public void TestMethod1() { //220.2 1531.51 - 226.423 340.238 //951.28 2967.35 - 303.982 335.088 //2386.24 2233.19 - 308.787 413.195 //1653.1 800.28 - 231.388 417.857 List <PosXY> campos = new List <PosXY>() { new PosXY() { X = 220.2, Y = 1531.51 }, new PosXY() { X = 951.28, Y = 2967.35 }, new PosXY() { X = 2386.24, Y = 2233.19 }, new PosXY() { X = 1653.1, Y = 800.28 }, }; List <PosXY> robpos = new List <PosXY>() { new PosXY() { X = -226.423, Y = 340.238 }, new PosXY() { X = -303.982, Y = 335.088 }, new PosXY() { X = -308.787, Y = 413.195 }, new PosXY() { X = -231.388, Y = 417.857 }, }; Console.WriteLine($"CAMPOS:\r\n{string.Join("\r\n", campos.Select(p => p.ToString()))}\r\n"); Console.WriteLine($"ROBOTPOS:\r\n{string.Join("\r\n", robpos.Select(p => p.ToString()))}\r\n"); //X缩放: 0.048 //Y缩放: 0.048 //坐标系旋转: 2.104 //Y轴错切: 0.004 //X轴平移: -157.528 //Y轴平移: 368.798 Console.WriteLine("HALCON CALIBRATION: \r\n"); HHomMat2D coorCalMat = new HHomMat2D(); HTuple cx = new HTuple(campos.Select(d => d.X).ToArray()); HTuple cy = new HTuple(campos.Select(d => d.Y).ToArray()); HTuple rx = new HTuple(robpos.Select(d => d.X).ToArray()); HTuple ry = new HTuple(robpos.Select(d => d.Y).ToArray()); coorCalMat.VectorToHomMat2d(cx, cy, rx, ry); //calculate halcon errors List <double> errors = new List <double>(); for (int i = 0; i < campos.Count; i++) { double rx1, ry1; rx1 = coorCalMat.AffineTransPoint2d(campos[i].X, campos[i].Y, out ry1); errors.Add((robpos[i].X - rx1) * (robpos[i].X - rx1) + (robpos[i].Y - ry1) * (robpos[i].Y - ry1)); } Console.WriteLine($"HALCON FIT MAX ERROR: {errors.Max():F3}\r\n"); double sx, sy, phi, theta, tx, ty; sx = coorCalMat.HomMat2dToAffinePar(out sy, out phi, out theta, out tx, out ty); Console.WriteLine($"sx:{sx:F6}\r\nsy:{sy:F6}\r\nphi:{phi:F6}\r\ntheta:{theta:F6}\r\ntx:{tx:F6}\r\nty:{ty:F6}\r\n"); { double rx1, ry1; rx1 = coorCalMat.AffineTransPoint2d(220.2, 1531.51, out ry1); Console.WriteLine("\r\nHALCON transform 220.2, 1531.51 into " + rx1.ToString("F6") + "," + ry1.ToString("F6")); } { Console.WriteLine("\r\nRIGID ALIGN CALIBRATION: \r\n"); var res = RigidAlign.RigidAlign.Align(campos.Select(d => d.X).ToArray(), campos.Select(d => d.Y).ToArray(), robpos.Select(d => d.X).ToArray(), robpos.Select(d => d.Y).ToArray()); Console.WriteLine("RIGID ALIGN MAX ERROR:" + res.Item2.ToString("F6") + "\r\n"); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { if (j == 2) { Console.Write($"{res.Item1[i, j]:F6}\r\n"); } else { Console.Write($"{res.Item1[i, j]:F6},"); } } } Console.WriteLine("\r\nRIGID ALIGN transform 220.2, 1531.51 into " + string.Join(",", RigidAlign.RigidAlign.Transform(new[] { 220.2, 1531.51 }, res.Item1).Select(d => d.ToString("F3")))); } }