private void btn_calibrateCamParam_Click(object sender, EventArgs e)
{
try
{
HOperatorSet.CalibrateCameras(CalibDataID, out hv_Error);
HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "params", out tool.cameraParam);
StringBuilder strb = new StringBuilder();
strb.Append(tool.cameraParam[0].S + ",");
for (int i = 1; i < tool.cameraParam.Length; i++)
{
if (i == 3 || i == 4)
{
ExecuteInformation((tool.cameraParam[i].D * 1000000).ToString("F3") + ";" + Environment.NewLine);
strb.Append((tool.cameraParam[i].D * 1000000).ToString("F3"));
}
else if (i == 7 || i == 8)
{
ExecuteInformation(tool.cameraParam[i].I.ToString() + ";" + Environment.NewLine);
strb.Append(tool.cameraParam[i].I.ToString());
}
else
{
if (i == 2)
{
ExecuteInformation(tool.cameraParam[i].D.ToString("F4") + ";" + Environment.NewLine);
strb.Append(tool.cameraParam[i].D.ToString("F4"));
}
else
{
ExecuteInformation(tool.cameraParam[i].D.ToString("F4") + ";" + Environment.NewLine);
strb.Append(tool.cameraParam[i].D.ToString("F3"));
}
}
if (i < tool.cameraParam.Length - 1)
{
strb.Append(",");
}
}
txt_CameraParam.Text = strb.ToString();
gb_SettingPlanPose.Enabled = true;
// btn_grabCamera.Enabled = false;
}
catch (HalconException HDevExpDefaultException1)
{
HTuple hv_Exception;
HDevExpDefaultException1.ToHTuple(out hv_Exception);
MessageBox.Show("标定错误", hv_Exception.ToString(), MessageBoxButtons.OK, MessageBoxIcon.Error);
}
ExecuteInformation("相机参数标定成功");
try
{
ExecuteInformation("标定误差： " + hv_Error.D.ToString("F3") + "pixel");
}
catch
{
}
}
public static HTuple Finally()
{
try
{
HOperatorSet.CalibrateCameras(CalibDataID, out HTuple Error);
HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "params", out HTuple DataValue);
HOperatorSet.WriteCamPar(DataValue, Application.StartupPath + "/calibration/" + "CamPar.dat");
HOperatorSet.WriteCalibData(CalibDataID, Application.StartupPath + "/calibration/" + "calibration.ccd");
HOperatorSet.GetCalibData(CalibDataID, "calib_obj_pose", new HTuple(0, 0), "pose", out HTuple Pose);
return(Error);
}
catch (Exception)
{
return(0);
}
}
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 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();
}
public void GetCalibrationParameters(HTuple hv_DescrFile, HTuple hv_ImageDirectory,
HTuple hv_Focus, HTuple hv_Sx, HTuple hv_Sy, HTuple hv_Width, HTuple hv_Height,
HTuple hv_CameraType, out HTuple hv_interCamera, out HTuple hv_PoseNewOrigin,
out HTuple hv_distance)
{
// Local iconic variables
HObject ho_Image = null, ho_CaltabRegion = null;
// Local control variables
HTuple hv_CalibDataID = null, hv_startParam = new HTuple();
HTuple hv_ImageFiles = null, hv_n = null, hv_RCoord = new HTuple();
HTuple hv_CCoord = new HTuple(), hv_StartPose = new HTuple();
HTuple hv_Error = null, hv_Pose = null, hv_cut = null;
HTuple hv_YX = null, hv_YY = null, hv_X = null, hv_Y = null;
HTuple hv_X1 = null, hv_Y1 = null, hv_X2 = null, hv_Y2 = null;
HTuple hv_Distance1 = null, hv_Distance2 = null, hv_OffsetX = null;
HTuple hv_OffsetY = null, hv_PoseR = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_CaltabRegion);
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out hv_CalibDataID);
if ((int)((new HTuple(hv_Width.TupleEqual("area_scan_telecentric_division"))).TupleOr(
new HTuple(hv_Width.TupleEqual("area_scan_telecentric_polynomial")))) != 0)
{
hv_startParam = new HTuple();
hv_startParam[0] = 0;
hv_startParam = hv_startParam.TupleConcat(hv_Sx);
hv_startParam = hv_startParam.TupleConcat(hv_Sy);
hv_startParam = hv_startParam.TupleConcat(hv_Width / 2);
hv_startParam = hv_startParam.TupleConcat(hv_Height / 2);
hv_startParam = hv_startParam.TupleConcat(hv_Width);
hv_startParam = hv_startParam.TupleConcat(hv_Height);
HOperatorSet.SetCalibDataCamParam(hv_CalibDataID, 0, hv_CameraType, hv_startParam);
}
else
{
hv_startParam = new HTuple();
hv_startParam = hv_startParam.TupleConcat(hv_Focus);
hv_startParam = hv_startParam.TupleConcat(0);
hv_startParam = hv_startParam.TupleConcat(hv_Sx);
hv_startParam = hv_startParam.TupleConcat(hv_Sy);
hv_startParam = hv_startParam.TupleConcat(hv_Width / 2);
hv_startParam = hv_startParam.TupleConcat(hv_Height / 2);
hv_startParam = hv_startParam.TupleConcat(hv_Width);
hv_startParam = hv_startParam.TupleConcat(hv_Height);
HOperatorSet.SetCalibDataCamParam(hv_CalibDataID, 0, hv_CameraType, hv_startParam);
}
HOperatorSet.SetCalibDataCalibObject(hv_CalibDataID, 0, hv_DescrFile);
list_image_files(hv_ImageDirectory, "default", new HTuple(), out hv_ImageFiles);
for (hv_n = 0; (int)hv_n <= (int)((new HTuple(hv_ImageFiles.TupleLength())) - 1); hv_n = (int)hv_n + 1)
{
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImageFiles.TupleSelect(hv_n));
ho_CaltabRegion.Dispose();
HOperatorSet.FindCaltab(ho_Image, out ho_CaltabRegion, hv_DescrFile, 3, 112,
5);
HOperatorSet.FindMarksAndPose(ho_Image, ho_CaltabRegion, hv_DescrFile, hv_startParam,
128, 10, 18, 0.9, 15, 100, out hv_RCoord, out hv_CCoord, out hv_StartPose);
HOperatorSet.SetCalibDataObservPoints(hv_CalibDataID, 0, 0, 1, hv_RCoord, hv_CCoord,
"all", hv_StartPose);
}
HOperatorSet.CalibrateCameras(hv_CalibDataID, out hv_Error);
HOperatorSet.GetCalibData(hv_CalibDataID, "camera", 0, "params", out hv_interCamera);
HOperatorSet.GetCalibData(hv_CalibDataID, "calib_obj_pose", (new HTuple(0)).TupleConcat(
1), "pose", out hv_Pose);
hv_cut = ((hv_Pose.TupleSelect(5))).TupleInt();
hv_YX = 100;
hv_YY = 100;
HOperatorSet.ImagePointsToWorldPlane(hv_interCamera, hv_Pose, hv_YY, hv_YX, 1,
out hv_X, out hv_Y);
HOperatorSet.ImagePointsToWorldPlane(hv_interCamera, hv_Pose, hv_YY + 1, hv_YX,
1, out hv_X1, out hv_Y1);
HOperatorSet.ImagePointsToWorldPlane(hv_interCamera, hv_Pose, hv_YY, hv_YX + 1,
1, out hv_X2, out hv_Y2);
HOperatorSet.DistancePp(hv_Y, hv_X, hv_Y1, hv_X1, out hv_Distance1);
HOperatorSet.DistancePp(hv_Y, hv_X, hv_Y2, hv_X2, out hv_Distance2);
hv_distance = (hv_Distance1 + hv_Distance2) / 2;
hv_OffsetX = (hv_CCoord.TupleSelect(24)) * hv_distance;
hv_OffsetY = (hv_RCoord.TupleSelect(24)) * hv_distance;
hv_PoseR = hv_Pose.Clone();
if (hv_PoseR == null)
{
hv_PoseR = new HTuple();
}
hv_PoseR[5] = (hv_Pose.TupleSelect(5)) - hv_cut;
HOperatorSet.SetOriginPose(hv_PoseR, -hv_OffsetX, -hv_OffsetY, 0, out hv_PoseNewOrigin);
ho_Image.Dispose();
ho_CaltabRegion.Dispose();
return;
}
public bool CalibrationMake(SourceBuffer _sourceBuffer, ExecuteBuffer _executeBuffer, out SourceBuffer outsourcebuffer, out ExecuteBuffer outexecutebuffer, HWndCtrl hWndCtrl, out string result_info)
{
outsourcebuffer = _sourceBuffer;
outexecutebuffer = _executeBuffer;
result_info = "";
HTuple hv_PixelSize = 0.00001;
HTuple hv_Message = new HTuple(), hv_Row = new HTuple();
HTuple hv_Column = new HTuple(), hv_Index = new HTuple();
HTuple hv_Error = null;
HObject ho_Contours = null, ho_Cross = null, hv_outimage = null;
HTuple hv_HomMat3DIdentity = null;
HTuple hv_cp1Hur1 = null, hv_cam2Hcp2 = null, hv_cam2Hul2 = null;
HTuple hv_PoseNewOrigin2 = null, hv_ULX = null, hv_ULY = null, hv_PoseNewOrigin = null;
double[] Get_actual_pixel = new double[7];
HTuple WorldPixelx, WorldPixely;
HTuple Heightx = new HTuple(), Widthx = new HTuple();
Heightx.Append(Height / 2);
Heightx.Append(Height / 2);
Heightx.Append(Height / 2 + 1);
Widthx.Append(Width / 2);
Widthx.Append(Width / 2 + 1);
Widthx.Append(Width / 2);
HTuple WorldLength1, WorldLength2;
HTuple ScaleForSimilarPixelSize = 0;
HOperatorSet.GenEmptyObj(out ho_Contours);
HOperatorSet.GenEmptyObj(out ho_Cross);
HOperatorSet.GenEmptyObj(out hv_outimage);
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image参数为空或者未赋值");
result_info = " 二值化处理: 输入图像已经不存在，请重置设置输入图像";
return(false);
}
string comboBox_imageoutname = this.Output_image.Text.ToString() + ".img";
if (_executeBuffer.imageBuffer[comboBox_imageoutname] != null)
{
if (_executeBuffer.imageBuffer[comboBox_imageoutname].IsInitialized())
{
_executeBuffer.imageBuffer[comboBox_imageoutname].Dispose();
}
}
HTuple width, height;
int m = _executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"].CountObj();
HOperatorSet.GetImageSize(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], out width, out height);
int number = Convert.ToInt32(this.textBox1.Text.ToString());
if (!this.checkBox1.Checked)
{
if (Get_Cal_pixel)
{
Get_Cal_pixel = false;
}
if (number == 0)
{
hv_StartCamPar = new HTuple();
if (this.checkBox_focalize.Checked)
{
hv_StartCamPar.Append(0);
}
else
{
hv_StartCamPar.Append(Convert.ToDouble(this.textbox_lens.Text.ToString()) / 100);
}
hv_StartCamPar.Append(0);
hv_StartCamPar.Append(Convert.ToDouble(this.textBox_width.Text.ToString()) / 10000000);
hv_StartCamPar.Append(Convert.ToDouble(this.textBox_height.Text.ToString()) / 10000000);
hv_StartCamPar.Append(width / 2);
hv_StartCamPar.Append(height / 2);
hv_StartCamPar.Append(width);
hv_StartCamPar.Append(height);
hv_CalTabDescrFile = this.textBox_file.Text;
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out CalibDataID);
if (this.checkBox_focalize.Checked)
{
HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, "area_scan_telecentric_division", hv_StartCamPar);
}
else
{
HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, "area_scan_division", hv_StartCamPar);
}
HOperatorSet.SetCalibDataCalibObject(CalibDataID, 0, hv_CalTabDescrFile);
}
try
{
HOperatorSet.FindCalibObject(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], CalibDataID, 0, 0, number, new HTuple(), new HTuple());
HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "init_params", out hv_StartCamPar);
HOperatorSet.GetCalibDataObservPoints(CalibDataID, 0, 0, number, out hv_Row, out hv_Column, out hv_Index, out hv_Pose);
HOperatorSet.GetCalibDataObservContours(out ho_Contours, CalibDataID, "caltab", 0, 0, number);
HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row, hv_Column, 6, 0.785398);
hWndCtrl.changeGraphicSettings(GraphicsContext.GC_COLOR, "orange");
hWndCtrl.addIconicVar(ho_Cross);
hWndCtrl.addIconicVar(ho_Contours);
hWndCtrl.repaint();
}
catch
{
MessageBox.Show("找不到标定板");
ho_Contours.Dispose();
ho_Cross.Dispose();
return(false);
}
if (number == hv_NumImages - 1)
{
Read_file = false;
HOperatorSet.CalibrateCameras(CalibDataID, out hv_Error);
HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "params", out hv_CamParam);
HOperatorSet.GetCalibData(CalibDataID, "calib_obj_pose", (new HTuple(0)).TupleConcat(6), "pose", out hv_Pose);
HOperatorSet.HomMat3dIdentity(out hv_HomMat3DIdentity);
HOperatorSet.HomMat3dRotateLocal(hv_HomMat3DIdentity, ((-(hv_Pose.TupleSelect(5)))).TupleRad(), "z", out hv_cp1Hur1);
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_cam2Hcp2);
HOperatorSet.HomMat3dCompose(hv_cam2Hcp2, hv_cp1Hur1, out hv_cam2Hul2);
HOperatorSet.HomMat3dToPose(hv_cam2Hul2, out hv_PoseNewOrigin2);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_PoseNewOrigin2, 0, 0, "m", out hv_ULX, out hv_ULY);
HOperatorSet.SetOriginPose(hv_PoseNewOrigin2, hv_ULX, hv_ULY, 0, out hv_PoseNewOrigin);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, Heightx, Widthx, 1, out WorldPixelx, out WorldPixely);
HOperatorSet.DistancePp(WorldPixely[0], WorldPixelx[0], WorldPixely[1], WorldPixelx[1], out WorldLength1);
HOperatorSet.DistancePp(WorldPixely[0], WorldPixelx[0], WorldPixely[2], WorldPixelx[2], out WorldLength2);
ScaleForSimilarPixelSize = (WorldLength1 + WorldLength2) / 2;
HOperatorSet.GenImageToWorldPlaneMap(out ho_MapSingle1, hv_CamParam,
hv_PoseNewOrigin, width, height, width, height, ScaleForSimilarPixelSize, "bilinear");
HOperatorSet.WriteObject(ho_MapSingle1, this.textBox2.Text.ToString());
Read_file = true;
Get_Calibration = true;
this.checkBox1.Checked = true;
result_info = " 校正参数: 设置完成";
}
this.textBox1.Text = (number + 1).ToString();
}
if (this.checkBox1.Checked)
{
if (Read_file)
{
if (File.Exists(this.textBox2.Text))
{
HOperatorSet.ReadObject(out ho_MapSingle1, this.textBox2.Text);
}
else
{
MessageBox.Show("校正文件不存在 ，请检查");
return(false);
}
}
HOperatorSet.MapImage(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], ho_MapSingle1, out hv_outimage);
_executeBuffer.imageBuffer[comboBox_imageoutname] = hv_outimage;
outexecutebuffer = _executeBuffer;
result_info = " 校正: 完成";
HTuple Distance;
if (!Get_Cal_pixel)
{
try
{
double all_number = 0;
HOperatorSet.FindCalibObject(hv_outimage, CalibDataID, 0, 0, 0, new HTuple(), new HTuple());
HOperatorSet.GetCalibDataObservPoints(CalibDataID, 0, 0, 0, out hv_Row, out hv_Column, out hv_Index, out hv_Pose);
for (int i = 0; i < 7; i++)
{
HOperatorSet.DistancePp(hv_Row[i * 7], hv_Column[i * 7], hv_Row[i * 7 + 6], hv_Column[i * 7 + 6], out Distance);
Get_actual_pixel[i] = Distance.D;
all_number = all_number + Get_actual_pixel[i];
}
Pixel_number = (Convert.ToDouble(this.textBox_pixel.Text)) / (all_number / 7);
Get_Cal_pixel = true;
this.label_pixel.Text = Pixel_number.ToString();
Pixel_Trans = Convert.ToDouble(Pixel_number.ToString());
}
catch
{
MessageBox.Show("请再次添加图像寻找计算像素比");
}
}
if (Read_file)
{
ho_MapSingle1.Dispose();
}
}
return(true);
}
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;
}
}
