引言:
C#
任意测量平面进行测量
这个实验是把标定板置于任意方向及倾斜角度下(当然是在相机的景深范围内),测量两点距离。
演示代码:*如果没标定先进行标定
*calib()
*磁盘载入标定结果
read_calib_data('D:/交流群的问题/skcircle1589_3d相机标定(三)/calib.ccd', CalibDataID)
*进行标定
calibrate_cameras(CalibDataID, Error)
*取得相机内参
get_calib_data (CalibDataID, 'camera', 0, 'params', CameraParameters)
stop ()
* open_framegrabber ('GigEVision2', 0, 0, 0, 0, 0, 0, 'progressive', \
-1, 'default', -1, 'false', 'default', '94aab8029638_Microvision_MVEM500M', 0, -1, AcqHandle)
* Image Acquisition 01: Code generated by Image Acquisition 01
list_files ('D:/交流群的问题/skcircle1589_3d相机标定(三)/', ['files','follow_links'], ImageFiles)
tuple_regexp_select (ImageFiles, ['\\.(tif|tiff|gif|bmp|jpg|jpeg|jp2|png|pcx|pgm|ppm|pbm|xwd|ima|hobj)$','ignore_case'], ImageFiles)
for i:=0 to |ImageFiles| - 1 by 1
read_image (Image, ImageFiles[i])
*grab_image(Image, AcqHandle)
dev_get_window(WindowHandle)
*write_image(Image, 'tiff', 0, 'D:/交流群的问题/skcircle1589_3d相机标定(三)/img4.tif')
TmpCtrl_PlateDescription := 'E:/Program Files/MVTec/HALCON-19.11-Progress/calib/calplateHG30.cpd'
TmpCtrl_FindCalObjParNames := 'sigma'
TmpCtrl_FindCalObjParValues := 1
*取当前标定板的位姿
create_calib_data ('calibration_object', 1, 1, CalibHandle)
set_calib_data_cam_param (CalibHandle, 0, [], CameraParameters)
set_calib_data_calib_object (CalibHandle, 0, TmpCtrl_PlateDescription)
find_calib_object (Image, CalibHandle, 0, 0, 0, TmpCtrl_FindCalObjParNames, TmpCtrl_FindCalObjParValues)
get_calib_data_observ_points (CalibHandle, 0, 0, 0, TmpCtrl_MarkRows, TmpCtrl_MarkColumns, TmpCtrl_Ind, CameraPose)
*设置原点位置
set_origin_pose (CameraPose, 0.0, 0.0,0, CameraPose)
startInx:=0
endInx:=13
dev_display(Image)
dev_set_draw('margin')
disp_circle(WindowHandle, TmpCtrl_MarkRows[startInx], TmpCtrl_MarkColumns[startInx], 64)
disp_circle(WindowHandle, TmpCtrl_MarkRows[endInx], TmpCtrl_MarkColumns[endInx], 64)
*可以看到这个是像素的距离
distance_pp(TmpCtrl_MarkRows[startInx], TmpCtrl_MarkColumns[startInx],\
TmpCtrl_MarkRows[endInx], TmpCtrl_MarkColumns[endInx], Distance)
*像素点映射为世界坐标上的点
image_points_to_world_plane(CameraParameters, CameraPose, \
TmpCtrl_Mark