halcon标定之two_camera_calibration.hdev

*本例程展示了标定相机的高精度拼接

• This example program shows how high precision mosaicking

• can be performed with calibrated cameras.

• 更多信息可以在解决方案Guide III-C 3D Vision第9和10张找到

• Further information can be found in the

• Solution Guide III-C 3D Vision, Chapters 9 and 10.
  *这个示例在再第9张中，用来展示标定拼接

• This example program is used in chapter 9 to

• illustrate calibrated mosaicking.

• 关闭更新
  dev_update_off ()
  ImgPath := ‘3d_machine_vision/multiple_cameras/’

• 开启两窗体

• Open two windows for the left and the right image.
  *先关闭所有窗体
  dev_close_window ()
  *读取图像
  read_image (Image1, ImgPath + ‘camera1_ref’)
  *获取图像尺寸
  get_image_size (Image1, Width, Height)
  *定义窗体缩放尺寸
  WindowScale := 0.66
  *打开两个窗体
  dev_open_window (0, 0, Width * WindowScale, Height * WindowScale, ‘black’, WindowHandle1)
  dev_open_window (0, Width * WindowScale + 6, Width * WindowScale, Height * WindowScale, ‘black’, WindowHandle2)

• 设置一些窗体参数

• Set some parameters for both windows.
  *设置窗体1的一些参数，颜色，填充方式，线宽
  dev_set_window (WindowHandle1)
  dev_set_color (‘green’)
  dev_set_draw (‘margin’)
  dev_set_line_width (2)
  dev_set_part (0, 0, Height - 1, Width - 1)
  set_display_font (WindowHandle1, 16, ‘mono’, ‘true’, ‘false’)

• 设置窗体2的一些参数，颜色，填充方式，线宽
  dev_set_window (WindowHandle2)
  dev_set_color (‘green’)
  dev_set_draw (‘margin’)
  dev_set_line_width (2)
  dev_set_part (0, 0, Height - 1, Width - 1)
  set_display_font (WindowHandle2, 16, ‘mono’, ‘true’, ‘false’)

• 我们假设两个相机都已经标定好

• We assume that the two cameras are already calibrated

• (we know the internal camera parameters).
  *生成两个相机初始参数
  gen_cam_par_area_scan_division (0.01619, -734.789, 7.402e-006, 7.4e-006, 324.911, 256.894, 640, 480, CamParam1)
  gen_cam_par_area_scan_division (0.0162584, -763.35, 7.39842e-006, 7.4e-006, 324.176, 245.371, 640, 480, CamParam2)

• 读取并显示图像

• Read the images and display them.
  read_image (Image1, ImgPath + ‘camera1_ref’)
  read_image (Image2, ImgPath + ‘camera2_ref’)
  *分别在连个窗体中显示图像
  dev_set_window (WindowHandle1)
  dev_display (Image1)
  dev_set_window (WindowHandle2)
  dev_display (Image2)

• 准备相机标定

• Pre