public void GrabImageThread1()
{//线程采图
while (CamCalib.ThreadCalibration.m_bBusy1)
{
try
{
if (CamCalib.CamCaliParm.m_AcqHandle > -1 && CamCalib.CamCaliParm.m_AcqHandle != null)
{
//获取文件夹中图像数量
System.IO.DirectoryInfo dirInfo = new System.IO.DirectoryInfo(CamCalib.SavePath.m_CalibPath);
int CalibrationNum = CamCalib.GetFilesCount(dirInfo);
MessageBox.Show("文件个数为：" + CalibrationNum + "个");
for (int i = 1; i <= CalibrationNum; i = i + 1)
{
//采集图像
CamCalib.ImageRegion.m_Image3.Dispose();
HOperatorSet.GrabImage(out CamCalib.ImageRegion.m_Image3, CamCalib.CamCaliParm.m_AcqHandle);
//获取图像大小并显示全图
CamCalib.ShowImage(CamCalib.ImageRegion.m_Image3, hWindow3.HalconWindow);
Thread.Sleep(1000);
//查找标定板
CamCalib.CamCaliParm.m_CalibContours.Dispose();
CamCalib.CamCaliParm.m_CalibCross.Dispose();
CamCalib.FindCalibration(CamCalib.ImageRegion.m_Image3, out CamCalib.CamCaliParm.m_CalibContours, out CamCalib.CamCaliParm.m_CalibCross, CamCalib.CamCaliParm.m_CalibDataID, i);
HOperatorSet.SetColor(hWindow3.HalconWindow, "green");
HOperatorSet.DispObj(CamCalib.CamCaliParm.m_CalibContours, hWindow3.HalconWindow);
HOperatorSet.SetColor(hWindow3.HalconWindow, "yellow");
HOperatorSet.DispObj(CamCalib.CamCaliParm.m_CalibCross, hWindow3.HalconWindow);
Thread.Sleep(100);
}
CamCalib.GetCalibData(out CamCalib.CamCaliParm.m_MapImage, CamCalib.CamCaliParm.m_CalibDataID, out CamCalib.CamCaliParm.m_CamParam);
for (int i = 1; i <= CalibrationNum; i = i + 1)
{
CamCalib.GetMapsImage(CamCalib.CamCaliParm.m_MapImage, out CamCalib.CamCaliParm.m_MapImage, CamCalib.CamCaliParm.m_CalibDataID, i, CamCalib.CamCaliParm.m_CamParam);
}
HOperatorSet.ClearCalibData(CamCalib.CamCaliParm.m_CalibDataID);
Thread.Sleep(100);
HOperatorSet.ClearWindow(hWindow3.HalconWindow);
HOperatorSet.DispObj(CamCalib.CamCaliParm.m_MapImage, hWindow3.HalconWindow);
}
CamCalib.ThreadCalibration.m_bBusy1 = false;
}
catch (System.Exception)
{
Thread.Sleep(10);
}
finally
{
GC.Collect();
GC.WaitForPendingFinalizers();
}
}
CamCalib.ThreadCalibration.m_GrabThread1.Abort();
}
private void ckb_StartCalibration_CheckedChanged(object sender, EventArgs e)
{
if (tool.descrPath == null || tool.descrPath == string.Empty)
{
MessageBox.Show("读取描述文件", "请选择读取对应标定板描述文件", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (ckb_StartCalibration.Checked)
{
gB_InitCamParam.Enabled = false;
gb_StartCalibration.Enabled = true;
}
else
{
gB_InitCamParam.Enabled = true;
gb_StartCalibration.Enabled = false;
}
index = 1;
if (CalibDataID != null)
{
if (CalibDataID.Length == 0)
{
HOperatorSet.ClearCalibData(CalibDataID);
}
}
if (ckb_StartCalibration.Checked)
{
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out CalibDataID);
HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, new HTuple(), startCamPar);
try
{
HOperatorSet.SetCalibDataCalibObject(CalibDataID, 0, tool.descrPath);
}
catch
{
MessageBox.Show("描述文件错误", "读取描述失败，请检查文件该文件：", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
}
}
public override void Clear()
{
mView.viewPort.MouseDown -= GetMousePoint;
mView.viewPort.MouseMove -= MouseMovePoint;
base.Clear();
if (CalibDataID != null && CalibDataID.Length > 0)
{
HOperatorSet.ClearCalibData(CalibDataID);
}
if (calHImages != null)
{
for (int i = 0; i < calHImages.Count; i++)
{
if (calHImages[i] != null && calHImages[i].IsInitialized())
{
calHImages[i].Dispose();
}
}
calHImages.Clear();
calHImages = null;
}
if (ho_Caltab != null && ho_Caltab.IsInitialized())
{
ho_Caltab.Dispose();
}
if (ho_Cross != null && ho_Cross.IsInitialized())
{
ho_Cross.Dispose();
}
if (testImage != null && testImage.IsInitialized())
{
testImage.Dispose();
}
if (modelPointXld != null && modelPointXld.IsInitialized())
{
modelPointXld.Dispose();
}
}
public void InternalCalibrate(string ImagePath)
{
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image1);
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_Caltab);
try
{
//相机内部标定(需要很多位置的标定板图像) 黑三角为第三象限
//图片文件夹
hv_ImgPath = ImagePath;
ho_Image1.Dispose();
HOperatorSet.ReadImage(out ho_Image1, hv_ImgPath + "calib_01");
HOperatorSet.GetImagePointer1(ho_Image1, out hv_Pointer, out hv_Type, out hv_Width,
out hv_Height);
HOperatorSet.SetWindowAttr("background_color", "black");
HOperatorSet.OpenWindow(0, 0, hv_Width, hv_Height, 0, "visible", "", out hv_WindowHandle1);
HDevWindowStack.Push(hv_WindowHandle1);
//初始相机参数
hv_StartCamPar = new HTuple();
hv_StartCamPar[0] = 0;
hv_StartCamPar[1] = 0;
hv_StartCamPar[2] = 1.67e-006;
hv_StartCamPar[3] = 1.67e-006;
hv_StartCamPar = hv_StartCamPar.TupleConcat(hv_Width / 2);
hv_StartCamPar = hv_StartCamPar.TupleConcat(hv_Height / 2);
hv_StartCamPar = hv_StartCamPar.TupleConcat(hv_Width);
hv_StartCamPar = hv_StartCamPar.TupleConcat(hv_Height);
hv_TmpCtrl_FindCalObjParNames = new HTuple();
hv_TmpCtrl_FindCalObjParNames[0] = "gap_tolerance";
hv_TmpCtrl_FindCalObjParNames[1] = "alpha";
hv_TmpCtrl_FindCalObjParNames[2] = "skip_find_caltab";
hv_TmpCtrl_FindCalObjParValues = new HTuple();
hv_TmpCtrl_FindCalObjParValues[0] = 1;
hv_TmpCtrl_FindCalObjParValues[1] = 1;
hv_TmpCtrl_FindCalObjParValues[2] = "false";
//生成一个标定数据模型（制定设置中的相机数量和校准对象数量）
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out hv_CalibDataID);
//设置相机类型和初始参数（设置相机类型和初始内部相机参数）,只有相同类型的相机可以在单个设置中校准
HOperatorSet.SetCalibDataCamParam(hv_CalibDataID, 0, "area_scan_telecentric_division",
hv_StartCamPar);
//根据标定板规格生成标定板文件
HOperatorSet.GenCaltab(7, 7, 0.000625, 0.5, "caltab.descr", "caltab.ps");
//根据标定板模型创建一个标定对象(描述校准对象)
HOperatorSet.SetCalibDataCalibObject(hv_CalibDataID, 0, "caltab.descr");
hv_NumImages = 20;
HTuple end_val24 = hv_NumImages;
HTuple step_val24 = 1;
for (hv_I = 1; hv_I.Continue(end_val24, step_val24); hv_I = hv_I.TupleAdd(step_val24))
{
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, (hv_ImgPath + "calib_") + (hv_I.TupleString(
"02d")));
//找到Halcon标定板，并将数据存入校准数据模型中(收集数据)
//即提取校准对象的mark点的图像坐标以及相机粗略估计姿态
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Image, HDevWindowStack.GetActive());
}
HOperatorSet.FindCalibObject(ho_Image, hv_CalibDataID, 0, 0, hv_I, hv_TmpCtrl_FindCalObjParNames,
hv_TmpCtrl_FindCalObjParValues);
//从校准数据模型中获取轮廓数据
ho_Caltab.Dispose();
HOperatorSet.GetCalibDataObservContours(out ho_Caltab, hv_CalibDataID, "caltab",
0, 0, hv_I);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "green");
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Caltab, HDevWindowStack.GetActive());
}
HOperatorSet.GetCalibDataObservPoints(hv_CalibDataID, 0, 0, hv_I, out hv_RCoord,
out hv_CCoord, out hv_Index, out hv_StartPose);
//find_marks_and_pose (Image, Caltab, CaltabName, StartCamPar, 128, 10, 18, 0.9, 15, 100, RCoord, CCoord, StartPose)
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "red");
}
HOperatorSet.DispCircle(hv_WindowHandle1, hv_RCoord, hv_CCoord, HTuple.TupleGenConst(
new HTuple(hv_RCoord.TupleLength()), 2.5));
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetPart(HDevWindowStack.GetActive(), 0, 0, hv_Height - 1, hv_Width - 1);
}
//set_calib_data_observ_points (CalibDataID, 0, 0, i, RCoord, CCoord, 'all', StartPose)
}
//执行实际的校准
//校准相机
HOperatorSet.CalibrateCameras(hv_CalibDataID, out hv_Error);
//获得相机参数
HOperatorSet.GetCalibData(hv_CalibDataID, "camera", 0, "params", out hv_CamParam);
//保存相机参数
HOperatorSet.WriteCamPar(hv_CamParam, "camera_parameters.dat");
HOperatorSet.ClearCalibData(hv_CalibDataID);
}
catch (HalconException HDevExpDefaultException)
{
ho_Image1.Dispose();
ho_Image.Dispose();
ho_Caltab.Dispose();
throw HDevExpDefaultException;
}
ho_Image1.Dispose();
ho_Image.Dispose();
ho_Caltab.Dispose();
}
public void ExternalCalibrate(out double te1, out double te2)
{
//读取初始相机参数
try
{
HOperatorSet.ReadCamPar("camera_parameters.dat", out hv_CamParam);
}
// catch (Exception)
catch (HalconException HDevExpDefaultException1)
{
HDevExpDefaultException1.ToHTuple(out hv_Exception);
// stop(...); only in hdevelop
}
//从图像点确定外部摄像机参数和世界坐标
//当校准板直接放在测量平面上时 可以从图像确定外部摄像机参数
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImgPath + "calib_01");
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Image, HDevWindowStack.GetActive());
}
hv_CaltabName = "caltab.descr";
hv_TmpCtrl_FindCalObjParNames = new HTuple();
hv_TmpCtrl_FindCalObjParNames[0] = "gap_tolerance";
hv_TmpCtrl_FindCalObjParNames[1] = "alpha";
hv_TmpCtrl_FindCalObjParNames[2] = "skip_find_caltab";
hv_TmpCtrl_FindCalObjParValues = new HTuple();
hv_TmpCtrl_FindCalObjParValues[0] = 1;
hv_TmpCtrl_FindCalObjParValues[1] = 1;
hv_TmpCtrl_FindCalObjParValues[2] = "false";
//生产一个标定数据模型
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out hv_CalibDataID);
//设置相机类型和初始参数
HOperatorSet.SetCalibDataCamParam(hv_CalibDataID, 0, "area_scan_telecentric_division",
hv_CamParam);
//定义校准对象
HOperatorSet.SetCalibDataCalibObject(hv_CalibDataID, 0, hv_CaltabName);
//找到Halcon标定板，并将数据写入校准数据模型中
HOperatorSet.FindCalibObject(ho_Image, hv_CalibDataID, 0, 0, 1, hv_TmpCtrl_FindCalObjParNames,
hv_TmpCtrl_FindCalObjParValues);
//获得标定区域轮廓
ho_Caltab.Dispose();
HOperatorSet.GetCalibDataObservContours(out ho_Caltab, hv_CalibDataID, "caltab",
0, 0, 1);
//获得标定区域mark点的信息
HOperatorSet.GetCalibDataObservPoints(hv_CalibDataID, 0, 0, 1, out hv_Row,
out hv_Column, out hv_Index, out hv_Pose);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "green");
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Caltab, HDevWindowStack.GetActive());
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "red");
}
//显示标定的结果
//HOperatorSet.DispCaltab(hv_WindowHandle, hv_CaltabName, hv_CamParam, hv_Pose,
//1);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetLineWidth(HDevWindowStack.GetActive(), 3);
}
//在mark点中心画点
//HOperatorSet.DispCircle(hv_WindowHandle, hv_Row, hv_Column, HTuple.TupleGenConst(
//new HTuple(hv_Row.TupleLength()), 1.5));
// stop(...); only in hdevelop
//取得校准文件内的坐标数据
//caltab_points (CaltabName, X, Y, Z)
//calibrate_cameras (CalibDataID, Error)
//考虑标定板厚度进行姿态矫正 3.5mm厚度
HOperatorSet.SetOriginPose(hv_Pose, 0, 0, 0.0035, out hv_Pose);
HOperatorSet.ClearCalibData(hv_CalibDataID);
//图像坐标转世界坐标
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, hv_Row, hv_Column,
"mm", out hv_X, out hv_Y);
hv_Image_X1 = 100;
hv_Image_Y1 = 100;
hv_Distance_XY = 500;
hv_Image_X2 = hv_Image_X1 + hv_Distance_XY;
hv_Image_Y2 = hv_Image_Y1 + hv_Distance_XY;
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, hv_Image_Y1, hv_Image_X1,
"mm", out hv_World_X1, out hv_World_Y1);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, hv_Image_Y2, hv_Image_X2,
"mm", out hv_World_X2, out hv_World_Y2);
//计算世界坐标距离?
HOperatorSet.DistancePp(hv_World_Y1, hv_World_X1, hv_World_Y2, hv_World_X2,
out hv_DistanceWorld);
//计算像素坐标?
HOperatorSet.DistancePp(hv_Image_X1, hv_Image_Y1, hv_Image_X2, hv_Image_Y2,
out hv_DistanceImage);
//每毫米世界坐标距=距离对应的像素点个数?
hv_DistanceOneMilimeter = hv_DistanceImage / hv_DistanceWorld;
//每个像素对应的世界坐标距离?
hv_DistanceOnePixel = hv_DistanceWorld / hv_DistanceImage;
//调整世界坐标至中心偏移量?
hv_OffSetX = (hv_Width / 2) * hv_DistanceOnePixel;
hv_OffSetY = (hv_Height / 2) * hv_DistanceOnePixel;
te1 = hv_DistanceOneMilimeter;
te2 = hv_DistanceOnePixel;
}
private static void clear_calib_data(HTuple CalibDataID)
{
HOperatorSet.ClearCalibData(CalibDataID);
}
private void action(string ImgPath)
{
HObject ho_Image1, ho_Image = null, ho_Caltab = null;
HTuple hv_ImgPath = null, hv_Pointer = null;
HTuple hv_Type = null, hv_Width = null, hv_Height = null;
HTuple hv_WindowHandle1 = null, hv_StartCamPar = null;
HTuple hv_TmpCtrl_FindCalObjParNames = null, hv_TmpCtrl_FindCalObjParValues = null;
HTuple hv_CalibDataID = null, hv_NumImages = null, hv_I = null;
HTuple hv_RCoord = new HTuple(), hv_CCoord = new HTuple();
HTuple hv_Index = null, hv_StartPose = new HTuple(), hv_CaltabName = null;
HTuple hv_Error = null, hv_CamParam = null, hv_WindowHandle = null;
HTuple hv_Exception = null, hv_Row = null, hv_Column = null;
HTuple hv_Pose = null, hv_X = null, hv_Y = null, hv_Z = null;
HTuple hv_Image_X1 = null, hv_Image_Y1 = null, hv_Distance_XY = null;
HTuple hv_Image_X2 = null, hv_Image_Y2 = null, hv_World_X1 = null;
HTuple hv_World_Y1 = null, hv_World_X2 = null, hv_World_Y2 = null;
HTuple hv_DistanceWorld = null, hv_DistanceImage = null;
HTuple hv_DistanceOneMilimeter = null, hv_DistanceOnePixel = null;
HTuple hv_OffSetX = null, hv_OffSetY = null, hv_FinalPose = null;
HTuple hv_Erros = null, hv_X1 = null, hv_Y1 = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image1);
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_Caltab);
try
{
//相机内部标定(需要很多位置的标定板图像) 黑三角为第三象限
//图片文件夹
hv_ImgPath = ImgPath;
if (HDevWindowStack.IsOpen())
{
HOperatorSet.CloseWindow(HDevWindowStack.Pop());
}
ho_Image1.Dispose();
HOperatorSet.ReadImage(out ho_Image1, hv_ImgPath + "calib_01");
HOperatorSet.GetImagePointer1(ho_Image1, out hv_Pointer, out hv_Type, out hv_Width,
out hv_Height);
HOperatorSet.SetWindowAttr("background_color", "black");
HOperatorSet.OpenWindow(0, 0, hv_Width, hv_Height, 0, "visible", "", out hv_WindowHandle1);
HDevWindowStack.Push(hv_WindowHandle1);
//初始相机参数
hv_StartCamPar = new HTuple();
hv_StartCamPar[0] = 0;
hv_StartCamPar[1] = 0;
hv_StartCamPar[2] = 1.67e-006;
hv_StartCamPar[3] = 1.67e-006;
hv_StartCamPar = hv_StartCamPar.TupleConcat(hv_Width / 2);
hv_StartCamPar = hv_StartCamPar.TupleConcat(hv_Height / 2);
hv_StartCamPar = hv_StartCamPar.TupleConcat(hv_Width);
hv_StartCamPar = hv_StartCamPar.TupleConcat(hv_Height);
hv_TmpCtrl_FindCalObjParNames = new HTuple();
hv_TmpCtrl_FindCalObjParNames[0] = "gap_tolerance";
hv_TmpCtrl_FindCalObjParNames[1] = "alpha";
hv_TmpCtrl_FindCalObjParNames[2] = "skip_find_caltab";
hv_TmpCtrl_FindCalObjParValues = new HTuple();
hv_TmpCtrl_FindCalObjParValues[0] = 1;
hv_TmpCtrl_FindCalObjParValues[1] = 1;
hv_TmpCtrl_FindCalObjParValues[2] = "false";
//生成一个标定数据模型（制定设置中的相机数量和校准对象数量）
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out hv_CalibDataID);
//设置相机类型和初始参数（设置相机类型和初始内部相机参数）,只有相同类型的相机可以在单个设置中校准
HOperatorSet.SetCalibDataCamParam(hv_CalibDataID, 0, "area_scan_telecentric_division",
hv_StartCamPar);
//根据标定板规格生成标定板文件
HOperatorSet.GenCaltab(7, 7, 0.000625, 0.5, "caltab.descr", "caltab.ps");
//根据标定板模型创建一个标定对象(描述校准对象)
HOperatorSet.SetCalibDataCalibObject(hv_CalibDataID, 0, "caltab.descr");
hv_NumImages = 20;
HTuple end_val24 = hv_NumImages;
HTuple step_val24 = 1;
for (hv_I = 1; hv_I.Continue(end_val24, step_val24); hv_I = hv_I.TupleAdd(step_val24))
{
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, (hv_ImgPath + "calib_") + (hv_I.TupleString(
"02d")));
//找到Halcon标定板，并将数据存入校准数据模型中(收集数据)
//即提取校准对象的mark点的图像坐标以及相机粗略估计姿态
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Image, HDevWindowStack.GetActive());
}
HOperatorSet.FindCalibObject(ho_Image, hv_CalibDataID, 0, 0, hv_I, hv_TmpCtrl_FindCalObjParNames,
hv_TmpCtrl_FindCalObjParValues);
//从校准数据模型中获取轮廓数据
ho_Caltab.Dispose();
HOperatorSet.GetCalibDataObservContours(out ho_Caltab, hv_CalibDataID, "caltab",
0, 0, hv_I);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "green");
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Caltab, HDevWindowStack.GetActive());
}
HOperatorSet.GetCalibDataObservPoints(hv_CalibDataID, 0, 0, hv_I, out hv_RCoord,
out hv_CCoord, out hv_Index, out hv_StartPose);
//find_marks_and_pose (Image, Caltab, CaltabName, StartCamPar, 128, 10, 18, 0.9, 15, 100, RCoord, CCoord, StartPose)
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "red");
}
HOperatorSet.DispCircle(hv_WindowHandle1, hv_RCoord, hv_CCoord, HTuple.TupleGenConst(
new HTuple(hv_RCoord.TupleLength()), 2.5));
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetPart(HDevWindowStack.GetActive(), 0, 0, hv_Height - 1, hv_Width - 1);
}
//set_calib_data_observ_points (CalibDataID, 0, 0, i, RCoord, CCoord, 'all', StartPose)
}
//执行实际的校准
//校准相机
HOperatorSet.CalibrateCameras(hv_CalibDataID, out hv_Error);
//获得相机参数
HOperatorSet.GetCalibData(hv_CalibDataID, "camera", 0, "params", out hv_CamParam);
//保存相机参数
HOperatorSet.WriteCamPar(hv_CamParam, "camera_parameters.dat");
HOperatorSet.ClearCalibData(hv_CalibDataID);
// stop(...); only in hdevelop
//外部标定(只需要一张标定板图像)
//即获取相机的姿态
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetDraw(HDevWindowStack.GetActive(), "margin");
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetLineWidth(HDevWindowStack.GetActive(), 1);
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.CloseWindow(HDevWindowStack.Pop());
}
HOperatorSet.SetWindowAttr("background_color", "black");
HOperatorSet.OpenWindow(0, hv_Width + 5, hv_Width, hv_Height, 0, "visible", "", out hv_WindowHandle);
HDevWindowStack.Push(hv_WindowHandle);
//读取初始相机参数
try
{
HOperatorSet.ReadCamPar("camera_parameters.dat", out hv_CamParam);
}
// catch (Exception)
catch (HalconException HDevExpDefaultException1)
{
HDevExpDefaultException1.ToHTuple(out hv_Exception);
// stop(...); only in hdevelop
}
//从图像点确定外部摄像机参数和世界坐标
//当校准板直接放在测量平面上时 可以从图像确定外部摄像机参数
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImgPath + "calib_01");
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Image, HDevWindowStack.GetActive());
}
hv_CaltabName = "caltab.descr";
hv_TmpCtrl_FindCalObjParNames = new HTuple();
hv_TmpCtrl_FindCalObjParNames[0] = "gap_tolerance";
hv_TmpCtrl_FindCalObjParNames[1] = "alpha";
hv_TmpCtrl_FindCalObjParNames[2] = "skip_find_caltab";
hv_TmpCtrl_FindCalObjParValues = new HTuple();
hv_TmpCtrl_FindCalObjParValues[0] = 1;
hv_TmpCtrl_FindCalObjParValues[1] = 1;
hv_TmpCtrl_FindCalObjParValues[2] = "false";
//生产一个标定数据模型
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out hv_CalibDataID);
//设置相机类型和初始参数
HOperatorSet.SetCalibDataCamParam(hv_CalibDataID, 0, "area_scan_telecentric_division",
hv_CamParam);
//定义校准对象
HOperatorSet.SetCalibDataCalibObject(hv_CalibDataID, 0, hv_CaltabName);
//找到Halcon标定板，并将数据写入校准数据模型中
HOperatorSet.FindCalibObject(ho_Image, hv_CalibDataID, 0, 0, 1, hv_TmpCtrl_FindCalObjParNames,
hv_TmpCtrl_FindCalObjParValues);
//获得标定区域轮廓
ho_Caltab.Dispose();
HOperatorSet.GetCalibDataObservContours(out ho_Caltab, hv_CalibDataID, "caltab",
0, 0, 1);
//获得标定区域mark点的信息
HOperatorSet.GetCalibDataObservPoints(hv_CalibDataID, 0, 0, 1, out hv_Row,
out hv_Column, out hv_Index, out hv_Pose);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "green");
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Caltab, HDevWindowStack.GetActive());
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "red");
}
//显示标定的结果
HOperatorSet.DispCaltab(hv_WindowHandle, hv_CaltabName, hv_CamParam, hv_Pose,
1);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetLineWidth(HDevWindowStack.GetActive(), 3);
}
//在mark点中心画点
HOperatorSet.DispCircle(hv_WindowHandle, hv_Row, hv_Column, HTuple.TupleGenConst(
new HTuple(hv_Row.TupleLength()), 1.5));
// stop(...); only in hdevelop
//取得校准文件内的坐标数据
//caltab_points (CaltabName, X, Y, Z)
//calibrate_cameras (CalibDataID, Error)
//考虑标定板厚度进行姿态矫正 3.5mm厚度
HOperatorSet.SetOriginPose(hv_Pose, 0, 0, 0.0035, out hv_Pose);
HOperatorSet.ClearCalibData(hv_CalibDataID);
//图像坐标转世界坐标
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, hv_Row, hv_Column,
"mm", out hv_X, out hv_Y);
hv_Image_X1 = 100;
hv_Image_Y1 = 100;
hv_Distance_XY = 500;
hv_Image_X2 = hv_Image_X1 + hv_Distance_XY;
hv_Image_Y2 = hv_Image_Y1 + hv_Distance_XY;
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, hv_Image_Y1, hv_Image_X1,
"mm", out hv_World_X1, out hv_World_Y1);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, hv_Image_Y2, hv_Image_X2,
"mm", out hv_World_X2, out hv_World_Y2);
//计算世界坐标距离?
HOperatorSet.DistancePp(hv_World_Y1, hv_World_X1, hv_World_Y2, hv_World_X2,
out hv_DistanceWorld);
//计算像素坐标?
HOperatorSet.DistancePp(hv_Image_X1, hv_Image_Y1, hv_Image_X2, hv_Image_Y2,
out hv_DistanceImage);
//每毫米世界坐标距=距离对应的像素点个数?
hv_DistanceOneMilimeter = hv_DistanceImage / hv_DistanceWorld;
//每个像素对应的世界坐标距离?
hv_DistanceOnePixel = hv_DistanceWorld / hv_DistanceImage;
//调整世界坐标至中心偏移量?
hv_OffSetX = (hv_Width / 2) * hv_DistanceOnePixel;
hv_OffSetY = (hv_Height / 2) * hv_DistanceOnePixel;
//
hv_X = new HTuple();
hv_X[0] = 0;
hv_X[1] = 50;
hv_X[2] = 100;
hv_X[3] = 80;
hv_Y = new HTuple();
hv_Y[0] = 5;
hv_Y[1] = 0;
hv_Y[2] = 5;
hv_Y[3] = 0;
hv_Z = new HTuple();
hv_Z[0] = 0;
hv_Z[1] = 0;
hv_Z[2] = 0;
hv_Z[3] = 0;
hv_RCoord = new HTuple();
hv_RCoord[0] = 414;
hv_RCoord[1] = 227;
hv_RCoord[2] = 85;
hv_RCoord[3] = 128;
hv_CCoord = new HTuple();
hv_CCoord[0] = 119;
hv_CCoord[1] = 318;
hv_CCoord[2] = 550;
hv_CCoord[3] = 448;
HOperatorSet.VectorToPose(hv_X, hv_Y, hv_Z, hv_RCoord, hv_CCoord, hv_CamParam,
"telecentric_planar_robust", "error", out hv_FinalPose, out hv_Erros);
HOperatorSet.WritePose(hv_FinalPose, "campose.dat");
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_FinalPose, hv_Row, hv_Column,
1, out hv_X1, out hv_Y1);
}
catch (HalconException HDevExpDefaultException)
{
ho_Image1.Dispose();
ho_Image.Dispose();
ho_Caltab.Dispose();
throw HDevExpDefaultException;
}
ho_Image1.Dispose();
ho_Image.Dispose();
ho_Caltab.Dispose();
}
private void action()
{
int log = 0;
// Local iconic variables
HObject ho_Image, ho_MarkContours = null;
// Local control variables
HTuple hv_AllCalibImageFiles = null, hv_ImageFiles = null;
HTuple hv_Width = null, hv_Height = null, hv_CalibDataID = null;
HTuple hv_CalPlateDescr = null, hv_StartParam = null, hv_Index = null;
HTuple hv_StartPose = new HTuple(), hv_Error = null, hv_CameraParametersCalibrated = null;
HTuple hv_ParLabels = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_MarkContours);
//This example shows how to perform the basic calibration of a single
//camera with multiple images of a calibration object.
//Initialize visualization
list_image_files(ImagePath, "default", new HTuple(), out hv_AllCalibImageFiles);
HOperatorSet.TupleRegexpSelect(hv_AllCalibImageFiles, "calib_single_camera",
out hv_ImageFiles);
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImageFiles);
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
//
//Create the 3d object models that visualize the current configuration
//of camera and calibration plate. This may take a moment.
//
//Part I
//
//Create and setup the calibration model
//
//First, create the calibration data structure
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out hv_CalibDataID);
//Specify the used calibration plane using the name of the
//description file
hv_CalPlateDescr = "calplate_" + txtCalibtate.Text + "mm.cpd";
try
{
HOperatorSet.SetCalibDataCalibObject(hv_CalibDataID, 0, hv_CalPlateDescr);
}
catch
{
if (log == 0)
{
log = 1;
}
}
double sx = System.Convert.ToDouble(txtSx.Text);
double sy = System.Convert.ToDouble(txtSy.Text);
hv_StartParam = new HTuple();
hv_StartParam[0] = System.Convert.ToDouble(txtFocus.Text);
hv_StartParam[1] = System.Convert.ToDouble(txtKappa.Text);
hv_StartParam[2] = sx * 1e-006;
hv_StartParam[3] = sy * 1e-006;
hv_StartParam[4] = System.Convert.ToDouble(txtCx.Text);
hv_StartParam[5] = System.Convert.ToDouble(txtCy.Text);
hv_StartParam[6] = System.Convert.ToDouble(txtIx.Text);
hv_StartParam[7] = System.Convert.ToDouble(txtIy.Text);
HOperatorSet.SetCalibDataCamParam(hv_CalibDataID, 0, "area_scan_division", hv_StartParam);
try
{
for (hv_Index = 0; (int)hv_Index <= (int)((new HTuple(hv_ImageFiles.TupleLength()
)) - 1); hv_Index = (int)hv_Index + 1)
{
try
{
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImageFiles.TupleSelect(hv_Index));
HOperatorSet.FindCalibObject(ho_Image, hv_CalibDataID, 0, 0, hv_Index, new HTuple(),
new HTuple());
HOperatorSet.GetCalibDataObservPose(hv_CalibDataID, 0, 0, hv_Index, out hv_StartPose);
ho_MarkContours.Dispose();
HOperatorSet.GetCalibDataObservContours(out ho_MarkContours, hv_CalibDataID,
"marks", 0, 0, hv_Index);
//图像标定成功
txtLog.Text = txtLog.Text + "图像" + hv_Index.ToString() + "处理成功" + "\r\n" + DateTime.Now + "\r\n";
}
catch
{
if (log == 0)
{
txtLog.Text = txtLog.Text + "图像" + hv_Index.ToString() + "处理失败" + "\r\n" + DateTime.Now + "\r\n";
}
//图像标定失败
}
}
HOperatorSet.CalibrateCameras(hv_CalibDataID, out hv_Error);
HOperatorSet.GetCalibData(hv_CalibDataID, "camera", 0, "params", out hv_CameraParametersCalibrated);
HOperatorSet.GetCalibData(hv_CalibDataID, "camera", 0, "params_labels", out hv_ParLabels);
HOperatorSet.ClearCalibData(hv_CalibDataID);
ho_Image.Dispose();
ho_MarkContours.Dispose();
//txtLog.Clear();
txtLog.Text = txtLog.Text + "相机内参" + hv_CameraParametersCalibrated.ToString() + "\r\n" + DateTime.Now + "\r\n";
}
catch
{
if (log == 0)
{
log = 2;
}
}
switch (log)
{
case 1:
txtLog.Text = txtLog.Text + "相机参数错误，标定失败" + "\r\n" + DateTime.Now + "\r\n";
break;
case 2:
txtLog.Text = txtLog.Text + "图像质量出现问题，标定失败" + "\r\n" + DateTime.Now + "\r\n";
break;
default:
txtLog.Text = txtLog.Text + "标定成功" + "\r\n" + DateTime.Now + "\r\n";
break;
}
}
