[1], Ical_.Calrow_pixel_y[1], out hv_x_col, out hv_y_row);
x_col_wu_cha[1] = Ical_.Calcol_world_x[1] - hv_x_col;
y_row_wu_cha[1] = Ical_.Calrow_world_y[1] - hv_y_row;
#endregion
#region 3
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, Ical_.Calcol_pixel_x[2], Ical_.Calrow_pixel_y[2], out hv_x_col, out hv_y_row);
x_col_wu_cha[2] = Ical_.Calcol_world_x[2] - hv_x_col;
y_row_wu_cha[2] = Ical_.Calrow_world_y[2] - hv_y_row;
#endregion
#region 4
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, Ical_.Calcol_pixel_x[3], Ical_.Calrow_pixel_y[3], out hv_x_col, out hv_y_row);
x_col_wu_cha[3] = Ical_.Calcol_world_x[3] - hv_x_col;
y_row_wu_cha[3] = Ical_.Calrow_world_y[3] - hv_y_row;
#endregion
#region 5
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, Ical_.Calcol_pixel_x[4], Ical_.Calrow_pixel_y[4], out hv_x_col, out hv_y_row);
x_col_wu_cha[4] = Ical_.Calcol_world_x[4] - hv_x_col;
y_row_wu_cha[4] = Ical_.Calrow_world_y[4] - hv_y_row;
#endregion
#region 6
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, Ical_.Calcol_pixel_x[5], Ical_.Calrow_pixel_y[5], out hv_x_col, out hv_y_row);
x_col_wu_cha[5] = Ical_.Calcol_world_x[5] - hv_x_col;
y_row_wu_cha[5] = Ical_.Calrow_world_y[5] - hv_y_row;
#endregion
#region 7
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, Ical_.Calcol_pixel_x[6], Ical_.Calrow_pixel_y[6], out hv_x_col, out hv_y_row);
x_col_wu_cha[6] = Ical_.Calcol_world_x[6] - hv_x_col;
y_row_wu_cha[6] = Ical_.Calrow_world_y[6] - hv_y_row;
#endregion
#region 8
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, Ical_.Calcol_pixel_x[7], Ical_.Calrow_pixel_y[7], out hv_x_col, out hv_y_row);
x_col_wu_cha[7] = Ical_.Calcol_world_x[7] - hv_x_col;
y_row_wu_cha[7] = Ical_.Calrow_world_y[7] - hv_y_row;
#endregion
#region 9
HOperatorSet.AffineTransPoint2d(Ical_.HomMat2D, Ical_.Calcol_pixel_x[8], Ical_.Calrow_pixel_y[8], out hv_x_col, out hv_y_row);
x_col_wu_cha[8] = Ical_.Calcol_world_x[8] - hv_x_col;
y_row_wu_cha[8] = Ical_.Calrow_world_y[8] - hv_y_row;
#endregion
HTuple zhong_jian_bian_liang_x, zhong_jian_bian_liang_y;
zhong_jian_bian_liang_x = 0;
zhong_jian_bian_liang_y = 0;
for (int i = 0; i < 9; i++)
{
HTuple x_1;
HOperatorSet.TupleAbs(x_col_wu_cha[i], out x_1);
if (zhong_jian_bian_liang_x < x_1)
{
zhong_jian_bian_liang_x = x_1;
}
}
for (int i = 0; i < 9; i++)
{
HTuple y_1;
HOperatorSet.TupleAbs(y_row_wu_cha[i], out y_1);
if (zhong_jian_bian_liang_y < y_1)
{
zhong_jian_bian_liang_y = y_1;
}
}
if (zhong_jian_bian_liang_x > zhong_jian_bian_liang_y)
{
cal_wu_cha = zhong_jian_bian_liang_x.D.ToString();
}
else
{
cal_wu_cha = zhong_jian_bian_liang_y.D.ToString();
}
ok = true;
return(ok);
}
/// <summary>
/// 输出参数
/// </summary>
/// <param name="Ical_"></param>
/// <param name="control"></param>
/// <returns></returns>
public bool Set_show_row_col(ICalibrationShuJu Ical_, Control.ControlCollection control)
{
bool ok = false;
foreach (Control con in control)
{
string name = con.Name;
if ((con is ComboBox) || (con is TextBox) || (con is RichTextBox))
{
switch (name)
{
#region 像素坐标
#region 1
case "txt_pixel_col_x1":
con.Text = Ical_.Calcol_pixel_x[0].D.ToString().Replace("\"", "");
break;
case "txt_pixel_row_y1":
con.Text = Ical_.Calrow_pixel_y[0].D.ToString().Replace("\"", "");
break;
#endregion
#region 2
case "txt_pixel_col_x2":
con.Text = Ical_.Calcol_pixel_x[1].D.ToString().Replace("\"", "");
break;
case "txt_pixel_row_y2":
con.Text = Ical_.Calrow_pixel_y[1].D.ToString().Replace("\"", "");
break;
#endregion
#region 3
case "txt_pixel_col_x3":
con.Text = Ical_.Calcol_pixel_x[2].D.ToString().Replace("\"", "");
break;
case "txt_pixel_row_y3":
con.Text = Ical_.Calrow_pixel_y[2].D.ToString().Replace("\"", "");
break;
#endregion
#region 4
case "txt_pixel_col_x4":
con.Text = Ical_.Calcol_pixel_x[3].D.ToString().Replace("\"", "");
break;
case "txt_pixel_row_y4":
con.Text = Ical_.Calrow_pixel_y[3].D.ToString().Replace("\"", "");
break;
#endregion
#region 5
case "txt_pixel_col_x5":
con.Text = Ical_.Calcol_pixel_x[4].D.ToString().Replace("\"", "");
break;
case "txt_pixel_row_y5":
con.Text = Ical_.Calrow_pixel_y[4].D.ToString().Replace("\"", "");
break;
#endregion
#region 6
case "txt_pixel_col_x6":
con.Text = Ical_.Calcol_pixel_x[5].D.ToString().Replace("\"", "");
break;
case "txt_pixel_row_y6":
con.Text = Ical_.Calrow_pixel_y[5].D.ToString().Replace("\"", "");
break;
#endregion
#region 7
case "txt_pixel_col_x7":
con.Text = Ical_.Calcol_pixel_x[6].D.ToString().Replace("\"", "");
break;
case "txt_pixel_row_y7":
con.Text = Ical_.Calrow_pixel_y[6].D.ToString().Replace("\"", "");
break;
#endregion
#region 8
case "txt_pixel_col_x8":
con.Text = Ical_.Calcol_pixel_x[7].D.ToString().Replace("\"", "");
break;
case "txt_pixel_row_y8":
con.Text = Ical_.Calrow_pixel_y[7].D.ToString().Replace("\"", "");
break;
#endregion
#region 9
case "txt_pixel_col_x9":
con.Text = Ical_.Calcol_pixel_x[8].D.ToString().Replace("\"", "");
break;
case "txt_pixel_row_y9":
con.Text = Ical_.Calrow_pixel_y[8].D.ToString().Replace("\"", "");
break;
#endregion
#endregion
#region 世界坐标
#region 1
case "txt_world_col_x1":
con.Text = Ical_.Calcol_world_x[0].D.ToString().Replace("\"", "");
break;
case "txt_world_row_y1":
con.Text = Ical_.Calrow_world_y[0].D.ToString().Replace("\"", "");
break;
#endregion
#region 2
case "txt_world_col_x2":
con.Text = Ical_.Calcol_world_x[1].D.ToString().Replace("\"", "");
break;
case "txt_world_row_y2":
con.Text = Ical_.Calrow_world_y[1].D.ToString().Replace("\"", "");
break;
#endregion
#region 3
case "txt_world_col_x3":
con.Text = Ical_.Calcol_world_x[2].D.ToString().Replace("\"", "");
break;
case "txt_world_row_y3":
con.Text = Ical_.Calrow_world_y[2].D.ToString().Replace("\"", "");
break;
#endregion
#region 4
case "txt_world_col_x4":
con.Text = Ical_.Calcol_world_x[3].D.ToString().Replace("\"", "");
break;
case "txt_world_row_y4":
con.Text = Ical_.Calrow_world_y[3].D.ToString().Replace("\"", "");
break;
#endregion
#region 5
case "txt_world_col_x5":
con.Text = Ical_.Calcol_world_x[4].D.ToString().Replace("\"", "");
break;
case "txt_world_row_y5":
con.Text = Ical_.Calrow_world_y[4].D.ToString().Replace("\"", "");
break;
#endregion
#region 6
case "txt_world_col_x6":
con.Text = Ical_.Calcol_world_x[5].D.ToString().Replace("\"", "");
break;
case "txt_world_row_y6":
con.Text = Ical_.Calrow_world_y[5].D.ToString().Replace("\"", "");
break;
#endregion
#region 7
case "txt_world_col_x7":
con.Text = Ical_.Calcol_world_x[6].D.ToString().Replace("\"", "");
break;
case "txt_world_row_y7":
con.Text = Ical_.Calrow_world_y[6].D.ToString().Replace("\"", "");
break;
#endregion
#region 8
case "txt_world_col_x8":
con.Text = Ical_.Calcol_world_x[7].D.ToString().Replace("\"", "");
break;
case "txt_world_row_y8":
con.Text = Ical_.Calrow_world_y[7].D.ToString().Replace("\"", "");
break;
#endregion
#region 9
case "txt_world_col_x9":
con.Text = Ical_.Calcol_world_x[8].D.ToString().Replace("\"", "");
break;
case "txt_world_row_y9":
con.Text = Ical_.Calrow_world_y[8].D.ToString().Replace("\"", "");
break;
#endregion
#endregion
}
}
if (con.Controls.Count > 0)
{
Set_show_row_col(Ical_, con.Controls);
}
}
ok = true;
return(ok);
}
/// <summary>
/// 9点标定
/// </summary>
/// <param name="ICal_"></param>
/// <param name="calcol_pixel_x"></param>
/// <param name="calrow_pixel_y"></param>
/// <param name="calcol_world_x"></param>
/// <param name="calrow_world_y"></param>
/// <returns></returns>
public bool Set_Cal_pixel_world_9Calibration(ICalibrationShuJu ICal_, ref double[] calcol_pixel_x, ref double[] calrow_pixel_y, ref double[] calcol_world_x, ref double[] calrow_world_y)
{
bool ok = false;
int calcol_pixel_x_num = calcol_pixel_x.Length;
int calrow_pixel_y_num = calrow_pixel_y.Length;
int calcol_world_x_num = calcol_world_x.Length;
int calrow_world_y_num = calrow_world_y.Length;
if (calcol_pixel_x.Length != 9)
{
MessageBox.Show("数据出错");
return(false);
}
if (calrow_pixel_y.Length != 9)
{
MessageBox.Show("数据出错");
return(false);
}
if (calcol_world_x.Length != 9)
{
MessageBox.Show("数据出错");
return(false);
}
if (calrow_world_y.Length != 9)
{
MessageBox.Show("数据出错");
return(false);
}
#region x像素
/*1*/
ICal_.Calcol_pixel_x[0] = (HTuple)calcol_pixel_x[0];
/*2*/
ICal_.Calcol_pixel_x[1] = (HTuple)calcol_pixel_x[1];
/*3*/
ICal_.Calcol_pixel_x[2] = (HTuple)calcol_pixel_x[2];
/*4*/
ICal_.Calcol_pixel_x[3] = (HTuple)calcol_pixel_x[3];
/*5*/
ICal_.Calcol_pixel_x[4] = (HTuple)calcol_pixel_x[4];
/*6*/
ICal_.Calcol_pixel_x[5] = (HTuple)calcol_pixel_x[5];
/*7*/
ICal_.Calcol_pixel_x[6] = (HTuple)calcol_pixel_x[6];
/*8*/
ICal_.Calcol_pixel_x[7] = (HTuple)calcol_pixel_x[7];
/*9*/
ICal_.Calcol_pixel_x[8] = (HTuple)calcol_pixel_x[8];
#endregion
#region y像素
/****1***/
ICal_.Calrow_pixel_y[0] = (HTuple)calrow_pixel_y[0];
/****2***/
ICal_.Calrow_pixel_y[1] = (HTuple)calrow_pixel_y[1];
/****3***/
ICal_.Calrow_pixel_y[2] = (HTuple)calrow_pixel_y[2];
/****4***/
ICal_.Calrow_pixel_y[3] = (HTuple)calrow_pixel_y[3];
/****5***/
ICal_.Calrow_pixel_y[4] = (HTuple)calrow_pixel_y[4];
/****6***/
ICal_.Calrow_pixel_y[5] = (HTuple)calrow_pixel_y[5];
/****7***/
ICal_.Calrow_pixel_y[6] = (HTuple)calrow_pixel_y[6];
/****8***/
ICal_.Calrow_pixel_y[7] = (HTuple)calrow_pixel_y[7];
/****9***/
ICal_.Calrow_pixel_y[8] = (HTuple)calrow_pixel_y[8];
#endregion
#region x世界
/****1****/
ICal_.Calcol_world_x[0] = (HTuple)calcol_world_x[0];
/****2****/
ICal_.Calcol_world_x[1] = (HTuple)calcol_world_x[1];
/****3****/
ICal_.Calcol_world_x[2] = (HTuple)calcol_world_x[2];
/****4****/
ICal_.Calcol_world_x[3] = (HTuple)calcol_world_x[3];
/****5****/
ICal_.Calcol_world_x[4] = (HTuple)calcol_world_x[4];
/****6****/
ICal_.Calcol_world_x[5] = (HTuple)calcol_world_x[5];
/****7****/
ICal_.Calcol_world_x[6] = (HTuple)calcol_world_x[6];
/****8****/
ICal_.Calcol_world_x[7] = (HTuple)calcol_world_x[7];
/****9****/
ICal_.Calcol_world_x[8] = (HTuple)calcol_world_x[8];
#endregion
#region y世界
/****1****/
ICal_.Calrow_world_y[0] = (HTuple)calrow_world_y[0];
/****2****/
ICal_.Calrow_world_y[1] = (HTuple)calrow_world_y[1];
/****3****/
ICal_.Calrow_world_y[2] = (HTuple)calrow_world_y[2];
/****4****/
ICal_.Calrow_world_y[3] = (HTuple)calrow_world_y[3];
/****5****/
ICal_.Calrow_world_y[4] = (HTuple)calrow_world_y[4];
/****6****/
ICal_.Calrow_world_y[5] = (HTuple)calrow_world_y[5];
/****7****/
ICal_.Calrow_world_y[6] = (HTuple)calrow_world_y[6];
/****8****/
ICal_.Calrow_world_y[7] = (HTuple)calrow_world_y[7];
/****9****/
ICal_.Calrow_world_y[8] = (HTuple)calrow_world_y[8];
#endregion
#region 无用代码
////像素坐标
//HTuple hv_xiangsu_x = new HTuple();
//hv_xiangsu_x[0] = calcol_pixel_x[0];
//hv_xiangsu_x[1] = calcol_pixel_x[1];
//hv_xiangsu_x[2] = calcol_pixel_x[2];
//hv_xiangsu_x[3] = calcol_pixel_x[3];
//hv_xiangsu_x[4] = calcol_pixel_x[4];
//hv_xiangsu_x[5] = calcol_pixel_x[5];
//hv_xiangsu_x[6] = calcol_pixel_x[6];
//hv_xiangsu_x[7] = calcol_pixel_x[7];
//hv_xiangsu_x[8] = calcol_pixel_x[8];
//HTuple hv_xiangsu_y = new HTuple();
//hv_xiangsu_y[0] = calrow_pixel_y[0];
//hv_xiangsu_y[1] = calrow_pixel_y[1];
//hv_xiangsu_y[2] = calrow_pixel_y[2];
//hv_xiangsu_y[3] = calrow_pixel_y[3];
//hv_xiangsu_y[4] = calrow_pixel_y[4];
//hv_xiangsu_y[5] = calrow_pixel_y[5];
//hv_xiangsu_y[6] = calrow_pixel_y[6];
//hv_xiangsu_y[7] = calrow_pixel_y[7];
//hv_xiangsu_y[8] = calrow_pixel_y[8];
////世界坐标
//HTuple hv_calcol_world_x = new HTuple();
//hv_calcol_world_x[0] = calcol_world_x[0];
//hv_calcol_world_x[1] = calcol_world_x[1];
//hv_calcol_world_x[2] = calcol_world_x[2];
//hv_calcol_world_x[3] = calcol_world_x[3];
//hv_calcol_world_x[4] = calcol_world_x[4];
//hv_calcol_world_x[5] = calcol_world_x[5];
//hv_calcol_world_x[6] = calcol_world_x[6];
//hv_calcol_world_x[7] = calcol_world_x[7];
//hv_calcol_world_x[8] = calcol_world_x[8];
//HTuple hv_calrow_world_y = new HTuple();
//hv_calrow_world_y[0] = calrow_world_y[0];
//hv_calrow_world_y[1] = calrow_world_y[1];
//hv_calrow_world_y[2] = calrow_world_y[2];
//hv_calrow_world_y[3] = calrow_world_y[3];
//hv_calrow_world_y[4] = calrow_world_y[4];
//hv_calrow_world_y[5] = calrow_world_y[5];
//hv_calrow_world_y[6] = calrow_world_y[6];
//hv_calrow_world_y[7] = calrow_world_y[7];
//hv_calrow_world_y[8] = calrow_world_y[8];
//HTuple hv_HomMat2D2, hv_Qx1, hv_Qy1, hv_RowTrans, hv_ColTrans;
#endregion
HTuple hv_HomMat2D2;
HOperatorSet.VectorToHomMat2d(ICal_.Calcol_pixel_x, ICal_.Calrow_pixel_y, ICal_.Calcol_world_x,
ICal_.Calrow_world_y, out hv_HomMat2D2);
ICal_.HomMat2D = hv_HomMat2D2;
#region 无用代码
//HOperatorSet.AffineTransPixel(hv_HomMat2D2, 1117.8735, 1067.1712, out hv_RowTrans,
// out hv_ColTrans);
//HOperatorSet.AffineTransPoint2d(ICal_.HomMat2D, 1029.6871, 979.107, out hv_Qx1,
// out hv_Qy1);
//Set_Calibration(ICal_);
#endregion
ok = true;
return(ok);
}