添加算法:刚性变换

LaiPuLaser/CommonFlowMgr.cpp

@@ -381,6 +381,41 @@ CMFCPropertyGridProperty * CCommonFlowMgr::CreatGridProperty()
 					pGroup1->AddSubItem(p);
 					gDevicePropertieMgr.Insert(p, pPropertie);
 				}
+
+				{
+					//添加属性变量映射
+					Name = _T("m_bUseEstimateAffine");//变量名字
+					CPropertie *pPropertie = new CPropertie;
+					pPropertie->SetpVal((void*)&m_bUseEstimateAffine);
+					pPropertie->SetType(_PROP_TYPE_BOOL);
+					pPropertie->SetpModule(this);
+					pPropertie->SetPath(Path);
+					pPropertie->SetName(Name);
+					pPropertie->WriteRead(true);//读取保存的属性
+					//添加属性显示
+					PropertyName = _T("使用刚性变换");
+					Description = _T("true:刚性变换 ，false:仿射变换");
+					CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bUseEstimateAffine, Description);
+					pGroup1->AddSubItem(p);
+					gDevicePropertieMgr.Insert(p, pPropertie);
+				}
+				{
+					//添加属性变量映射
+					Name = _T("m_EstimateAffinepar");//变量名字
+					CPropertie *pPropertie = new CPropertie;
+					pPropertie->SetpVal((void*)&m_EstimateAffinepar);
+					pPropertie->SetType(_PROP_TYPE_INT);
+					pPropertie->SetpModule(this);
+					pPropertie->SetPath(Path);
+					pPropertie->SetName(Name);
+					pPropertie->WriteRead(true);//读取保存的属性
+					//添加属性显示
+					PropertyName = _T("刚性变换参数");
+					Description = _T("刚性变换参数:0,1,2");
+					CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_EstimateAffinepar, Description);
+					pGroup1->AddSubItem(p);
+					gDevicePropertieMgr.Insert(p, pPropertie);
+				}
 				{
 					//添加属性变量映射
 					Name = _T("m_AdjustOffset_X");//变量名字

LaiPuLaser/CommonFlowMgr.h

@@ -56,6 +56,10 @@ public:
       void ResetProductOffset();
       void SetbCollectSpecialObj(bool b){m_bCollectSpecialObj = b;};
       bool IsbCollectSpecialObj(){return m_bCollectSpecialObj;};
+
+	  bool IsUseEstimateAffine() { return m_bUseEstimateAffine; }; //是否使用刚性变换
+	  int											m_EstimateAffinepar=0;
+
       bool IsbStretchDataToRealSize(){return m_bStretchDataToRealSize;};
       bool CameraCatchMark3(CProduct &Product);
 
@@ -116,6 +120,7 @@ private:
        double                                         m_RotatoAdjust;//旋转调整mm
 
        bool                                           m_bStretchDataToRealSize;//根据抓取结果拉伸数据
+	   bool                                           m_bUseEstimateAffine = true;//是否使用刚性变换，否则使用仿射变换
        //平台cut 参数--------------------------------------------------------------
        bool                                          m_bUseLaser;//是否开关激光
        //振镜校准参数--------------------------------------------------------------

LaiPuLaser/Product.cpp

@@ -348,20 +348,60 @@ void CProduct::CalAffinePars()
 	
 
 
-	//得放射变换参数矩阵
+			//得放射变换参数矩阵
-	warp_mat = getAffineTransform(ThroryCoords, RealCoords);
+			warp_mat = getAffineTransform(ThroryCoords, RealCoords);
-	warp_mat.convertTo(warp_mat, CV_32FC1);//不转化时,默认CV_64FC1  后续计算会错误
+			warp_mat.convertTo(warp_mat, CV_32FC1);//不转化时,默认CV_64FC1  后续计算会错误
+
+			//取出6个变换参数
+			m_p00 = warp_mat.at<float>(0, 0);
+			m_p01 = warp_mat.at<float>(0, 1);
+			m_p02 = warp_mat.at<float>(0, 2);//m_CatchMark1Oft.x;//
+
+			m_p10 = warp_mat.at<float>(1, 0);
+			m_p11 = warp_mat.at<float>(1, 1);
+			m_p12 = warp_mat.at<float>(1, 2);//m_CatchMark1Oft.y;//
+		
+
+			logstr.Format("仿射=====>偏移:[%.4f]~[%.4f]", m_p02, m_p12);
+			gLogMgr->WriteDebugLog(logstr);
+
+			logstr.Format("仿射=====>X参数:[ %.4f ]~[%.4f]", m_p00, m_p01);
+			gLogMgr->WriteDebugLog(logstr);
+
+			logstr.Format("仿射=====>Y参数:[ %.4f ]~[%.4f]", m_p10, m_p11);
+			gLogMgr->WriteDebugLog(logstr);
+
+	//刚性变换
+	if (gCommonFlowMgr->IsUseEstimateAffine())
+	{
+		vector<Point2d> src(ThroryCoords, ThroryCoords + 2);
+		vector<Point2d> dest(RealCoords, RealCoords + 2);
+		auto tempMat = warp_mat;
 
-	//取出6个变换参数
+		int  Method = abs(gCommonFlowMgr->m_EstimateAffinepar) % 3;
-	m_p00 = warp_mat.at<float>(0, 0);
+		Method = 4 * pow(2, Method);
-	m_p01 = warp_mat.at<float>(0, 1);
-	m_p02 = warp_mat.at<float>(0, 2);//m_CatchMark1Oft.x;//
 
-	m_p10 = warp_mat.at<float>(1, 0);
+		warp_mat = estimateAffinePartial2D(src, dest, tempMat, Method/*LMEDS*/);
-	m_p11 = warp_mat.at<float>(1, 1);
+		warp_mat.convertTo(warp_mat, CV_32FC1);//不转化时,默认CV_64FC1  后续计算会错误
-	m_p12 = warp_mat.at<float>(1, 2);//m_CatchMark1Oft.y;//
+
+		//取出6个变换参数
+		m_p00 = warp_mat.at<float>(0, 0);
+		m_p01 = warp_mat.at<float>(0, 1);
+		m_p02 = warp_mat.at<float>(0, 2);
 
+		m_p10 = warp_mat.at<float>(1, 0);
+		m_p11 = warp_mat.at<float>(1, 1);
+		m_p12 = warp_mat.at<float>(1, 2);
+
+		logstr.Format("刚性=====>偏移:[%.4f]~[%.4f]", m_p02, m_p12);
+		gLogMgr->WriteDebugLog(logstr);
 
+		logstr.Format("刚性=====>X参数:[ %.4f ]~[%.4f]", m_p00, m_p01);
+		gLogMgr->WriteDebugLog(logstr);
+
+		logstr.Format("刚性=====>Y参数:[ %.4f ]~[%.4f]", m_p10, m_p11);
+		gLogMgr->WriteDebugLog(logstr);
+	}
 }
 //计算真实数据的偏移和旋转值
 void CProduct::CalTheoryToRealPar()