网站建设开头不参与网站建设的弊端

网站建设开头,不参与网站建设的弊端,谷歌网页版入口,广州网站优化哪里有平移标定的数学公式 安装方式1安装方式2平移九点标定 using System; using System.Collections.Generic; using MathNet.Numerics.LinearAlgebra;namespace 平移标定的数学公式 {public class CoordinateCalibration{// 存储标定点对private List(PointF image, PointF rob…平移标定的数学公式安装方式1安装方式2平移九点标定usingSystem;usingSystem.Collections.Generic;usingMathNet.Numerics.LinearAlgebra;namespace平移标定的数学公式{publicclassCoordinateCalibration{// 存储标定点对privateList(PointF image,PointF robot)calibrationPointsnewList(PointF,PointF)();// 仿射变换参数 [a, b, c; d, e, f]privateMatrixdoubletransformMatrix;publicstructPointF{publicfloatX;publicfloatY;publicPointF(floatx,floaty){Xx;Yy;}}// 添加标定点publicvoidAddCalibrationPoint(PointFimagePoint,PointFrobotPoint){calibrationPoints.Add((imagePoint,robotPoint));}// 执行标定计算publicboolCalculateCalibration(){if(calibrationPoints.Count3){Console.WriteLine(至少需要3个标定点);returnfalse;}// 构建矩阵方程 A * params B// 参数矩阵 params [a, b, c, d, e, f]^TintncalibrationPoints.Count;MatrixdoubleAMatrixdouble.Build.Dense(2*n,6);MatrixdoubleBMatrixdouble.Build.Dense(2*n,1);for(inti0;in;i){var(image,robot)calibrationPoints[i];// 填充A矩阵 - X坐标相关行A[2*i,0]image.X;// xA[2*i,1]image.Y;// yA[2*i,2]1;// 1A[2*i,3]0;A[2*i,4]0;A[2*i,5]0;// 填充A矩阵 - Y坐标相关行A[2*i1,0]0;A[2*i1,1]0;A[2*i1,2]0;A[2*i1,3]image.X;// xA[2*i1,4]image.Y;// yA[2*i1,5]1;// 1// 填充B矩阵B[2*i,0]robot.X;B[2*i1,0]robot.Y;}// 使用最小二乘法求解try{// A * params B params (A^T * A)^-1 * A^T * BvarAtAA.Transpose()*A;varAtA_invAtA.Inverse();varAtBA.Transpose()*B;varparamsVectorAtA_inv*AtB;// 转换为2x3变换矩阵transformMatrixMatrixdouble.Build.Dense(2,3);transformMatrix[0,0]paramsVector[0,0];// atransformMatrix[0,1]paramsVector[1,0];// btransformMatrix[0,2]paramsVector[2,0];// ctransformMatrix[1,0]paramsVector[3,0];// dtransformMatrix[1,1]paramsVector[4,0];// etransformMatrix[1,2]paramsVector[5,0];// freturntrue;}catch(Exceptionex){Console.WriteLine($标定计算失败:{ex.Message});returnfalse;}}// 图像坐标转机械手坐标publicPointFImageToRobot(PointFimagePoint){if(transformMatrixnull){thrownewInvalidOperationException(尚未执行标定计算);}// 构建输入向量 [x, y, 1]VectordoubleinputVectordouble.Build.Dense(new[]{imagePoint.X,imagePoint.Y,1.0});// 计算输出 [X, Y]VectordoubleoutputtransformMatrix*input;returnnewPointF((float)output[0],(float)output[1]);}// 机械手坐标转图像坐标逆变换publicPointFRobotToImage(PointFrobotPoint){if(transformMatrixnull){thrownewInvalidOperationException(尚未执行标定计算);}// 仿射变换的逆变换需要计算矩阵的逆MatrixdoubleinvTransformMatrixdouble.Build.Dense(3,3);invTransform[0,0]transformMatrix[0,0];invTransform[0,1]transformMatrix[0,1];invTransform[0,2]transformMatrix[0,2];invTransform[1,0]transformMatrix[1,0];invTransform[1,1]transformMatrix[1,1];invTransform[1,2]transformMatrix[1,2];invTransform[2,0]0;invTransform[2,1]0;invTransform[2,2]1;try{varinvinvTransform.Inverse();VectordoubleinputVectordouble.Build.Dense(new[]{robotPoint.X,robotPoint.Y,1.0});Vectordoubleoutputinv*input;returnnewPointF((float)output[0],(float)output[1]);}catch{Console.WriteLine(逆变换计算失败可能矩阵不可逆);returnnewPointF(0,0);}}}}二 使用usingSystem;usingSystem.Collections.Generic;usingSystem.ComponentModel;usingSystem.Data;usingSystem.Drawing;usingSystem.Linq;usingSystem.Text;usingSystem.Threading.Tasks;usingSystem.Windows.Forms;namespace平移标定的数学公式{publicpartialclassForm1:Form{publicForm1(){InitializeComponent();}privatevoidbutton1_Click(objectsender,EventArgse){varcalibratornewCoordinateCalibration();// 添加9个标定点示例数据实际应用中需要真实测量// 格式(图像坐标X, 图像坐标Y), (机械手坐标X, 机械手坐标Y)calibrator.AddCalibrationPoint(newCoordinateCalibration.PointF(1588.7726f,596.46368f),newCoordinateCalibration.PointF(140,10));calibrator.AddCalibrationPoint(newCoordinateCalibration.PointF(2092.5125f,601.88007f),newCoordinateCalibration.PointF(140,-10));calibrator.AddCalibrationPoint(newCoordinateCalibration.PointF(2599.6616f,608.51514f),newCoordinateCalibration.PointF(140,-30));calibrator.AddCalibrationPoint(newCoordinateCalibration.PointF(1586.8936f,1092.2368f),newCoordinateCalibration.PointF(160,10));calibrator.AddCalibrationPoint(newCoordinateCalibration.PointF(2088.5759f,1099.787f),newCoordinateCalibration.PointF(160,-10));calibrator.AddCalibrationPoint(newCoordinateCalibration.PointF(2588.5093f,1111.1132f),newCoordinateCalibration.PointF(160,-30));calibrator.AddCalibrationPoint(newCoordinateCalibration.PointF(1573.5547f,1592.8459f),newCoordinateCalibration.PointF(180,10));calibrator.AddCalibrationPoint(newCoordinateCalibration.PointF(2082.4187f,1601.0065f),newCoordinateCalibration.PointF(180,-10));calibrator.AddCalibrationPoint(newCoordinateCalibration.PointF(2583.4763f,1615.3347f),newCoordinateCalibration.PointF(180,-30));// 执行标定计算if(calibrator.CalculateCalibration()){// 测试转换vartestImagePointnewCoordinateCalibration.PointF(1200,1500);varrobotPointcalibrator.ImageToRobot(testImagePoint);MessageBox.Show($图像坐标({testImagePoint.X},{testImagePoint.Y}) - 机械手坐标({robotPoint.X},{robotPoint.Y}));// 测试逆转换varbackToImagecalibrator.RobotToImage(robotPoint);MessageBox.Show($机械手坐标({robotPoint.X},{robotPoint.Y}) - 图像坐标({backToImage.X},{backToImage.Y}));}}}}