/// <summary>
/// 计算基于特征点的标定转换矩阵
/// </summary>
public void CalculateCaliPointHomMatrix()
{
if (CaliSolution != null &&
CaliSolution.CalibrationPointPairBList.Count > 3)
{
HalconDotNet.HTuple row, col, axis1, axis2;
HalconDotNet.HTuple sx, sy, phi, theta, tx, ty;
HalconDotNet.HTuple tmp1, tmp2, pixelError, physicalError;
CaliSolution.IsEffective = false;
try
{
row = new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[0].PC.Row);
col = new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[0].PC.Col);
axis1 = new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[0].WC.X);
axis2 = new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[0].WC.Y);
int count = CaliSolution.CalibrationPointPairBList.Count;
for (int i = 1; i < count; i++)
{
row = row.TupleConcat(new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[i].PC.Row));
col = col.TupleConcat(new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[i].PC.Col));
axis1 = axis1.TupleConcat(new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[i].WC.X));
axis2 = axis2.TupleConcat(new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[i].WC.Y));
}
HalconDotNet.HOperatorSet.VectorToHomMat2d(row, col, axis1, axis2, out _p2whomMat2D);
HalconDotNet.HOperatorSet.VectorToHomMat2d(axis1, axis2, row, col, out _w2phomMat2D);
//1-根据转换关系,物理坐标系点转换为像素点
HalconDotNet.HOperatorSet.AffineTransPoint2d(_w2phomMat2D, axis1, axis2, out tmp1, out tmp2);
pixelError = ((row - tmp1) * (row - tmp1) + (col - tmp2) * (col - tmp2)).TupleMean();
//2-根据转换关系,像素坐标系点转换为物理点
HalconDotNet.HOperatorSet.AffineTransPoint2d(_p2whomMat2D, row, col, out tmp1, out tmp2);
physicalError = ((axis1 - tmp1) * (axis1 - tmp1) + (axis2 - tmp2) * (axis2 - tmp2)).TupleMean();
HalconDotNet.HOperatorSet.HomMat2dToAffinePar(_p2whomMat2D, out sx, out sy, out phi, out theta, out tx, out ty);
CaliSolution.ResultOfCaliPoint = new Communal.ResultOfCalibrationPoint();
CaliSolution.ResultOfCaliPoint.PC2WCHomMat2D = _p2whomMat2D.ToDArr();
CaliSolution.ResultOfCaliPoint.WC2PCHomMat2D = _w2phomMat2D.ToDArr();
CaliSolution.ResultOfCaliPoint.Sx = sx.D;
CaliSolution.ResultOfCaliPoint.Sy = sy.D;
CaliSolution.ResultOfCaliPoint.Phi = phi.D;
CaliSolution.ResultOfCaliPoint.Theta = theta.D;
CaliSolution.ResultOfCaliPoint.Tx = tx.D;
CaliSolution.ResultOfCaliPoint.Ty = ty.D;
CaliSolution.ResultOfCaliPoint.CalibrationPhysicalError = physicalError;
CaliSolution.ResultOfCaliPoint.CalibrationPixelError = pixelError;
CaliSolution.IsEffective = true;
}
catch { }
}
}
public override HalconDotNet.HTuple GetModeData()
{
HalconDotNet.HTuple mdData = new HalconDotNet.HTuple(new double[] { _locateRow, _locateCol });
mdData.TupleConcat(new HalconDotNet.HTuple(_sizeRows)).TupleConcat(new HalconDotNet.HTuple(_sizeCols));
return(mdData);
}
