RealSys.MotionPlat/Rs.MotionPlat/SysConfig/UpCameraCalibration.cs

using Rs.Framework;
using Rs.MotionPlat.Flow;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat.SysConfig
{
    public partial class UpCameraCalibration : BaseForm
    {
        public UpCameraCalibration()
        {
            InitializeComponent();
            cameraTemplate1.ItemName = "上相机标定";
        }

        private void UpCameraCalibration_FormClosing(object sender, FormClosingEventArgs e)
        {
            cameraTemplate1.RemoveGrabEvent();
        }

        private void btnMove_Click(object sender, EventArgs e)
        {
            AxisControl.LoadY.MoveOffset(double.Parse(txtMoveOffset.Text), 10);
        }

        private void btnCalcPix_Click(object sender, EventArgs e)
        {
            int count = dgvPixCalib.Rows.Count;
            if (count < 2)
            {
                Msg.ShowError("移动次数少于一次");
                return;
            }
            double columnValY1 = double.Parse(dgvPixCalib.Rows[0].Cells[0].Value.ToString());
            double columnValY2 = double.Parse(dgvPixCalib.Rows[1].Cells[0].Value.ToString());
            double mmPerPix = (double.Parse(txtMoveOffset.Text) / (columnValY2 - columnValY1));
            txtMmPerPixX.Text = mmPerPix.ToString("0.0000");
            txtMmPerPixY.Text = mmPerPix.ToString("0.0000");
        }

        private void btnGetMatchResult_Click(object sender, EventArgs e)
        {
            cameraTemplate1.GetMatchResult(out double row, out double column, out double angle, out double score);
            int rowIndex = dgvPixCalib.Rows.Add();
            dgvPixCalib.Rows[rowIndex].Cells[0].Value = row.ToString("0.000");
            dgvPixCalib.Rows[rowIndex].Cells[1].Value = column.ToString("0.000");
            dgvPixCalib.Rows[rowIndex].Cells[2].Value = angle.ToString("0.000");
            dgvPixCalib.Rows[rowIndex].Cells[3].Value = score.ToString("0.000");
            Msg.ShowInfo($"{row},{column},{angle},{score}");
        }

        private void UpCameraCalibration_Load(object sender, EventArgs e)
        {
            dgvPixCalib.AutoGenerateColumns = false;
        }

        protected override void OnClosed(EventArgs e)
        {
            cameraTemplate1.StopGrab();
            base.OnClosed(e);
        }
    }
}