public override void DoCalib()
{
if (PlatformUp != null)
{
var isFirst = true;
foreach (var pos in PlatformUpPos)
{
if (isFirst)
{
isFirst = false;
PlatformUp.EnterAuto(this).Jump(pos, 0);
}
else
{
PlatformUp.EnterAuto(this).Jump(pos, PlatformUpJumpHeight);
}
}
}
{
var ret = XyzPlarformCalibration.CalcAffineTransform(ProductPos.Select(p => new PosXYZ(p.X, p.Y, 0)).ToList(), PlatformUpPos.Select(p => new PosXYZ(p.X, p.Y, 0)).ToList());
Log($"计算产品坐标到上平台转换矩阵:\r\n"
+ $"{ret.Item1[0, 0]:F6},{ret.Item1[0, 1]:F6},{ret.Item1[0, 2]:F6},{ret.Item1[0, 3]:F6}\r\n"
+ $"{ret.Item1[1, 0]:F6},{ret.Item1[1, 1]:F6},{ret.Item1[1, 2]:F6},{ret.Item1[1, 3]:F6}\r\n"
+ $"{ret.Item1[2, 0]:F6},{ret.Item1[2, 1]:F6},{ret.Item1[2, 2]:F6},{ret.Item1[2, 3]:F6}\r\n"
+ $"{ret.Item1[3, 0]:F6},{ret.Item1[3, 1]:F6},{ret.Item1[3, 2]:F6},{ret.Item1[3, 3]:F6}\r\n", LogLevel.Info);
Log($"计算误差:\r\n{ret.Item2:F2}\r\n", LogLevel.Info);
OutputTransform = new TransformParams(ret.Item1);
}
}
public override void UninitCalib()
{
PlatformUp?.EnterAuto(this).Jump("Wait", PlatformUpJumpHeight);
PlatformCarrier?.EnterAuto(this).MoveAbs("Wait");
PlatformUp?.ExitAuto();
PlatformCarrier?.ExitAuto();
}
