相机标定map_image

GTX_AI

相机标定map_image：

1. dev_close_window ()
   
2. dev_open_window (0, 0, 768 / 2, 576 / 2, 'black', WindowHandle1)
   
3. set_display_font (WindowHandle1, 14, 'mono', 'true', 'false')
   
4. dev_update_off ()
   
5. dev_set_draw ('margin')
   
6. dev_set_line_width (2)
   
7. *
   
8. * Calibrate the camera.
   
9. *
   
10. CalTabDescrFile := 'caltab_big.descr'
    
11. * Make sure that the file 'CaltabName' is in the current directory,
    
12. * the HALCONROOT/calib directory, or use an absolute path
    
13. StartCamPar := [0.008,0,0.0000086,0.0000086,384,288,768,576]
    
14. create_calib_data ('calibration_object', 1, 1, CalibDataID)
    
15. set_calib_data_cam_param (CalibDataID, 0, 'area_scan_division', StartCamPar)
    
16. set_calib_data_calib_object (CalibDataID, 0, CalTabDescrFile)
    
17. NumImages := 9
    
18. for I := 1 to NumImages by 1
    
19.     read_image (Image, 'C:/Users/Public/Documents/MVTec/HALCON-12.0/examples/images/calib/calib-3d-coord-0' + I + '.png')
    
20.     dev_display (Image)
    
21.     Message := 'Find calibration plate in\nall calibration images (' + I + '/' + NumImages + ')'
    
22.     disp_message (WindowHandle1, Message, 'window', 12, 12, 'black', 'true')
    
23.     * Find the calibration plate
    
24.     find_calib_object (Image, CalibDataID, 0, 0, I - 1, [], [])
    
25.     get_calib_data (CalibDataID, 'camera', 0, 'init_params', StartCamPar)
    
26.     get_calib_data_observ_points (CalibDataID, 0, 0, I - 1, Row, Column, Index, Pose)
    
27.     get_calib_data_observ_contours (Contours, CalibDataID, 'caltab', 0, 0, I - 1)
    
28.     gen_cross_contour_xld (Cross, Row, Column, 6, 0.785398)
    
29.     dev_set_color ('green')
    
30.     dev_display (Contours)
    
31.     dev_set_color ('yellow')
    
32.     dev_display (Cross)
    
33. endfor
    
34. disp_continue_message (WindowHandle1, 'black', 'true')
    
35. stop ()
    
36. calibrate_cameras (CalibDataID, Error)
    
37. get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
    
38. gen_empty_obj (Maps)
    
39. for I := 1 to NumImages by 1
    
40.     * Obtain the pose of the calibration table
    
41.     get_calib_data (CalibDataID, 'calib_obj_pose', [0,I - 1], 'pose', Pose)
    
42.     set_origin_pose (Pose, -1.125, -1.0, 0, PoseNewOrigin)
    
43.     * Generate map
    
44.     gen_image_to_world_plane_map (MapSingle, CamParam, PoseNewOrigin, 768, 576, 900, 800, 0.0025, 'bilinear')
    
45.     concat_obj (Maps, MapSingle, Maps)
    
46. endfor
    
47. clear_calib_data (CalibDataID)
    
48. disp_continue_message (WindowHandle1, 'black', 'true')
    
49. stop ()
    
50. *
    
51. * Map the images
    
52. *
    
53. dev_open_window (0, 391, 900 / 2, 800 / 2, 'black', WindowHandle2)
    
54. set_display_font (WindowHandle2, 14, 'mono', 'true', 'false')
    
55. Button := 0
    
56. NumImage := 1
    
57. for I := 1 to NumImages by 1
    
58.     dev_set_window (WindowHandle1)
    
59.     dev_set_part (0, 0, 575, 767)
    
60.     dev_clear_window ()
    
61.     read_image (Image, 'C:/Users/Public/Documents/MVTec/HALCON-12.0/examples/images/calib/calib-3d-coord-0' + I + '.png')
    
62.     dev_display (Image)
    
63.     select_obj (Maps, MapSingle, I)
    
64.     map_image (Image, MapSingle, ImageMapped)
    
65.     dev_set_window (WindowHandle2)
    
66.     dev_set_part (0, 0, 799, 899)
    
67.     dev_clear_window ()
    
68.     dev_display (ImageMapped)
    
69.     Message := 'Calibration image (' + I + '/' + NumImages + ')'
    
70.     disp_message (WindowHandle1, Message, 'window', 12, 12, 'black', 'true')
    
71.     Message := 'Mapped image'
    
72.     disp_message (WindowHandle2, Message, 'window', 12, 12, 'black', 'true')
    
73. endfor
    
74. stop ()

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PS：
【1】StartCamPar := [Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]
【2】单目相机标定
【3】'caltab.descr'：File name of the calibration plate description.