Halcon 映射校正例程注释(MapImage)

  1 *关闭窗口
  2 dev_close_window ()
  3 dev_close_window ()
  4 *打开指定大小、颜色背景的窗口
  5 dev_open_window (0, 0, 768/2, 576/2, 'black', WindowHandle1)
  6 dev_update_pc ('off')
  7 dev_update_window ('off')
  8 dev_update_var ('off')
  9 dev_update_time ('off')
 10 dev_set_draw ('margin')
 11 dev_set_line_width (3)
 12 *  
 13 * Calibrate the camera.（标定相机）步骤一
 14 *
 15 * 标定板描述文件
 16 CaltabName := 'caltab_big.descr'
 17 * make sure that the file 'CaltabDescrName' is in the current directory,
 18 * the HALCONROOT/calib directory, or use an absolut path
 19 *初始相机参数：焦距、畸变系数Kappa,Sx,Sy,Cx,Cy,ImageWidth,ImageHeight
 20 StartCamPar := [0.008,0,0.0000086,0.0000086,384,288,768,576]
 21 *物体在空间坐标系中的位姿数组
 22 NStartPose := []
 23 *行角点数组
 24 NRow := []
 25 *列角点数组
 26 NCol := []
 27 *X、Y、Z从标定表文件获取计算值
 28 caltab_points (CaltabName, X, Y, Z)
 29 *创建空的图像元组
 30 gen_empty_obj (Images)
 31 *图像的数目
 32 NumImages := 10
 33            *接下来for循环，依次读取、处理NumImages张图像
 34            for I := 1 to NumImages by 1
 35                *读取图像：Image得到图像数据
 36                read_image (Image, 'calib/calib-3d-coord-'+I$'02d')
 37                *将单个Image加入元组Images中
 38                concat_obj (Images, Image, Images)
 39                *显示Image
 40                dev_display (Image)
 41                *在图像中找到标定板的区域：图像，标定板描述文件，滤波核大小，二值化值
 42                find_caltab (Image, Caltab, CaltabName, 3, 112, 5)
 43                *设置区域颜色：绿色
 44                dev_set_color ('green')
 45                *显示图像中标定板的区域
 46                dev_display (Caltab)
 47                *(核心函数：搜寻图像的原始点)在图像中找到标定板的各个角点坐标和初始位姿
 48                find_marks_and_pose (Image, Caltab, CaltabName, StartCamPar, 128, 10, 18, 0.9, 15, 100, RCoord, CCoord, StartPose)
 49                *设置颜色：红色
 50                dev_set_color ('red')
 51                *在窗口上圆形标记角点的位置
 52                disp_circle (WindowHandle1, RCoord, CCoord, gen_tuple_const(|RCoord|,1.5))
 53                *一个图像位姿加入位姿元组
 54 NStartPose := [NStartPose,StartPose]
 55 *所有图像角点行坐标数组相连
 56 NRow := [NRow,RCoord]
 57 *所有图像角点列坐标数组相连
 58 NCol := [NCol,CCoord]
 59 endfor
 60 dev_update_time ('on')
 61 disp_continue_message (WindowHandle1, 'black', 'true')
 62 stop ()
 63 *  
 64 * Calculate the mapping.(计算带矫正信息的图像)步骤二
 65 *  
 66 *(核心函数)标定相机参数，对步骤一的数据进行计算处理
 67 camera_calibration (X, Y, Z, NRow, NCol, StartCamPar, NStartPose, 'all', CamParam, NFinalPose, Errors)
 68 *生成空的对象：包含矫正映射信息的图像
 69 gen_empty_obj (Maps)
 70 *for循环一次处理一组对应的图像
 71 for NumImage := 1 to NumImages by 1
 72 * Obtain the pose of the calibration table.
 73 *获取标定出来的位姿3D
 74 Pose := NFinalPose[(NumImage-1)*7:(NumImage-1)*7+6]
 75 *设置新的原始3D位姿
 76 set_origin_pose (Pose, -1.125, -1.0, 0, PoseNewOrigin)
 77 *(核心函数)生成带矫正映射信息的图像MapSingle
 78 gen_image_to_world_plane_map (MapSingle, CamParam, PoseNewOrigin, 768, 576, 900, 800, 0.0025, 'bilinear')
 79 *将单张图像加入图像元组Maps
 80 concat_obj (Maps, MapSingle, Maps)
 81 endfor
 82 disp_continue_message (WindowHandle1, 'black', 'true')
 83 stop ()
 84 *代码到此处：有了NumImages张标定的原图 + NumImages张带矫正映射信息的图像,
 85 *接下来While循环，一张一张的矫正图像
 86 *  
 87 * Map the images.(矫正图像)步骤三
 88 *  
 89 *窗口设置
 90 dev_open_window (0, 391, 900/2, 800/2, 'black', WindowHandle2)
 91 Button := 0
 92 NumImage := 1
 93 while (Button # 1)
 94     dev_set_window (WindowHandle1)
 95     dev_set_part (0, 0, 575, 767)
 96     dev_clear_window ()
 97     *从图像元组中选择一张图像
 98     select_obj (Images, Image, NumImage)
 99     *显示选择的图像
100     dev_display (Image)
101     disp_message (WindowHandle1, 'Press any mouse button to stop', 'image', -1, -1, 'black', 'true')
102     *选择对应位置的带矫正信息的图像
103     select_obj (Maps, MapSingle, NumImage)
104     *(核心函数)矫正图像：原图，带矫正信息图，矫正结果图
105     map_image (Image, MapSingle, ImageMapped)
106     *以下为窗口、循环之类的处理，与图像处理没什么关系
107     dev_set_window (WindowHandle2)
108     dev_set_part (0, 0, 799, 899)
109     dev_clear_window ()
110     dev_display (ImageMapped)
111     NumImage := NumImage + 1
112     if (NumImage > NumImages)
113         NumImage := 1
114     endif
115     dev_error_var (Error, 1)
116     dev_set_check ('~give_error')
117     get_mposition (WindowHandle1, R, C, Button)
118     dev_error_var (Error, 0)
119     dev_set_check ('give_error')
120     if (Error#H_MSG_TRUE)
121         Button := 0
122     endif
123     if (Button)
124         break
125     endif
126 endwhile
127 dev_set_window (WindowHandle2)
128 dev_close_window ()

Halcon例程代码注释，记录以备查看。

转载于:https://www.cnblogs.com/ljfy-yjw/p/3340590.html