/// <summary>
/// 删除
/// </summary>
public void Delete(int index)
{
if ((index >= 0) && (index < CalibPointList.Count))
{
CalibPointList.RemoveAt(index);
OnCalibrationPointListChanged(CalibPointList);
}
}
/// <summary>
/// 标定
/// </summary>
public void GetCalibMatrix()
{
//拼接数据
double[] pxArray = new double[CalibPointList.Count];
double[] pyArray = new double[CalibPointList.Count];
double[] qxArray = new double[CalibPointList.Count];
double[] qyArray = new double[CalibPointList.Count];
double[] posMatrix;
double[] invMatrix;
bool result1 = false;
bool result2 = false;
CalibParam.CalibPointList.Clear();
for (int i = 0; i < CalibPointList.Count; i++)
{
pxArray[i] = CalibPointList[i].Px;
pyArray[i] = CalibPointList[i].Py;
qxArray[i] = CalibPointList[i].Qx;
qyArray[i] = CalibPointList[i].Qy;
}
CalibParam.CalibPointList = CalibPointList.ToList();
//计算标定矩阵
if (GetCalibMatrixCallback != null)
{
result1 = GetCalibMatrixCallback.Invoke(pxArray, pyArray, qxArray, qyArray, out posMatrix);
result2 = GetCalibMatrixCallback.Invoke(qxArray, qyArray, pxArray, pyArray, out invMatrix);
}
else
{
result1 = SimpleVision.Calibration.CreateCalibMatrix(pxArray, pyArray, qxArray, qyArray, out posMatrix);
result2 = SimpleVision.Calibration.CreateCalibMatrix(qxArray, qyArray, pxArray, pyArray, out invMatrix);
}
//结果保存
CalibParam.IsValid = result1 && result2;
CalibParam.Matrix = posMatrix;
CalibParam.InvMatrix = invMatrix;
NotifyOfPropertyChange(() => Matrix);
if (CalibParam.IsValid)
{
MessageRaised?.Invoke(this, new MessageRaisedEventArgs(MessageLevel.Message, "标定成功!"));
}
else
{
MessageRaised?.Invoke(this, new MessageRaisedEventArgs(MessageLevel.Warning, "标定失败!请检查相关的数据"));
}
}
/// <summary>
/// 增加
/// </summary>
public void Add(double px, double py, double qx, double qy)
{
CalibPointList.Add(new CalibPointData(px, py, qx, qy));
OnCalibrationPointListChanged(CalibPointList);
}
/// <summary>
/// 增加点位
/// </summary>
/// <param name="location">点位位置</param>
/// <param name="px">原始X点位</param>
/// <param name="py">原始Y点位</param>
/// <param name="qx">转换X点位</param>
/// <param name="qy">转换Y点位</param>
public void Add(ECalibrationPointLocation location, double px, double py, double qx, double qy)
{
CalibPointList.Add(new CalibrationPoint(location, px, py, qx, qy));
OnCalibrationPointListChanged(CalibPointList);
}
