九点标定程序

最新推荐文章于 2024-04-26 16:28:59 发布

爱摸鱼的猫毛

最新推荐文章于 2024-04-26 16:28:59 发布

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文章标签： c++ 开发语言

本文链接：https://blog.csdn.net/llwr1314/article/details/129302591

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 public Mat vector_to_homMat2d()
        {
            if (imgx.Count != 9)
            {
                return null;
            }

            for (int i = 0; i < calibRobotPixelCoordinates.Length; i++)
            {
                calibImgPixelCoordinates[i].X = imgx[i];
                calibImgPixelCoordinates[i].Y = imgy[i];
                calibRobotPixelCoordinates[i].X = rebotx[i];
                calibRobotPixelCoordinates[i].Y = reboty[i];
            }

            if (calibImgPixelCoordinates.Length != 9 && calibRobotPixelCoordinates.Length != 9)
            {
                return null;
            }

            Mat mat = new Mat(9, 2, 6);
            mat.Set(0, 0, calibImgPixelCoordinates[0].X);
            mat.Set(0, 1, calibImgPixelCoordinates[0].Y);
            mat.Set(1, 0, calibImgPixelCoordinates[1].X);
            mat.Set(1, 1, calibImgPixelCoordinates[1].Y);
            mat.Set(2, 0, calibImgPixelCoordinates[2].X);
            mat.Set(2, 1, calibImgPixelCoordinates[2].Y);
            mat.Set(3, 0, calibImgPixelCoordinates[3].X);
            mat.Set(3, 1, calibImgPixelCoordinates[3].Y);
            mat.Set(4, 0, calibImgPixelCoordinates[4].X);
            mat.Set(4, 1, calibImgPixelCoordinates[4].Y);
            mat.Set(5, 0, calibImgPixelCoordinates[5].X);
            mat.Set(5, 1, calibImgPixelCoordinates[5].Y);
            mat.Set(6, 0, calibImgPixelCoordinates[6].X);
            mat.Set(6, 1, calibImgPixelCoordinates[6].Y);
            mat.Set(7, 0, calibImgPixelCoordinates[7].X);
            mat.Set(7, 1, calibImgPixelCoordinates[7].Y);
            mat.Set(8, 0, calibImgPixelCoordinates[8].X);
            mat.Set(8, 1, calibImgPixelCoordinates[8].Y);
            Mat mat2 = new Mat(9, 2, 6);
            mat2.Set(0, 0, calibRobotPixelCoordinates[0].X);
            mat2.Set(0, 1, calibRobotPixelCoordinates[0].Y);
            mat2.Set(1, 0, calibRobotPixelCoordinates[1].X);
            mat2.Set(1, 1, calibRobotPixelCoordinates[1].Y);
            mat2.Set(2, 0, calibRobotPixelCoordinates[2].X);
            mat2.Set(2, 1, calibRobotPixelCoordinates[2].Y);
            mat2.Set(3, 0, calibRobotPixelCoordinates[3].X);
            mat2.Set(3, 1, calibRobotPixelCoordinates[3].Y);
            mat2.Set(4, 0, calibRobotPixelCoordinates[4].X);
            mat2.Set(4, 1, calibRobotPixelCoordinates[4].Y);
            mat2.Set(5, 0, calibRobotPixelCoordinates[5].X);
            mat2.Set(5, 1, calibRobotPixelCoordinates[5].Y);
            mat2.Set(6, 0, calibRobotPixelCoordinates[6].X);
            mat2.Set(6, 1, calibRobotPixelCoordinates[6].Y);
            mat2.Set(7, 0, calibRobotPixelCoordinates[7].X);
            mat2.Set(7, 1, calibRobotPixelCoordinates[7].Y);
            mat2.Set(8, 0, calibRobotPixelCoordinates[8].X);
            mat2.Set(8, 1, calibRobotPixelCoordinates[8].Y);
            return Cv2.EstimateAffine2D(mat, mat2, null, RobustEstimationAlgorithms.RANSAC, 3.0, 2000uL, 0.99, 10uL);
        }

第一个是相机的坐标，后面是机器人的坐标，得到转换矩阵

public Point2d affine_trans_point2d(Point2d image_coordinates)
        {
            Mat mat;
            if ((mat = vector_to_homMat2d()) == null)
            {
                return new Point2d(-1.0, -1.0);
            }

            double num = mat.Get<double>(0, 0);
            double num2 = mat.Get<double>(0, 1);
            double num3 = mat.Get<double>(0, 2);
            double num4 = mat.Get<double>(1, 0);
            double num5 = mat.Get<double>(1, 1);
            double num6 = mat.Get<double>(1, 2);
            Point2d result = default(Point2d);
            result.X = num * image_coordinates.X + num2 * image_coordinates.Y + num3;
            result.Y = num4 * image_coordinates.X + num5 * image_coordinates.Y + num6;
            return result;
        }