Halcon算子笔记3_相机标定+矫正图像

Map_image.hdev: 矫正图像

*关闭窗口

dev_close_window ()

dev_close_window ()

*打开指定大小、颜色背景的窗口

dev_open_window (0, 0, 768/2, 576/2, 'black', WindowHandle1)

dev_update_pc ('off')

dev_update_window ('off')

dev_update_var ('off')

dev_update_time ('off')

dev_set_draw ('margin')

dev_set_line_width (3)

*

* Calibrate the camera.（标定相机）步骤一

*

* 标定板描述文件

CaltabName := 'caltab_big.descr'

* make sure that the file 'CaltabDescrName' is in the current directory,

* the HALCONROOT/calib directory, or use an absolut path

*初始相机参数：焦距、畸变系数Kappa,Sx,Sy,Cx,Cy,ImageWidth,ImageHeight StartCamPar := [0.008,0,0.0000086,0.0000086,384,288,768,576]

*物体在空间坐标系中的位姿数组

NStartPose := []

*行角点数组

NRow := []

*列角点数组

NCol := []

*X、Y、Z从标定表文件获取计算值

caltab_points (CaltabName, X, Y, Z)

*创建空的图像元组

gen_empty_obj (Images)

*图像的数目

NumImages := 10

*接下来for循环，依次读取、处理NumImages张图像

for I := 1 to NumImages by 1

*读取图像：Image得到图像数据

read_image (Image, 'calib/calib-3d-coord-'+I$'02d')

*将单个Image加入元组Images中

concat_obj (Images, Image, Images)

*显示Image

dev_display (Image)

*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

find_caltab (Image, Caltab, CaltabName, 3, 112, 5)

*设置区域颜色：绿色

dev_set_color ('green')

*显示图像中标定板的区域

dev_display (Caltab)

*(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

find_marks_and_pose (Image, Caltab, CaltabName, StartCamPar, 128, 10, 18, 0.9, 15, 100, RCoord, CCoord, StartPose)

*设置颜色：红色

dev_set_color ('red')

*在窗口上圆形标记角点的位置

disp_circle (WindowHandle1, RCoord, CCoord, gen_tuple_const(|RCoord|,1.5))

*一个图像位姿加入位姿元组

NStartPose := [NStartPose,StartPose]

*所有图像角点行坐标数组相连

NRow := [NRow,RCoord]

*所有图像角点列坐标数组相连

NCol := [NCol,CCoord]

endfor

dev_update_time ('on')

disp_continue_message (WindowHandle1, 'black', 'true')

stop ()

*

* Calculate the mapping.(计算带矫正信息的图像)步骤二

*

*(核心函数)标定相机参数，对步骤一的数据进行计算处理

camera_calibration (X, Y, Z, NRow, NCol, StartCamPar, NStartPose, 'all', CamParam, NFinalPose, Errors)

*生成空的对象：包含矫正映射信息的图像

gen_empty_obj (Maps)

*for循环一次处理一组对应的图像

for NumImage := 1 to NumImages by 1

* Obtain the pose of the calibration table.

*获取标定出来的位姿3D

Pose := NFinalPose[(NumImage-1)*7:(NumImage-1)*7+6]

*设置新的原始3D位姿

set_origin_pose (Pose, -1.125, -1.0, 0, PoseNewOrigin)

*(核心函数)生成带矫正映射信息的图像MapSingle

gen_image_to_world_plane_map (MapSingle, CamParam, PoseNewOrigin, 768, 576, 900, 800, 0.0025, 'bilinear')

*将单张图像加入图像元组Maps

concat_obj (Maps, MapSingle, Maps)

endfor