halcon学习笔记——（9）摄像机标定

转载：http://www.cnblogs.com/hanzhaoxin/archive/2013/01/06/2847133.html1.read_cam_par( : : CamParFile : CameraParam) 从文件夹中读取相机的内参数。 2.disp_caltab( : : WindowHandle, CalTabDescrFile, CameraParam, CaltabPose, ScaleFac : ) 利用相机内外参数，把标定板模型投影到图像平面，显示标定点和连接线，X,Y轴也被显示出来。 3.vector_to_pose( : : WorldX, WorldY, WorldZ, ImageRow, ImageColumn, CameraParam, Method, QualityType : Pose, Quality) 计算世界坐标和图像坐标之间关系的绝对位姿参数。其中世界坐标至少选择不在同一条直线上的三个点。 世界坐标上的点如果在一个平面上，应该选择'planar_analytic' 作为Method的参数。输出位姿和位姿质量。 4.write_pose( : : Pose, PoseFile : ) 把位姿写入TXT文件。 5.get_mbutton( : : WindowHandle : Row, Column, Button) 返回鼠标点击的图像点像素坐标，以及鼠标按钮值，左键0，中间键2，右键4. 6.image_points_to_world_plane( : : CameraParam, WorldPose, Rows, Cols, Scale : X, Y) 把图像坐标转化成Z=0平面的世界坐标，输出为世界坐标的X,Y 7.pose_to_hom_mat3d( : : Pose : HomMat3D) 把3D位姿转化成齐次变换矩阵。 8.affine_trans_point_3d( : : HomMat3D, Px, Py, Pz : Qx, Qy, Qz) 进行两个坐标系之间的3D坐标的仿射变换。        / Qx \             / Px \ | Qy | = HomMat3D * | Py | | Qz | | Pz | \ 1 / \ 1 / 9.project_3d_point( : : X, Y, Z, CameraParam : Row, Column) 把3D点映射到图像坐标系，返回图像坐标系中该点的行列坐标。   10.smallest_rectangle2(Regions : : : Row, Column, Phi, Length1, Length2) 返回包含一个区域的最小环绕矩形。 11.gen_measure_rectangle2( : : Row, Column, Phi, Length1, Length2, Width, Height, Interpolation : MeasureHandle) 返回和矩形边垂直的边缘。 12.measure_pairs(Image : : MeasureHandle, Sigma, Threshold, Transition, Select : RowEdgeFirst, ColumnEdgeFirst, AmplitudeFirst, RowEdgeSecond, ColumnEdgeSecond, AmplitudeSecond, IntraDistance, InterDistance) 抽取和矩形边垂直的边缘对。返回各测量对之间的距离。 13.close_measure( : : MeasureHandle : ) 删除测量句柄。 14.gen_region_polygon_filled( : Region : Rows, Columns : ) 创建多边形填充区域，输出为一个区域。 15.gen_region_polygon_filled( : Region : Rows, Columns : ) 提取直线极其宽度，输出为XLD形式数组。 16.hom_mat3d_compose( : : HomMat3DLeft, HomMat3DRight : HomMat3DCompose) 输出两个齐次矩阵的乘积。 17.hom_mat3d_translate_local( : : HomMat3D, Tx, Ty, Tz : HomMat3DTranslate) 相对于新坐标系统，增加一个平移量到齐次矩阵HomMat3D中，输出为新的齐次矩阵。 18.hom_mat3d_rotate_local( : : HomMat3D, Phi, Axis : HomMat3DRotate) 相对于新坐标系统，增加一个绕着某个坐标轴的旋量到齐次矩阵HomMat3D中，输出为新的齐次矩阵。 17.contour_to_world_plane_xld(Contours : ContoursTrans : CameraParam, WorldPose, Scale : ) 转换XLD轮廓进入Z=0的世界坐标平面，输出形式为xld_cont(-array) → object 18.get_contour_xld(Contour : : : Row, Col) 返回轮廓点的行列坐标。 19.tuple_mean( : : Tuple : Mean) 返回数组的平均值 20.map_image(Image, Map : ImageMapped : : ) 对图像进行校正，输出为校正后的图像。附：摄像机校正和利用校正后的结果进行测量以及图像校正的程序段:

1: * Attention:

2: * This program reads the interior camera parameters from the file

3: * 'camera_parameters.dat', which, e.g., could be generated by the program

4: * 'camera_calibration_interior.hdev'

5: *

6: ImgPath := '3d_machine_vision/calib/'

7: dev_close_window ()

8: dev_open_window (0, 0, 652, 494, 'black', WindowHandle)

9: dev_update_off ()

10: dev_set_draw ('margin')

11: dev_set_line_width (1)

12: set_display_font (WindowHandle, 14, 'courier', 'true', 'false')

13: * Read the interior camera parameters from file

14: read_cam_par ('camera_parameters.dat', CamParam)

15: *

16: * Determine the exterior camera parameters and world coodinates from image points

17: *

18: * The exterior camera parameters can be determined from an image, where the

19: * calibration plate is positioned directly on the measurement plane

20: read_image (Image, ImgPath+'calib_11')

21: dev_display (Image)

22: * parameter settings for find_caltab and find_marks_and_pose

23: SizeGauss := 3

24: MarkThresh := 200

25: MinDiamMarks := 10

26: StartThresh := 128

27: DeltaThresh := 10

28: MinThresh := 18

29: Alpha := 0.9

30: MinContLength := 15

31: MaxDiamMarks := 100

32: CaltabName := 'caltab_30mm.descr'

33: find_caltab (Image, Caltab, CaltabName, SizeGauss, MarkThresh, MinDiamMarks)

34: dev_set_color ('green')

35: dev_display (Caltab)

36: * Here, the final camera parameters are already known and can be used instead of the starting values

37: * used in the program 'camera_calibration_interior.hdev'

38: find_marks_and_pose (Image, Caltab, CaltabName, CamParam, StartThresh, DeltaThresh, MinThresh, Alpha, MinContLength, MaxDiamMarks, RCoord, CCoord, PoseForCalibrationPlate)

39: dev_set_color ('red')

40: disp_caltab (WindowHandle, CaltabName, CamParam, PoseForCalibrationPlate, 1)

41: dev_set_line_width (3)

42: disp_circle (WindowHandle, RCoord, CCoord, gen_tuple_const(|RCoord|,1.5))

43: * caltab_points (CaltabName, X, Y, Z)

44: * camera_calibration (X, Y, Z, RCoord, CCoord, CamParam, InitialPoseForCalibrationPlate, 'pose', CamParamUnchanged, FinalPoseFromCalibrationPlate, Errors)

45: * To take the thickness of the calibration plate into account, the z-value

46: * of the origin given by the camera pose has to be translated by the

47: * thickness of the calibration plate.

48: * Deactivate the following line if you do not want to add the correction.

49: set_origin_pose (PoseForCalibrationPlate, 0, 0, 0.00075, PoseForCalibrationPlate)

50: disp_continue_message (WindowHandle, 'black', 'true')

51: stop ()

52: * Alternatively, the exterior camera parameters can  be determined from

53: * at least three point correspondances between the WCS and the pixel coordinate system

54: read_image (Image, ImgPath+'caliper_01')

55: dev_display (Image)

56: * Set the world coordinates of three points on the rule

57: X := [0,50,100,80]

58: Y := [5,0,5,0]

59: Z := [0,0,0,0]

60: * Set the respective image plane coordinates of the three points

61: RCoord := [414,227,85,128]

62: CCoord := [119,318,550,448]

63: *

64: disp_cross (WindowHandle, RCoord, CCoord, 6, 0)

65: * create_pose (-50, 25, 400, 0, 0, -30, 'Rp+T', 'gba', 'point', InitialPose)

66: vector_to_pose (X, Y, Z, RCoord, CCoord, CamParam, 'iterative', 'error', FinalPose, Errors)

67: * camera_calibration (X, Y, Z, RCoord, CCoord, CamParam, InitialPose, 'pose', CamParamUnchanged, FinalPose, Errors)

68: write_pose (FinalPose, 'pose_from_three_points.dat')

69: * Now, transform a point measured interactively into the WCS

70: dev_update_window ('on')

71: dev_display (Image)

72: while (1)

73:     disp_message (WindowHandle, 'Measure one point: left mouse button', 'window', 12, 12, 'red', 'false')

74:     disp_message (WindowHandle, 'Exit measure mode: right mouse button', 'window', 36, 12, 'red', 'false')

75:     get_mbutton (WindowHandle, Row, Column, Button)

76:     if (Button = 4)

77:         break

78:     endif

79:     dev_display (Image)

80:     dev_set_color ('green')

81:     disp_cross (WindowHandle, Row, Column, 6, 0)

82:     image_points_to_world_plane (CamParam, FinalPose, Row, Column, 1, X1, Y1)

83:     disp_message (WindowHandle, 'X = '+X1, 'window', 320, 400, 'red', 'false')

84:     disp_message (WindowHandle, 'Y = '+Y1, 'window', 340, 400, 'red', 'false')

85: endwhile

86: * Apply the measure tool and transform the resulting point coordinates

87: * into the WCS

88: dev_set_color ('red')

89: dev_display (Image)

90: * Set the world coordinates of four points defining a ROI for the measure tool

91: ROI_X_WCS := [-2,-2,112,112]

92: ROI_Y_WCS := [0,0.5,0.5,0]

93: ROI_Z_WCS := [0,0,0,0]

94: * Determine the transformation matrix from the WCS into the CCS

95: pose_to_hom_mat3d (FinalPose, CCS_HomMat_WCS)

96: * Transform the point coordintes into the image coordinate system

97: affine_trans_point_3d (CCS_HomMat_WCS, ROI_X_WCS, ROI_Y_WCS, ROI_Z_WCS, CCS_RectangleX, CCS_RectangleY, CCS_RectangleZ)

98: project_3d_point (CCS_RectangleX, CCS_RectangleY, CCS_RectangleZ, CamParam, RectangleRow, RectangleCol)

99: gen_region_polygon_filled (ROI, RectangleRow, RectangleCol)

100: smallest_rectangle2 (ROI, RowCenterROI, ColCenterROI, PhiROI, Length1ROI, Length2ROI)

101: * Create a measure

102: gen_measure_rectangle2 (RowCenterROI, ColCenterROI, PhiROI, Length1ROI, Length2ROI, 652, 494, 'bilinear', MeasureHandle)

103: measure_pairs (Image, MeasureHandle, 0.4, 5, 'all_strongest', 'all', RowEdgeFirst, ColumnEdgeFirst, AmplitudeFirst, RowEdgeSecond, ColumnEdgeSecond, AmplitudeSecond, IntraDistance, InterDistance)

104: close_measure (MeasureHandle)

105: dev_display (Image)

106: disp_message (WindowHandle, 'Measuring the position of the pitch lines', 'window', 450, 25, 'red', 'false')

107: dev_set_color ('green')

108: RowPitchLine := (RowEdgeFirst+RowEdgeSecond)/2.0

109: ColPitchLine := (ColumnEdgeFirst+ColumnEdgeSecond)/2.0

110: disp_cross (WindowHandle, RowPitchLine, ColPitchLine, 6, 0)

111: image_points_to_world_plane (CamParam, FinalPose, RowPitchLine, ColPitchLine, 1, X1, Y1)

112: for i := 1 to |X1| by 1

113:     set_tposition (WindowHandle, RowEdgeFirst[i-1]+5, ColumnEdgeFirst[i-1]-20)

114:     if (i=|X1|)

115:         set_tposition (WindowHandle, RowEdgeFirst[i-1], ColumnEdgeFirst[i-2])

116:     endif

117:     write_string (WindowHandle, X1[i-1]$'.3f'+'mm')

118: endfor

119: disp_continue_message (WindowHandle, 'black', 'true')

120: stop ()

121: dev_display (Image)

122: * Apply a line extraction and transform the resulting xld contours

123: * into the WCS

124: * Set the world coordinates of four points defining a ROI

125: ROI_X_WCS := [11,11,13,13]

126: ROI_Y_WCS := [4,6,6,4]

127: ROI_Z_WCS := [0,0,0,0]

128: * Transform the point coordinates into the image coordinate system

129: affine_trans_point_3d (CCS_HomMat_WCS, ROI_X_WCS, ROI_Y_WCS, ROI_Z_WCS, CCS_RectangleX, CCS_RectangleY, CCS_RectangleZ)

130: project_3d_point (CCS_RectangleX, CCS_RectangleY, CCS_RectangleZ, CamParam, RectangleRow, RectangleCol)

131: * Visualize the square in the original image

132: disp_polygon (WindowHandle, [RectangleRow,RectangleRow[0]], [RectangleCol,RectangleCol[0]])

133: dev_display (Image)

134: * create the ROI

135: gen_region_polygon_filled (ROI, RectangleRow, RectangleCol)

136: reduce_domain (Image, ROI, ImageReduced)

137: * Extract the lines

138: lines_gauss (ImageReduced, Lines, 1, 3, 8, 'dark', 'true', 'bar-shaped', 'true')

139: * Adapt the pose of the measurement plane to the tilted plane of the vernier

140: RelPose := [0,3.2,0,-14,0,0,0]

141: pose_to_hom_mat3d (FinalPose, HomMat3D)

142: pose_to_hom_mat3d (RelPose, HomMat3DRel)

143: hom_mat3d_compose (HomMat3D, HomMat3DRel, HomMat3DAdapted)

144: * Alternatively, the adaption can be done using the operators

145: * hom_mat3d_translate_local and hom_mat3d_rotate_local

146: * as shown in the following to lines

147: hom_mat3d_translate_local (HomMat3D, 0, 3.2, 0, HomMat3DTranslate)

148: hom_mat3d_rotate_local (HomMat3DTranslate, rad(-14), 'x', HomMat3DAdapted)

149: hom_mat3d_to_pose (HomMat3DAdapted, PoseAdapted)

150: * Transform the xld contour to the WCS using the adapted pose

151: contour_to_world_plane_xld (Lines, ContoursTrans, CamParam, PoseAdapted, 1)

152: get_contour_xld (ContoursTrans, YOfContour, XOfContour)

153: tuple_mean (XOfContour, MeterReading)

154: dev_display (Lines)

155: disp_message (WindowHandle, 'Meter reading: '+MeterReading$'.3f'+'mm', 'window', 400, 180, 'green', 'false')

156: disp_continue_message (WindowHandle, 'black', 'true')

157: stop ()

158: dev_close_inspect_ctrl (YOfContour)

159: dev_close_inspect_ctrl (XOfContour)

160: * Now, transform the whole image

161: WidthMappedImage := 652

162: HeightMappedImage := 494

163: dev_display (Image)

164: * First, determine the scale for the mapping

165: * (here, the scale is determined such that in the

166: *   surroundings of the points P0 and P1,  the image scale of the

167: *   mapped image is similar to the image scale of the original image)

168: distance_pp (X[0], Y[0], X[1], Y[1], DistP0P1WCS)

169: distance_pp (RCoord[0], CCoord[0], RCoord[1], CCoord[1], DistP0P1PCS)

170: Scale := DistP0P1WCS/DistP0P1PCS

171: * Then, determine the parameter settings for set_origin_pose such

172: * that the point given via get_mbutton will be in the center of the

173: * mapped image

174: dev_display (Image)

175: disp_message (WindowHandle, 'Define the center of the mapped image', 'window', 12, 12, 'red', 'false')

176: get_mbutton (WindowHandle, CenterRow, CenterColumn, Button1)

177: image_points_to_world_plane (CamParam, FinalPose, CenterRow, CenterColumn, 1, CenterX, CenterY)

178: set_origin_pose (FinalPose, CenterX-Scale*WidthMappedImage/2.0, CenterY-Scale*HeightMappedImage/2.0, 0, PoseNewOrigin)

179: gen_image_to_world_plane_map (Map, CamParam, PoseNewOrigin, 652, 494, WidthMappedImage, HeightMappedImage, Scale, 'bilinear')

180: map_image (Image, Map, ImageMapped)

181: dev_clear_window ()

182: dev_display (ImageMapped)

183: * In case, only one image has to be mapped, the operator

184: * image_to_world_plane can be used instead of the operators

185: * gen_image_to_world_plane_map together with map_image.

186: image_to_world_plane (Image, ImageMapped, CamParam, PoseNewOrigin, WidthMappedImage, HeightMappedImage, Scale, 'bilinear')