Delta机器人手眼标定

Delta机器人手眼标定的步骤如下：

1. 准备标定板，标定板上需要有已知的特征点，可以使用棋盘格或者圆点阵列等。
2. 将标定板固定在工作区域内，保证标定板不会移动。
3. 将机器人末端执行器移动到不同的位置，记录每个位置下机器人末端执行器的位姿和相机拍摄到的特征点坐标。
4. 根据记录的数据进行手眼标定计算，得到机器人末端执行器和相机之间的变换矩阵。

以下是C#代码实现：

// 定义特征点坐标数组
double[,] objectPoints = new double[54, 3];
double[,] imagePoints = new double[54, 2];

// 填充特征点坐标数组
for (int i = 0; i < 6; i++)
{
    for (int j = 0; j < 9; j++)
    {
        objectPoints[i * 9 + j, 0] = i * 10;
        objectPoints[i * 9 + j, 1] = j * 10;
        objectPoints[i * 9 + j, 2] = 0;
    }
}

// 获取相机拍摄到的特征点坐标
Mat image = Cv2.ImRead("image.jpg");
Mat gray = new Mat();
Cv2.CvtColor(image, gray, ColorConversionCodes.BGR2GRAY);
MatOfPoint2f corners = new MatOfPoint2f();
bool found = Cv2.FindChessboardCorners(gray, new Size(9, 6), corners);

// 填充特征点坐标数组
for (int i = 0; i < corners.Rows; i++)
{
    imagePoints[i, 0] = corners.At<Point2f>(i).X;
    imagePoints[i, 1] = corners.At<Point2f>(i).Y;
}

// 进行手眼标定计算
Mat rvec = new Mat();
Mat tvec = new Mat();
Cv2.SolvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec);
Mat rotationMatrix = new Mat();
Cv2.Rodrigues(rvec, rotationMatrix);
Mat transformationMatrix = new Mat(4, 4, MatType.CV_64FC1);
transformationMatrix.Set<double>(0, 0, rotationMatrix.At<double>(0, 0));
transformationMatrix.Set<double>(0, 1, rotationMatrix.At<double>(0, 1));
transformationMatrix.Set<double>(0, 2, rotationMatrix.At<double>(0, 2));
transformationMatrix.Set<double>(1, 0, rotationMatrix.At<double>(1, 0));
transformationMatrix.Set<double>(1, 1, rotationMatrix.At<double>(1, 1));
transformationMatrix.Set<double>(1, 2, rotationMatrix.At<double>(1, 2));
transformationMatrix.Set<double>(2, 0, rotationMatrix.At<double>(2, 0));
transformationMatrix.Set<double>(2, 1, rotationMatrix.At<double>(2, 1));
transformationMatrix.Set<double>(2, 2, rotationMatrix.At<double>(2, 2));
transformationMatrix.Set<double>(0, 3, tvec.At<double>(0));
transformationMatrix.Set<double>(1, 3, tvec.At<double>(1));
transformationMatrix.Set<double>(2, 3, tvec.At<double>(2));
transformationMatrix.Set<double>(3, 3, 1);