少有人走的路

*外参标定即为相机坐标系和系统世界坐标系关系的旋转和平移矩阵；可以简化理解为一个3*3的矩阵
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,'Arial','true','false')
* Read the internal camera parameters from file
*读取刚刚得到的相机内参；ps：外参标定必须先标定好相机的内参
read_cam_par('camera_parameters.dat',CamParam)
* 
* Determine the external camera parameters and world coodinates from image points
* 

*这个外参相机参数能通过图像来获得，如果这个标定板直接放置下测量平面上的话
* The external camera parameters can be determined from an image,where the
* calibration plate is positioned directly on the measurement plane
read_image(Image,ImgPath+'calib_11')
dev_display(Image)
CaltabName:='caltab_30mm.descr'
create_calib_data('calibration_object',1,1,CalibDataID)
* Here,the final camera parameters are already known and can be used instead
* of the starting values used in the program 'camera_calibration_internal.hdev'
set_calib_data_cam_param(CalibDataID,0,'area_scan_division',CamParam)
set_calib_data_calib_object(CalibDataID,0,CaltabName)
find_calib_object(Image,CalibDataID,0,0,1,[],[])
get_calib_data_observ_contours(Caltab,CalibDataID,'caltab',0,0,1)
*PoseForCalibrationPlate（这个表示这张图片中相机对应的相机外参为多少）
get_calib_data_observ_points(CalibDataID,0,0,1,RCoord,CCoord,Index,PoseForCalibrationPlate)
dev_set_color('green')
dev_display(Caltab)
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)
* calibrate_cameras(CalibDataID,Error)
* To take the thickness of the calibration plate into account,the z-value
* of the origin given by the camera pose has to be translated by the
* thickness of the calibration plate.
* Deactivate the following line if you do not want to add the correction.
*加上标定板的厚度（0.00075）得到最终的该标定板下的相机参数
set_origin_pose(PoseForCalibrationPlate,0,0,0.00075,PoseForCalibrationPlate)
disp_continue_message(WindowHandle,'black','true')
stop()

*相机的外参也能通过最少3个点的坐标值在世界坐标系和图像坐标系的对应关系中求得
* Alternatively,the external camera parameters can  be determined from
* at least three point correspondances between the WCS and the pixel 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 three points
RCoord:=[414,227,85,128]
CCoord:=[119,318,550,448]
* 
disp_cross(WindowHandle,RCoord,CCoord,6,0)
*利用vector_to_pose求得FinalPose
vector_to_pose(X,Y,Z,RCoord,CCoord,CamParam,'iterative','error',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
*建立一个测量工具进行世界坐标的标定测量
* Apply the measure tool and transform the resulting point coordinates
* into the WCS
dev_set_color('red')
dev_display(Image)
* Set the world coordinates of four points defining a ROI for the measure tool
*设置区域（世界坐标的区域）
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 the CCS
*转换PS：这个转换以后会常用到
pose_to_hom_mat3d(FinalPose,CCS_HomMat_WCS)
* Transform the point coordintes into the image coordinate system
*转换成图像坐标的参数roi，CCS_HomMat_WCS（4*4矩阵），转换成CCS的坐标转换中心
affine_trans_point_3d(CCS_HomMat_WCS,ROI_X_WCS,ROI_Y_WCS,ROI_Z_WCS,CCS_RectangleX,CCS_RectangleY,CCS_RectangleZ)
*通过相机内参转换成图像坐标
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 pitch lines','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 XLD contours
* 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 coordinate system
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 of the 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 two 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
* surroundings of the points P0 and P1,the image scale of the
* mapped image 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_pose such
* that the point given via get_mbutton will be in the center of the
* mapped image
dev_display(Image)
disp_message(WindowHandle,'Define the center of the mapped image','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 the case that 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 and map_image.
image_to_world_plane(Image,ImageMapped,CamParam,PoseNewOrigin,WidthMappedImage,HeightMappedImage,Scale,'bilinear')

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作者：hackpig
来源：www.skcircle.com
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