WPF引导定位软件-定位纠偏（带角度）
// 一 获取圆的中心AlgorithmService.Instance.DetectRect2(info.Image,outdoubleImageY,outdoubleImageX,outdoubleImageA,outdoublephi);// 二 获取目标位置TargetLoactiontargetLoaction=(TargetLoaction)XmlSerializerHelper.ReadXML(@"./目标位置.xml",typeof(TargetLoaction));// 三图像坐标转物理坐标// 读取九点标定文件HOperatorSet.ReadTuple(@"./九点标定.tup",outHTuplehommat2d);HOperatorSet.AffineTransPoint2d(hommat2d,targetLoaction.Y,targetLoaction.X,outHTupley_target,outHTuplex_target);HOperatorSet.AffineTransPoint2d(hommat2d,ImageY,ImageX,outHTupley_current,outHTuplex_current);// 读取旋转中心RotateCaliModelrotateCaliModel=(RotateCaliModel)XmlSerializerHelper.ReadXML(".\\旋转标定结果.xml",typeof(RotateCaliModel));// 四 获取偏移量AlgorithmService.Instance.Calculate_offset(targetLoaction.Phi,phi,hommat2d,ImageY,ImageX,rotateCaliModel.CenterX,rotateCaliModel.CenterY,targetLoaction.Y,targetLoaction.X,outHTupleoffset_y,outHTupleoffset_x);doubleoffsetX=offset_x.D;doubleoffsetY=offset_y.D;doubleoffsetA=(targetLoaction.Angle-ImageA)/0.722;// 五 发送结果给上位机// 通讯定义：res,offsetX,offsetYCommunicateService.Instance.Send("res,"+offsetX+","+offsetY+","+offsetA);// 六 更新UIvarmainForm=Application.OpenForms.OfType<MainForm>().FirstOrDefault();mainForm.Invoke(newAction(()=>{mainForm.lb_CurrentX.Text=ImageX.ToString();mainForm.lb_CurrentY.Text=ImageY.ToString();mainForm.lb_CurrentA.Text=ImageA.ToString();mainForm.lb_OffsetX.Text=offsetX.ToString();mainForm.lb_OffsetY.Text=offsetY.ToString();mainForm.lb_OffsetA.Text=offsetA.ToString();// 2.获取窗口上的显示控件HWindow_FinalhWindow_Final=mainForm.hWindow_Final_CameraImg;// 3.显示标定点hWindow_Final.HobjectToHimage(info.Image);HOperatorSet.GenCrossContourXld(outHObjectcross,ImageY,ImageX,30,phi);hWindow_Final.DispObj(cross,"red");}));
/// <summary>/// 计算偏移量/// </summary>/// <param name="hv_Phi_Target"></param>/// <param name="hv_Phi_Curr"></param>/// <param name="hv_HomMat2D"></param>/// <param name="hv_Row_Curr"></param>/// <param name="hv_Column_Curr"></param>/// <param name="hv_CenterX"></param>/// <param name="hv_CenterY"></param>/// <param name="hv_Row_Target"></param>/// <param name="hv_Column_Target"></param>/// <param name="hv_dx"></param>/// <param name="hv_dy"></param>publicvoidCalculate_offset(HTuplehv_Phi_Target,HTuplehv_Phi_Curr,HTuplehv_HomMat2D,HTuplehv_Row_Curr,HTuplehv_Column_Curr,HTuplehv_CenterX,HTuplehv_CenterY,HTuplehv_Row_Target,HTuplehv_Column_Target,outHTuplehv_dx,outHTuplehv_dy){// Local iconic variables// Local control variablesHTuplehv_offset_p=newHTuple(),hv_sin_value=newHTuple();HTuplehv_cos_value=newHTuple(),hv_x=newHTuple();HTuplehv_y=newHTuple(),hv_after_angle_x=newHTuple();HTuplehv_after_angle_y=newHTuple(),hv_Qx1=newHTuple();HTuplehv_Qy1=newHTuple();// Initialize local and output iconic variableshv_dx=newHTuple();hv_dy=newHTuple();//纠偏方式2：角度和xy同时进行纠偏，xy纠正的偏差量hv_offset_p.Dispose();using(HDevDisposeHelperdh=newHDevDisposeHelper()){hv_offset_p=hv_Phi_Target-hv_Phi_Curr;}hv_sin_value.Dispose();using(HDevDisposeHelperdh=newHDevDisposeHelper()){hv_sin_value=hv_offset_p.TupleSin();}hv_cos_value.Dispose();using(HDevDisposeHelperdh=newHDevDisposeHelper()){hv_cos_value=hv_offset_p.TupleCos();}//像素坐标转物理坐标hv_x.Dispose();hv_y.Dispose();HOperatorSet.AffineTransPoint2d(hv_HomMat2D,hv_Row_Curr,hv_Column_Curr,outhv_x,outhv_y);//旋转后的点hv_after_angle_x.Dispose();using(HDevDisposeHelperdh=newHDevDisposeHelper()){hv_after_angle_x=(((hv_x-hv_CenterX)*hv_cos_value)-((hv_y-hv_CenterY)*hv_sin_value))+hv_CenterX;}hv_after_angle_y.Dispose();using(HDevDisposeHelperdh=newHDevDisposeHelper()){hv_after_angle_y=(((hv_x-hv_CenterX)*hv_sin_value)+((hv_y-hv_CenterY)*hv_cos_value))+hv_CenterY;}//目标位置-旋转之后的位置//像素坐标转物理坐标hv_Qx1.Dispose();hv_Qy1.Dispose();HOperatorSet.AffineTransPoint2d(hv_HomMat2D,hv_Row_Target,hv_Column_Target,outhv_Qx1,outhv_Qy1);hv_dx.Dispose();using(HDevDisposeHelperdh=newHDevDisposeHelper()){hv_dx=hv_Qx1-hv_after_angle_x;}hv_dy.Dispose();using(HDevDisposeHelperdh=newHDevDisposeHelper()){hv_dy=hv_Qy1-hv_after_angle_y;}hv_offset_p.Dispose();hv_sin_value.Dispose();hv_cos_value.Dispose();hv_x.Dispose();hv_y.Dispose();hv_after_angle_x.Dispose();hv_after_angle_y.Dispose();hv_Qx1.Dispose();hv_Qy1.Dispose();return;}
