Opencv之生成Halcon标定板

代码展示:

# -*- coding:utf-8 -*-
import cv2
import numpy as np


class HalconBoard:
    def __init__(self, pattern_size_hw, resolution_mm):
        self._pattern_size_hw = pattern_size_hw
        self._resolution_mm = resolution_mm
        self._object_points2d_nx2_original = np.mgrid[0:self._pattern_size_hw[1],
                                             0:self._pattern_size_hw[0]].T.reshape(-1, 2)
        self.object_points2d_nx2 = self._object_points2d_nx2_original.copy()
        self.object_points2d_nx2[:, 0] = self._object_points2d_nx2_original[:, 1]
        self.object_points2d_nx2[:, 1] = self._object_points2d_nx2_original[:, 0]
        self.object_points3d_nx3 = np.hstack(
            (self.object_points2d_nx2, np.zeros((self.object_points2d_nx2.shape[0], 1), np.float))) * resolution_mm

    def get_board_picture(self,
                          block_distance_xy_pixel=(80, 80),
                          foreground_color=(0, 0, 0),
                          background_color=(255, 255, 255),
                          outer_board_xy=None,
                          outer_board_thickness=1,
                          triangular_distance=1.0):
        halcon_circle_radius = int(min(block_distance_xy_pixel) * 0.618 * 0.5)
        height, width = self._pattern_size_hw
        if outer_board_xy is not None:
            image_height = block_distance_xy_pixel[1] * (height - 1) + 2 * halcon_circle_radius + 2 * outer_board_xy[
                1] + outer_board_thickness
            image_width = block_distance_xy_pixel[0] * (width - 1) + 2 * halcon_circle_radius + 2 * outer_board_xy[
                0] + outer_board_thickness

            offset = np.array(
                [outer_board_xy[0], outer_board_xy[1]]) + halcon_circle_radius + outer_board_thickness // 2
        else:
            image_height = block_distance_xy_pixel[1] * (height - 1) + 4 * halcon_circle_radius
            image_width = block_distance_xy_pixel[0] * (width - 1) + 4 * halcon_circle_radius
            offset = np.array([halcon_circle_radius * 2] * 2)
        image = np.zeros((image_height, image_width, 3), dtype=np.uint8)
        image[:] = background_color
        image_points_nx2 = self.object_points2d_nx2.copy()
        image_points_nx2[:, 0], image_points_nx2[:, 1] = self.object_points2d_nx2[:, 1], self.object_points2d_nx2[:, 0]
        image_points_nx2[:, 0] *= block_distance_xy_pixel[0]
        image_points_nx2[:, 1] *= block_distance_xy_pixel[1]
        image_points_nx2 += offset
        image_points_list = np.vsplit(image_points_nx2, image_points_nx2.shape[0])
        for point in image_points_list:
            x, y = point.ravel()
            cv2.circle(image, (x, y), radius=halcon_circle_radius, color=foreground_color, thickness=-1,
                       lineType=cv2.LINE_AA)
        if outer_board_xy is not None:
            upper_left = image_points_nx2[0, :] - halcon_circle_radius - np.array(outer_board_xy)
            bottom_right = image_points_nx2[-1, :] + halcon_circle_radius + np.array(outer_board_xy)
            start = (int(upper_left[0] + halcon_circle_radius * 2 * triangular_distance), int(upper_left[1]))
            end = (int(upper_left[0]), int(upper_left[1] + halcon_circle_radius * 2 * triangular_distance))
            triangular = np.array([start, tuple(upper_left.astype(np.int)), end])
            cv2.drawContours(image, [triangular], 0, color=0, thickness=-1, lineType=cv2.LINE_AA)
            cv2.rectangle(image, pt1=tuple(upper_left.astype(np.int)), pt2=tuple(bottom_right.astype(np.int)), color=0,
                          thickness=outer_board_thickness, lineType=cv2.LINE_AA, shift=0)
        return image, image_points_nx2


if __name__ == '__main__':
    calibration_board = HalconBoard(pattern_size_hw=(7, 7), resolution_mm=2.5)
    scale_cfg = 3
    board_pic, board_points_nx2 = calibration_board.get_board_picture(
        block_distance_xy_pixel=(71 * scale_cfg + 1, 71 * scale_cfg + 1),
        outer_board_xy=(53 * scale_cfg, 53 * scale_cfg),
        outer_board_thickness=66,
        triangular_distance=2.0)

    cv2.namedWindow('cb', 0)
    cv2.imshow('cb', board_pic)
    cv2.waitKey()

效果展示: