camera_calibration_multi_image.hdev

```csharp
``ImgPath := '3d_machine_vision/calib/'
dev_close_window ()
dev_open_window (0, 0, 640, 480, 'black', WindowHandle)
dev_update_off ()
dev_set_draw ('margin')
dev_set_line_width (3)
set_display_font (WindowHandle, 22, 'mono', 'true', 'false')
* 
* Calibrate the camera.
* 
* 生成面阵相机相机参数
gen_cam_par_area_scan_division (0.012, 0, 0.00000375, 0.00000375, 640, 480, 1280, 960, StartCamPar)//
*创建校准数据模型
create_calib_data ('calibration_object', 1, 1, CalibDataID)
*设置校准模型相机参数
set_calib_data_cam_param (CalibDataID, 0, [], StartCamPar)
*设置校准模型标定板参数
set_calib_data_calib_object (CalibDataID, 0, 'calplate_80mm.cpd')
NumImages := 7
for I := 1 to NumImages by 1
    read_image (Image, ImgPath + 'calib_image_' + I$'02d')
    dev_display (Image)
    *查找标定目标
    find_calib_object (Image, CalibDataID, 0, 0, I, [], [])
    *获得标定目标轮廓
    get_calib_data_observ_contours (Caltab, CalibDataID, 'caltab', 0, 0, I)
    *获得标定目标点
    get_calib_data_observ_points (CalibDataID, 0, 0, I, Row, Column, Index, StartPose)
    dev_set_color ('green')
    dev_display (Caltab)
    dev_set_color ('red')
    *gen_tuple_const(|Row|,1.5)生成一个长度为|Row|，值为1.5的数组
    disp_circle (WindowHandle, Row, Column, gen_tuple_const(|Row|,1.5))
endfor
*校准相机
calibrate_cameras (CalibDataID, Errors)
*获得校准数据
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
* The reference image, i.e., the image in which the calibration
* plate is located on the ruler is the first image
* 获得当前最优位姿
get_calib_data (CalibDataID, 'calib_obj_pose', [0,1], 'pose', Pose)
* To take the thickness of the calibration plate into account, the z-value
* of the origin given by the camera pose has to be translated by the
* thickness of the calibration plate.
* Deactivate the following line if you do not want to add the correction.
* 转换位姿的原点
set_origin_pose (Pose, 0, 0, 0.002, Pose)
* measure the distance between the pitch lines
read_image (Image, ImgPath + 'ruler')
dev_display (Image)
gen_measure_rectangle2 (690, 680, rad(-0.25), 480, 8, 1280, 960, 'bilinear', MeasureHandle)
measure_pairs (Image, MeasureHandle, 0.5, 5, 'all', 'all', RowEdgeFirst, ColumnEdgeFirst, AmplitudeFirst, RowEdgeSecond, ColumnEdgeSecond, AmplitudeSecond, IntraDistance, InterDistance)
Row := (RowEdgeFirst + RowEdgeSecond) / 2.0
Col := (ColumnEdgeFirst + ColumnEdgeSecond) / 2.0
disp_cross (WindowHandle, Row, Col, 20, rad(45))
*变换图像点到平面z=0的世界坐标系
image_points_to_world_plane (CamParam, Pose, Row, Col, 'mm', X1, Y1)
distance_pp (X1[0:11], Y1[0:11], X1[1:12], Y1[1:12], Distance)
tuple_mean (Distance, MeanDistance)*平均值
tuple_deviation (Distance, DeviationDistance)*标准差
disp_message (WindowHandle, 'Mean distance: ' + MeanDistance$'.3f' + 'mm +/- ' + DeviationDistance$'.3f' + 'mm', 'window', 30, 60, 'yellow', 'false')

camera_calibration_multi_image.hdev