九点标定算法python

九点标定算法的Python实现代码如下：

import numpy as np
import cv2

# 通过九点标定获取的圆心相机坐标
STC_points_camera = np.array([
    [207, 160], [311, 159], [415, 159],
    [206, 256], [311, 257], [416, 258],
    [205, 353], [311, 356], [416, 357],
])

# 通过九点标定获取的圆心机械臂坐标
STC_points_robot = np.array([
    [54, -74], [-4, -76], [-54, -77],
    [52, -32], [-4, -34], [-55, -35],
    [50, 11], [-4, 10], [-54, 8],
])

# 手眼标定方法
class HandInEyeCalibration:
    def get_m(self, points_camera, points_robot):
        """ 取得相机坐标转换到机器坐标的仿射矩阵
        :param points_camera: 相机坐标点集
        :param points_robot: 机器坐标点集
        :return: 仿射矩阵
        """
        # 确保两个点集的数量级不要差距过大，否则会输出None
        m, _ = cv2.estimateAffine2D(points_camera, points_robot)
        return m

    def get_points_robot(self, x_camera, y_camera):
        """ 相机坐标通过仿射矩阵变换取得机器坐标
        :param x_camera: 相机x坐标
        :param y_camera: 相机y坐标
        :return: 机器坐标
        """
        m = self.get_m(STC_points_camera, STC_points_robot)
        robot_x = (m * x_camera) + (m * y_camera) + m * x_camera) + (m * y_camera) + m<span class="em">1</span><span class="em">2</span><span class="em">3</span>
#### 引用[.reference_title]
-  *1* *2* [手眼标定算法Tsai-Lenz代码实现（Python、C++、Matlab）](https://blog.csdn.net/qq_27865227/article/details/114266140)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v93^chatsearchT3_2"}}] [.reference_item style="max-width: 50%"]
-  *3* [Python-opencv 手眼标定（九点定位）](https://blog.csdn.net/fhjsdk/article/details/126037625)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v93^chatsearchT3_2"}}] [.reference_item style="max-width: 50%"]
[ .reference_list ]