public MyHomMat2D GetHomMAT(CoordiCamHandEyeMatEnum CoordiCamIn) //获取标定矩阵
{
foreach (CaliParam item in CaliParaList)
{
if (item.CoordiCam == CoordiCamIn)
{
return(item.HomMat);
}
}
return(new MyHomMat2D());
}
public CaliModelEnum GetCaliMode(CoordiCamHandEyeMatEnum CoordiCamIn)
{
foreach (CaliParam item in CaliParaList)
{
if (item.CoordiCam == CoordiCamIn)
{
return(item.caliModel);
}
}
return(CaliModelEnum.HandEyeCali);
}
/// <summary>
/// 通过坐标系枚举获取标定参数，这个方法存在的问题是，可能一个坐标有两个相机需要标定
/// </summary>
/// <param name="CoordiCamIn"></param>
/// <returns></returns>
public CaliValue GetCaliValue(CoordiCamHandEyeMatEnum CoordiCamIn)
{
CaliValue value = new CaliValue();
foreach (CaliParam item in CaliParaList)
{
if (item.CoordiCam == CoordiCamIn)
{
return(value = item.GetCaliValue());
}
}
return(value);
}
public CaliParam()
{
this.camLightPara = new CameraLightPara();
this.localPara = new LocalPara();
this.AngleRange = 10.0;
this.StartCaliPt = new Point3Db();
this.EndCaliPt = new Point3Db();
this.IsMoveX = false;
this.IsMoveY = false;
this.caliModel = CaliModelEnum.HandEyeCali;
this.HomMat = new MyHomMat2D();
this.ListRectRegion = new List <RectangleF>();
this.ListPt2D = new List <Point2Db>();
this.cam = CameraEnum.Cam0;
this.describe = "未定义";
this.CoordiCam = CoordiCamHandEyeMatEnum.Coordi0Cam0;
}
public LocalSettingPara()
{
SearchAreaX = 0;
SearchAreaY = 0;
SearchWidth = 1000;
SearchHeight = 1000;
localModel = LocalModelEnum.Temp;
GrabPosTeach = new Point3Db();
TeachImgLocal = new St_VectorAngle();
TeachCoordi = CoordiEmum.Coordi0;
CoordiCam = CoordiCamHandEyeMatEnum.Coordi0Cam0;
Offset_x_range = 1;
Offset_y_range = 1;
Offset_theta_range = 1;
Offset_x = 0;
Offset_y = 0;
Offset_theta = 0;
PixelSize = 1;
}
