1.create_calib_data — Create a HALCON calibration data model 创建 一个HALCON 校准数据模型
2.read_cam_par — Read internal camera parameters from a file 从文件中读取相机内部参数
3.set_calib_data_cam_param — Set type and initial parameters of a camera in a calibration data model. 在校准数据模型中设置相机的类型和初始参数
4.set_calib_data_calib_object — Define a calibration object in a calibration model 在校准模型中定义校准对象
5.find_calib_object — Find the HALCON calibration plate and set the extracted points and contours in a calibration data model 找到 HALCON 校准板，并在校准数据模型中设置提取的点和等值线
6.get_calib_data_observ_contours — Get contour-based observation data from a calibration data model 从校准数据模型中获取基于轮廓线的观测数据
7.get_calib_data_observ_points — Get point-based observation data from a calibration data model 从校准数据模型中获取基于点的观测数据
8.disp_caltab — Project and visualize the 3D model of the calibration plate in the image 在图像中投影和可视化校准板的 3D 模型
9.set_origin_pose — Translate the origin of a 3D pose 转换3D 位姿的原点
10.vector_to_pose — Compute an absolute pose out of point correspondences between world and image coordinates 计算世界坐标和图像坐标之间的点对应关系的绝对姿态
11.image_points_to_world_plane — Transform image points into the plane z=0 of a world coordinate system 将图像点转换为世界坐标系的平面 z=0
12.affine_trans_point_3d — Apply an arbitrary affine 3D transformation to points 对点应用任意仿射 3D 变换
13.project_3d_point — Project 3D points into (sub-)pixel image coordinates 将 3D 点映射到（子）像素图像坐标中
14.gen_region_polygon_filled — Store a polygon as a “filled” region 将多边形存储为“填充”区域
15.lines_gauss — Detect lines and their width 检测线条及其宽度
16.pose_to_hom_mat3d — Convert a 3D pose into a homogeneous transformation matrix 将 3D 姿势转换为齐次变换矩阵
17.hom_mat3d_compose — Multiply two homogeneous 3D transformation matrices 将两个齐次 3D 变换矩阵相乘
18.hom_mat3d_translate_local — Add a translation to a homogeneous 3D transformation matrix 向3D 变换矩阵添加平移
19.hom_mat3d_rotate_local — Add a rotation to a homogeneous 3D transformation matrix 向齐次3D 变换矩阵添加旋转
20.hom_mat3d_to_pose — Convert a homogeneous transformation matrix into a 3D pose 将齐次变换矩阵转换为 3D 姿态
21.contour_to_world_plane_xld — Transform an XLD contour into the plane z=0 of a world coordinate system 将 XLD 等值线转换为世界坐标系的平面 z=0
* Attention: * This program reads the internal camera parameters from the file * 'camera_parameters.dat', which, e.g., could be generated by the program * 'camera_calibration_internal.hdev' * 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, 'mono', 'true', 'false') * Read the internal camera parameters from file try read_cam_par ('camera_parameters.dat', CamParam) catch (Exception) * run 'camera_calibration_internal.hdev' first to generate camera * parameter file 'camera_parameters.dat' stop () endtry * * Determine the external camera parameters and world coodinates from image points * * 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, [], 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) 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. set_origin_pose (PoseForCalibrationPlate, 0, 0, 0.00075, PoseForCalibrationPlate) clear_calib_data (CalibDataID) disp_continue_message (WindowHandle, 'black', 'true') stop () * 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) * create_pose (-50, 25, 400, 0, 0, -30, 'Rp+T', 'gba', 'point', InitialPose) 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 * 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 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 pose_to_hom_mat3d (FinalPose, CCS_HomMat_WCS) * Transform the point coordintes 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) 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')