/// <summary>Creates an instance initially managing zero open windows</summary>
/// <param name="windowIDs">List of IDs for existing HALCON windows</param>
public HDevOpMultiWindowImpl(params HTuple[] windowIDs)
: base((HTuple)0)
{
this.fixedIDs = new HTuple().TupleConcat(windowIDs);
this.fixedUsed = HTuple.TupleGenConst((HTuple)this.fixedIDs.Length, (HTuple)0);
this.windowIDs = new HTuple();
HTuple windowID;
this.DevOpenWindow((HTuple)0, (HTuple)0, (HTuple)512, (HTuple)512, (HTuple)"black", out windowID);
}
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();
}
private bool FitLine(List <HTuple> hv_RowEdges, List <HTuple> hv_ColumnEdges)
{
if (hv_RowEdges.Count < 2 || hv_RowEdges.Count != hv_ColumnEdges.Count)
{
//MessageBox.Show("样本点数据错误");
return(false);
}
HTuple hv_Mx = null;
HTuple hv_My = null;
for (int i = 0; i < hv_RowEdges.Count; i++)
{
//HOperatorSet.TupleInsert(hv_Mx,i, hv_RowEdges[i],out hv_Mx);
//HOperatorSet.TupleInsert(hv_My, i, hv_ColumnEdges[i], out hv_My);
HOperatorSet.TupleInsert(hv_My, i, hv_RowEdges[i], out hv_My);
HOperatorSet.TupleInsert(hv_Mx, i, hv_ColumnEdges[i], out hv_Mx);
}
HTuple hv_x = null;
HTuple hv_y = null;
HOperatorSet.CreateMatrix(hv_RowEdges.Count, 2, 1, out hv_x);
HOperatorSet.CreateMatrix(hv_RowEdges.Count, 1, hv_My, out hv_y);
HOperatorSet.SetValueMatrix(hv_x, HTuple.TupleGenSequence(0, hv_RowEdges.Count - 1, 1), HTuple.TupleGenConst(hv_RowEdges.Count, 0), hv_Mx);
HTuple hv_xtx = null;
HTuple hv_xty = null;
HOperatorSet.MultMatrix(hv_x, hv_x, "ATB", out hv_xtx);
HOperatorSet.MultMatrix(hv_x, hv_y, "ATB", out hv_xty);
HTuple hv_invxtx = null;
HOperatorSet.InvertMatrix(hv_xtx, "general", 0, out hv_invxtx);
HTuple hv_beta = null;
HOperatorSet.MultMatrix(hv_invxtx, hv_xty, "AB", out hv_beta);
HTuple hv_Values = null;
HOperatorSet.GetFullMatrix(hv_beta, out hv_Values);
HTuple hv_Newy = null;
hv_Newy = ((hv_Values.TupleSelect(0)) * (new HTuple(10)).TupleConcat(800)) + (hv_Values.TupleSelect(1));
HObject ho_Contour;
HOperatorSet.GenEmptyObj(out ho_Contour);
HOperatorSet.GenContourPolygonXld(out ho_Contour, hv_Newy, (new HTuple(10)).TupleConcat(800));
HTuple hv_XldHomMat2D;
HOperatorSet.HomMat2dIdentity(out hv_XldHomMat2D);
HOperatorSet.HomMat2dScale(hv_XldHomMat2D, hv_ZoomFactor, hv_ZoomFactor, 0, 0, out hv_XldHomMat2D);
HOperatorSet.AffineTransContourXld(ho_Contour, out ho_Contour, hv_XldHomMat2D);
HOperatorSet.DispObj(ho_Contour, hv_ImageWindow);
//HOperatorSet.AffineTransPoint2d();
return(true);
}
private void HandleOneImage(string FilePath, string indexnum)
{
//
//Read an image and convert it to gray values
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, FilePath + indexnum);
{
HObject ExpTmpOutVar_0;
HOperatorSet.Rgb1ToGray(ho_Image, out ExpTmpOutVar_0);
ho_Image.Dispose();
ho_Image = ExpTmpOutVar_0;
}
//gen_rectangle1 (ROI_0, 3.33632, 300.556, 990.549, 1648.14)
ho_ImageReduced.Dispose();
ho_ImagePart.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_ROI_0, out ho_ImageReduced);
//get_domain (ImageReduced, Domain)
ho_ImagePart.Dispose();
HOperatorSet.CropDomain(ho_ImageReduced, out ho_ImagePart);
//Perform the convolution in the frequency domain
ho_ImageFFT.Dispose();
HOperatorSet.RftGeneric(ho_ImagePart, out ho_ImageFFT, "to_freq", "none", "complex",
hv_Width);
ho_ImageConvol.Dispose();
HOperatorSet.ConvolFft(ho_ImageFFT, ho_Filter, out ho_ImageConvol);
ho_ImageFiltered.Dispose();
HOperatorSet.RftGeneric(ho_ImageConvol, out ho_ImageFiltered, "from_freq",
"n", "real", hv_Width);
//
//Process the filtered image
ho_ImageResult.Dispose();
HOperatorSet.GrayRangeRect(ho_ImageFiltered, out ho_ImageResult, 10, 10);
HOperatorSet.MinMaxGray(ho_ImageResult, ho_ImageResult, 0, out hv_Min, out hv_Max,
out hv_Range);
ho_RegionDynThresh.Dispose();
HOperatorSet.Threshold(ho_ImageResult, out ho_RegionDynThresh, (((new HTuple(5.55)).TupleConcat(
hv_Max * 0.8))).TupleMax(), 255);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_RegionDynThresh, out ho_ConnectedRegions);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, "area",
"and", 4, 99999);
ho_RegionUnion.Dispose();
HOperatorSet.Union1(ho_SelectedRegions, out ho_RegionUnion);
ho_RegionClosing.Dispose();
HOperatorSet.ClosingCircle(ho_RegionUnion, out ho_RegionClosing, 10);
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_RegionClosing, out ho_ConnectedRegions1);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions1, "area",
"and", 10, 99999);
HOperatorSet.AreaCenter(ho_SelectedRegions1, out hv_Area, out hv_Row, out hv_Column);
//
//Display the results
//lei
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_ImagePart, HDevWindowStack.GetActive());
}
hv_Number = new HTuple(hv_Area.TupleLength());
if ((int)(hv_Number) != 0)
{
ho_ContCircle.Dispose();
HOperatorSet.GenCircleContourXld(out ho_ContCircle, hv_Row, hv_Column,
HTuple.TupleGenConst(hv_Number, 30), HTuple.TupleGenConst(hv_Number,
0), HTuple.TupleGenConst(hv_Number, (new HTuple(360)).TupleRad()), "positive",
1);
hv_ResultMessage = new HTuple();
hv_ResultMessage[0] = "Not OK";
hv_ResultMessage = hv_ResultMessage.TupleConcat(hv_Number + " defect(s) found");
hv_Color = new HTuple();
hv_Color[0] = "red";
hv_Color[1] = "black";
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_ContCircle, HDevWindowStack.GetActive());
//HOperatorSet.DispObj(ho_ContCircle, this.halconWindow);//
}
}
else
{
hv_ResultMessage = "OK";
hv_Color = "forest green";
}
/*disp_message(this.halconWindow, hv_ResultMessage, "window", 12, 12, hv_Color,
* "true");*/
disp_message(hv_WindowHandle, hv_ResultMessage, "window", 12, 12, hv_Color, "true");
//if ((int)(new HTuple(hv_Index.TupleNotEqual(hv_NumImages))) != 0)
//{
// disp_continue_message(hv_WindowHandle, "black", "true");
// // stop(...); only in hdevelop
//}
}
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();
}