网站模板文件不存在,怎样建设那种游戏网站,绍兴做网站鼎成,网页制作技巧一、标定多圆孔标定
其理论与棋盘格 和圆孔都是一样的#xff0c;不一样的地方就是定方向的方式不一样。如图 2、结果
read_image (CalibImage, ./circle/1.png)
get_image_size (CalibImage, Width, Height)
dev_close_window ()
dev_open_window_fit_image (CalibImage, 0…一、标定多圆孔标定
其理论与棋盘格 和圆孔都是一样的不一样的地方就是定方向的方式不一样。如图 2、结果
read_image (CalibImage, ./circle/1.png)
get_image_size (CalibImage, Width, Height)
dev_close_window ()
dev_open_window_fit_image (CalibImage, 0, 0, -1, -1, WindowHandle)* 助手标定
CameraParameters : [area_scan_division,0.0191686,-293.693,8.49852e-06,8.5e-06,638.237,471.238,1292,964]
CameraPose : [-0.000160182,0.000890509,0.278671,0.341699,0.404851,0.60887,0]
stop ()* Calibration 01: Code generated by Calibration 01
ImageFiles : []
ImageFiles[0] : ./circle/1.png
ImageFiles[1] : ./circle/2.png
ImageFiles[2] : ./circle/3.png
ImageFiles[3] : ./circle/4.png
ImageFiles[4] : ./circle/5.png
read_image (Imageww, ImageFiles[0])get_image_size (Imageww, Width, Height)
TmpCtrl_ReferenceIndex : 0
TmpCtrl_PlateDescription : ./circle/mycpd.cpdStartParameters :[area_scan_division,0.0191686,-293.693,8.49852e-06,8.5e-06,638.237,471.238,1292,964]
TmpCtrl_FindCalObjParNames : sigma
TmpCtrl_FindCalObjParValues : 1
* Calibration 01: Create calibration model for managing calibration data
create_calib_data (calibration_object, 1, 1, CalibHandle)
set_calib_data_cam_param (CalibHandle, 0, [], StartParameters)
set_calib_data_calib_object (CalibHandle, 0, TmpCtrl_PlateDescription)
* Calibration 01: Collect mark positions and estimated poses for all plates
for Index : 0 to |ImageFiles|-1 by 1read_image (Image, ImageFiles[Index])find_calib_object (Image, CalibHandle, 0, 0, Index, TmpCtrl_FindCalObjParNames, TmpCtrl_FindCalObjParValues)get_calib_data_observ_points (CalibHandle, 0, 0, 0, Row, Column, Index1, Pose)gen_cross_contour_xld (Cross, Row, Column, 6, 0.785398)disp_3d_coord_system (WindowHandle, CameraParameters, Pose, 0.01)
endfor
* Calibration 01: Perform the actual calibration
set_calib_data (CalibHandle, camera, 0, excluded_settings, [])
calibrate_cameras (CalibHandle, TmpCtrl_Errors)
*CameraParameters内参
get_calib_data (CalibHandle, camera, 0, params, CameraParameters)
get_calib_data (CalibHandle, calib_obj_pose, [0, TmpCtrl_ReferenceIndex], pose, CameraPose)
* Calibration 01: Adjust origin for plate thickness
*CameraPose外参
set_origin_pose (CameraPose, 0.0, 0.0, 0.003, CameraPose)
stop ()
* Calibration 01: Sample code generated by Calibration 01
* Calibration 01: For demonstration purposes, we use the calibration
* Calibration 01: plate itself as sample object.
* Calibration 01: Therefore, we load the reference image
stop ()二、棋盘格映射矫正图像 思路与重点算子
提取出棋盘格的角点
*算子saddle_points_sub_pix专为提取鞍点设计即在一个方向上图像强度最小在另一个方向上图像强度最大
saddle_points_sub_pix (ImageReduced, facet, SigmaSaddlePoints, Threshold, Row, Col)
* 使用标定棋盘计算出map映射 * *确定图像映射
*根据规则网格的点计算畸变图像和校正图像之间的映射。
gen_grid_rectification_map (ImageReduced, ConnectingLines, Map, Meshes, GridSpacing, 0, Row, Col, bilinear)
map_image (ImageReduced, Map, ImageMapped)
使用map 矫正图像
* Read in the image to be rectified
read_image (Image, can)
*
* Rectify image using the previously calculated image map
dev_set_window (WindowID2)
map_image (Image, Map, ImageMapped) 三、矫正失真图像
原图 code
* This example illustrates how to use the operator gen_arbitrary_distortion_map.
*
GridSpacing : 50
*
dev_update_window (off)
read_image (Image, calib/grid_space.cal.k.000)
get_image_size (Image, Width, Height)
dev_close_window ()
dev_open_window (0, 0, Width * 0.5, Height * 0.5, black, DistortedWindow)
set_display_font (DistortedWindow, 14, mono, true, false)
dev_set_part (0, 0, Height - 1, Width - 1)
dev_open_window (0, (Width * 0.5) 12, 6 * GridSpacing, 6 * GridSpacing, black, RectifiedWindow)
set_display_font (RectifiedWindow, 14, mono, true, false)
*
gen_cam_par_area_scan_division (0.025, 0.0, 0.000011, 0.000011, 384.0, 288.0, 768, 576, StartCamParam)
* Make sure that the file CaltabDescrName is in the current directory,
* the HALCONROOT/calib directory, or use an absolute path
CaltabDescrName : caltab_small.descr
for I : 0 to 8 by 1dev_set_window (DistortedWindow)* 读取图像read_image (Image, calib/grid_space.cal.k. (I$03))dev_display (Image)* 找到标定台的地标find_caltab (Image, Caltab, CaltabDescrName, 3, 112, 5)* 找到标定台的地标和位姿find_marks_and_pose (Image, Caltab, CaltabDescrName, StartCamParam, 128, 10, 18, 0.9, 15, 100, RCoordTmp, CCoordTmp, StartPoseTmp)dev_set_color (green)* Display centers of landmarks foundgen_cross_contour_xld (Cross, RCoordTmp, CCoordTmp, 12, 0.785398)dev_display (Cross)disp_message (DistortedWindow, Extracted marks in original image, window, 12, 12, black, true)* dev_set_window (RectifiedWindow)dev_set_part (1, 1, -1, -1)*gen_arbitrary_distortion_map —生成投影图该投影图描述任意失真的图像和校正后的图像之间的映射gen_arbitrary_distortion_map (Map, GridSpacing, RCoordTmp, CCoordTmp, 7, Width, Height, bilinear)* map_image 重新投影map_image (Image, Map, ImageMapped)get_image_size (ImageMapped, MapWidth, MapHeight)dev_set_part (0, 0, MapHeight - 1, MapWidth - 1)dev_display (ImageMapped)disp_message (RectifiedWindow, Rectified grid, window, 12, 12, black, true)* if (I 8)disp_continue_message (DistortedWindow, black, true)stop ()endif
endfor
