Halcon学习（二十一）摄像机标定常用函数（二）

 * Attention:
* This program reads the interior camera parameters from thefile
* 'camera_parameters.dat', which, e.g., could be generated by theprogram
* 'camera_calibration_interior.hdev'
*
ImgPath := '3d_machine_vision/calib/'
dev_close_window ()
dev_open_window (0, 0, 652, 494, 'black', WindowHandle)
dev_update_off ()
dev_set_draw ('margin')
dev_set_line_width (1)
set_display_font (WindowHandle, 14, 'courier', 'true','false')
* Read the interior camera parameters from file
read_cam_par ('camera_parameters.dat', CamParam)
*
* Determine the exterior camera parameters and world coodinatesfrom image points
*
* The exterior camera parameters can be determined from an image,where the
* calibration plate is positioned directly on the measurementplane
read_image (Image, ImgPath+'calib_11')
dev_display (Image)
* parameter settings for find_caltab and find_marks_and_pose
SizeGauss := 3
MarkThresh := 200
MinDiamMarks := 10
StartThresh := 128
DeltaThresh := 10
MinThresh := 18
Alpha := 0.9
MinContLength := 15
MaxDiamMarks := 100
CaltabName := 'caltab_30mm.descr'
find_caltab (Image, Caltab, CaltabName, SizeGauss, MarkThresh,MinDiamMarks)
dev_set_color ('green')
dev_display (Caltab)
* Here, the final camera parameters are already known and can beused instead of the starting values
* used in the program 'camera_calibration_interior.hdev'
find_marks_and_pose (Image, Caltab, CaltabName, CamParam,StartThresh, DeltaThresh, MinThresh, Alpha, MinContLength,MaxDiamMarks, RCoord, CCoord, PoseForCalibrationPlate)
dev_set_color ('red')
disp_caltab (WindowHandle, CaltabName, CamParam,PoseForCalibrationPlate, 1)
dev_set_line_width (3)
disp_circle (WindowHandle, RCoord, CCoord,gen_tuple_const(|RCoord|,1.5))
* caltab_points (CaltabName, X, Y, Z)
* camera_calibration (X, Y, Z, RCoord, CCoord, CamParam,InitialPoseForCalibrationPlate, 'pose',CamParamUnchanged, FinalPoseFromCalibrationPlate,Errors)
* To take the thickness of the calibration plate into account, thez-value
* of the origin given by the camera pose has to be translated bythe
* thickness of the calibration plate.
* Deactivate the following line if you do not want to add thecorrection.
set_origin_pose (PoseForCalibrationPlate, 0, 0, 0.00075,PoseForCalibrationPlate)
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* Alternatively, the exterior camera parameterscan  bedetermined from
* at least three point correspondances between the WCS and thepixel coordinate system
read_image (Image, ImgPath+'caliper_01')
dev_display (Image)
* Set the world coordinates of three points on the rule
X := [0,50,100,80]
Y := [5,0,5,0]
Z := [0,0,0,0]
* Set the respective image plane coordinates of the threepoints
RCoord := [414,227,85,128]
CCoord := [119,318,550,448]
*
disp_cross (WindowHandle, RCoord, CCoord, 6, 0)
* create_pose (-50, 25, 400, 0, 0, -30, 'Rp+T', 'gba', 'point',InitialPose)
vector_to_pose (X, Y, Z, RCoord, CCoord, CamParam, 'iterative','error', FinalPose, Errors)
* camera_calibration (X, Y, Z, RCoord, CCoord, CamParam,InitialPose, 'pose', CamParamUnchanged, FinalPose, Errors)
write_pose (FinalPose, 'pose_from_three_points.dat')
* Now, transform a point measured interactively into the WCS
dev_update_window ('on')
dev_display (Image)
while (1)
    disp_message(WindowHandle, 'Measure one point: left mouse button', 'window',12, 12, 'red', 'false')
    disp_message(WindowHandle, 'Exit measure mode: right mouse button', 'window',36, 12, 'red', 'false')
    get_mbutton(WindowHandle, Row, Column, Button)
    if(Button = 4)
        break
    endif
    dev_display(Image)
    dev_set_color('green')
    disp_cross(WindowHandle, Row, Column, 6, 0)
    image_points_to_world_plane(CamParam, FinalPose, Row, Column, 1, X1, Y1)
    disp_message(WindowHandle, 'X = '+X1, 'window', 320, 400, 'red', 'false')
    disp_message(WindowHandle, 'Y = '+Y1, 'window', 340, 400, 'red', 'false')
endwhile
* Apply the measure tool and transform the resulting pointcoordinates
* into the WCS
dev_set_color ('red')
dev_display (Image)
* Set the world coordinates of four points defining a ROI for themeasure tool
ROI_X_WCS := [-2,-2,112,112]
ROI_Y_WCS := [0,0.5,0.5,0]
ROI_Z_WCS := [0,0,0,0]
* Determine the transformation matrix from the WCS into theCCS
pose_to_hom_mat3d (FinalPose, CCS_HomMat_WCS)
* Transform the point coordintes into the image coordinatesystem
affine_trans_point_3d (CCS_HomMat_WCS, ROI_X_WCS, ROI_Y_WCS,ROI_Z_WCS, CCS_RectangleX, CCS_RectangleY, CCS_RectangleZ)
project_3d_point (CCS_RectangleX, CCS_RectangleY, CCS_RectangleZ,CamParam, RectangleRow, RectangleCol)
gen_region_polygon_filled (ROI, RectangleRow, RectangleCol)
smallest_rectangle2 (ROI, RowCenterROI, ColCenterROI, PhiROI,Length1ROI, Length2ROI)
* Create a measure
gen_measure_rectangle2 (RowCenterROI, ColCenterROI, PhiROI,Length1ROI, Length2ROI, 652, 494, 'bilinear', MeasureHandle)
measure_pairs (Image, MeasureHandle, 0.4, 5, 'all_strongest','all', RowEdgeFirst, ColumnEdgeFirst, AmplitudeFirst,RowEdgeSecond, ColumnEdgeSecond, AmplitudeSecond, IntraDistance,InterDistance)
close_measure (MeasureHandle)
dev_display (Image)
disp_message (WindowHandle, 'Measuring the position of the pitchlines', 'window', 450, 25, 'red', 'false')
dev_set_color ('green')
RowPitchLine := (RowEdgeFirst+RowEdgeSecond)/2.0
ColPitchLine := (ColumnEdgeFirst+ColumnEdgeSecond)/2.0
disp_cross (WindowHandle, RowPitchLine, ColPitchLine, 6, 0)
image_points_to_world_plane (CamParam, FinalPose, RowPitchLine,ColPitchLine, 1, X1, Y1)
for i := 1 to |X1| by 1
    set_tposition(WindowHandle, RowEdgeFirst[i-1]+5, ColumnEdgeFirst[i-1]-20)
    if(i=|X1|)
        set_tposition(WindowHandle, RowEdgeFirst[i-1], ColumnEdgeFirst[i-2])
    endif
    write_string(WindowHandle, X1[i-1]$'.3f'+'mm')
endfor
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
dev_display (Image)
* Apply a line extraction and transform the resulting xldcontours
* into the WCS
* Set the world coordinates of four points defining a ROI
ROI_X_WCS := [11,11,13,13]
ROI_Y_WCS := [4,6,6,4]
ROI_Z_WCS := [0,0,0,0]
* Transform the point coordinates into the image coordinatesystem
affine_trans_point_3d (CCS_HomMat_WCS, ROI_X_WCS, ROI_Y_WCS,ROI_Z_WCS, CCS_RectangleX, CCS_RectangleY, CCS_RectangleZ)
project_3d_point (CCS_RectangleX, CCS_RectangleY, CCS_RectangleZ,CamParam, RectangleRow, RectangleCol)
* Visualize the square in the original image
disp_polygon (WindowHandle, [RectangleRow,RectangleRow[0]],[RectangleCol,RectangleCol[0]])
dev_display (Image)
* create the ROI
gen_region_polygon_filled (ROI, RectangleRow, RectangleCol)
reduce_domain (Image, ROI, ImageReduced)
* Extract the lines
lines_gauss (ImageReduced, Lines, 1, 3, 8, 'dark', 'true','bar-shaped', 'true')
* Adapt the pose of the measurement plane to the tilted plane ofthe vernier
RelPose := [0,3.2,0,-14,0,0,0]
pose_to_hom_mat3d (FinalPose, HomMat3D)
pose_to_hom_mat3d (RelPose, HomMat3DRel)
hom_mat3d_compose (HomMat3D, HomMat3DRel, HomMat3DAdapted)
* Alternatively, the adaption can be done using the operators
* hom_mat3d_translate_local and hom_mat3d_rotate_local
* as shown in the following to lines
hom_mat3d_translate_local (HomMat3D, 0, 3.2, 0,HomMat3DTranslate)
hom_mat3d_rotate_local (HomMat3DTranslate, rad(-14), 'x',HomMat3DAdapted)
hom_mat3d_to_pose (HomMat3DAdapted, PoseAdapted)
* Transform the xld contour to the WCS using the adapted pose
contour_to_world_plane_xld (Lines, ContoursTrans, CamParam,PoseAdapted, 1)
get_contour_xld (ContoursTrans, YOfContour, XOfContour)
tuple_mean (XOfContour, MeterReading)
dev_display (Lines)
disp_message (WindowHandle, 'Meter reading:'+MeterReading$'.3f'+'mm', 'window', 400, 180, 'green','false')
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
dev_close_inspect_ctrl (YOfContour)
dev_close_inspect_ctrl (XOfContour)
* Now, transform the whole image
WidthMappedImage := 652
HeightMappedImage := 494
dev_display (Image)
* First, determine the scale for the mapping
* (here, the scale is determined such that in the
*   surroundingsof the points P0 andP1,  theimage scale of the
*   mappedimage is similar to the image scale of the original image)
distance_pp (X[0], Y[0], X[1], Y[1], DistP0P1WCS)
distance_pp (RCoord[0], CCoord[0], RCoord[1], CCoord[1],DistP0P1PCS)
Scale := DistP0P1WCS/DistP0P1PCS
* Then, determine the parameter settings for set_origin_posesuch
* that the point given via get_mbutton will be in the center ofthe
* mapped image
dev_display (Image)
disp_message (WindowHandle, 'Define the center of the mappedimage', 'window', 12, 12, 'red', 'false')
get_mbutton (WindowHandle, CenterRow, CenterColumn, Button1)
image_points_to_world_plane (CamParam, FinalPose, CenterRow,CenterColumn, 1, CenterX, CenterY)
set_origin_pose (FinalPose, CenterX-Scale*WidthMappedImage/2.0,CenterY-Scale*HeightMappedImage/2.0, 0, PoseNewOrigin)
gen_image_to_world_plane_map (Map, CamParam, PoseNewOrigin, 652,494, WidthMappedImage, HeightMappedImage, Scale, 'bilinear')
map_image (Image, Map, ImageMapped)
dev_clear_window ()
dev_display (ImageMapped)
* In case, only one image has to be mapped, the operator
* image_to_world_plane can be used instead of the operators
* gen_image_to_world_plane_map together with map_image.
image_to_world_plane (Image, ImageMapped, CamParam, PoseNewOrigin,WidthMappedImage, HeightMappedImage, Scale, 'bilinear')