相机标定map_image
相机标定map_image：dev_close_window ()
dev_open_window (0, 0, 768 / 2, 576 / 2, 'black', WindowHandle1)
set_display_font (WindowHandle1, 14, 'mono', 'true', 'false')
dev_update_off ()
dev_set_draw ('margin')
dev_set_line_width (2)
*
* Calibrate the camera.
*
CalTabDescrFile := 'caltab_big.descr'
* Make sure that the file 'CaltabName' is in the current directory,
* the HALCONROOT/calib directory, or use an absolute path
StartCamPar :=
create_calib_data ('calibration_object', 1, 1, CalibDataID)
set_calib_data_cam_param (CalibDataID, 0, 'area_scan_division', StartCamPar)
set_calib_data_calib_object (CalibDataID, 0, CalTabDescrFile)
NumImages := 9
for I := 1 to NumImages by 1
read_image (Image, 'C:/Users/Public/Documents/MVTec/HALCON-12.0/examples/images/calib/calib-3d-coord-0' + I + '.png')
dev_display (Image)
Message := 'Find calibration plate in\nall calibration images (' + I + '/' + NumImages + ')'
disp_message (WindowHandle1, Message, 'window', 12, 12, 'black', 'true')
* Find the calibration plate
find_calib_object (Image, CalibDataID, 0, 0, I - 1, [], [])
get_calib_data (CalibDataID, 'camera', 0, 'init_params', StartCamPar)
get_calib_data_observ_points (CalibDataID, 0, 0, I - 1, Row, Column, Index, Pose)
get_calib_data_observ_contours (Contours, CalibDataID, 'caltab', 0, 0, I - 1)
gen_cross_contour_xld (Cross, Row, Column, 6, 0.785398)
dev_set_color ('green')
dev_display (Contours)
dev_set_color ('yellow')
dev_display (Cross)
endfor
disp_continue_message (WindowHandle1, 'black', 'true')
stop ()
calibrate_cameras (CalibDataID, Error)
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
gen_empty_obj (Maps)
for I := 1 to NumImages by 1
* Obtain the pose of the calibration table
get_calib_data (CalibDataID, 'calib_obj_pose', , 'pose', Pose)
set_origin_pose (Pose, -1.125, -1.0, 0, PoseNewOrigin)
* Generate map
gen_image_to_world_plane_map (MapSingle, CamParam, PoseNewOrigin, 768, 576, 900, 800, 0.0025, 'bilinear')
concat_obj (Maps, MapSingle, Maps)
endfor
clear_calib_data (CalibDataID)
disp_continue_message (WindowHandle1, 'black', 'true')
stop ()
*
* Map the images
*
dev_open_window (0, 391, 900 / 2, 800 / 2, 'black', WindowHandle2)
set_display_font (WindowHandle2, 14, 'mono', 'true', 'false')
Button := 0
NumImage := 1
for I := 1 to NumImages by 1
dev_set_window (WindowHandle1)
dev_set_part (0, 0, 575, 767)
dev_clear_window ()
read_image (Image, 'C:/Users/Public/Documents/MVTec/HALCON-12.0/examples/images/calib/calib-3d-coord-0' + I + '.png')
dev_display (Image)
select_obj (Maps, MapSingle, I)
map_image (Image, MapSingle, ImageMapped)
dev_set_window (WindowHandle2)
dev_set_part (0, 0, 799, 899)
dev_clear_window ()
dev_display (ImageMapped)
Message := 'Calibration image (' + I + '/' + NumImages + ')'
disp_message (WindowHandle1, Message, 'window', 12, 12, 'black', 'true')
Message := 'Mapped image'
disp_message (WindowHandle2, Message, 'window', 12, 12, 'black', 'true')
endfor
stop ()
PS：
【1】StartCamPar :=
【2】单目相机标定
【3】'caltab.descr'：File name of the calibration plate description.
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