*关闭窗口
dev_close_window ()
dev_close_window ()
*打开指定大小、颜色背景的窗口
dev_open_window (0, 0, 768/2, 576/2, 'black', WindowHandle1)
dev_update_pc ('off')
dev_update_window ('off')
dev_update_var ('off')
dev_update_time ('off')
dev_set_draw ('margin')
dev_set_line_width (3)
*
* Calibrate the camera.（标定相机）步骤一
*
* 标定板描述文件
CaltabName := 'caltab_big.descr'
* make sure that the file 'CaltabDescrName' is in the current directory,
* the HALCONROOT/calib directory, or use an absolut path
*初始相机参数：焦距、畸变系数Kappa,Sx,Sy,Cx,Cy,ImageWidth,ImageHeight
StartCamPar := [0.008,0,0.0000086,0.0000086,384,288,768,576]
*物体在空间坐标系中的位姿数组
NStartPose := []
*行角点数组
NRow := []
*列角点数组
NCol := []
*X、Y、Z从标定表文件获取计算值
caltab_points (CaltabName, X, Y, Z)
*创建空的图像元组
gen_empty_obj (Images)
*图像的数目
NumImages := 10
*接下来for循环，依次读取、处理NumImages张图像
for I := 1 to NumImages by 1
*读取图像：Image得到图像数据
read_image (Image, 'calib/calib-3d-coord-'+I$'02d')
*将单个Image加入元组Images中
concat_obj (Images, Image, Images)
*显示Image dev_display (Image) *在图像中找到标定板的区域：图像，标定板描述文件，滤波核大小，二值化值
find_caltab (Image, Caltab, CaltabName, 3, 112, 5)
*设置区域颜色：绿色
dev_set_color ('green')
*显示图像中标定板的区域
dev_display (Caltab)
*(核心函数：搜寻图像的原始点)在图像中找到标定板的各个角点坐标和初始位姿
find_marks_and_pose (Image, Caltab, CaltabName, StartCamPar, 128, 10, 18, 0.9, 15, 100, RCoord, CCoord, StartPose)
*设置颜色：红色
dev_set_color ('red')
*在窗口上圆形标记角点的位置
disp_circle (WindowHandle1, RCoord, CCoord, gen_tuple_const(|RCoord|,1.5))
*一个图像位姿加入位姿元组
NStartPose := [NStartPose,StartPose]
*所有图像角点行坐标数组相连
NRow := [NRow,RCoord]
*所有图像角点列坐标数组相连
NCol := [NCol,CCoord]
endfor
dev_update_time ('on')
disp_continue_message (WindowHandle1, 'black', 'true')
stop ()
*
* Calculate the mapping.(计算带矫正信息的图像)步骤二
*
*(核心函数)标定相机参数，对步骤一的数据进行计算处理
camera_calibration (X, Y, Z, NRow, NCol, StartCamPar, NStartPose, 'all', CamParam, NFinalPose, Errors)
*生成空的对象：包含矫正映射信息的图像
gen_empty_obj (Maps)
*for循环一次处理一组对应的图像
for NumImage := 1 to NumImages by 1
* Obtain the pose of the calibration table.
*获取标定出来的位姿3D
Pose := NFinalPose[(NumImage-1)*7:(NumImage-1)*7+6]
*设置新的原始3D位姿
set_origin_pose (Pose, -1.125, -1.0, 0, PoseNewOrigin)
*(核心函数)生成带矫正映射信息的图像MapSingle
gen_image_to_world_plane_map (MapSingle, CamParam, PoseNewOrigin, 768, 576, 900, 800, 0.0025, 'bilinear')
*将单张图像加入图像元组Maps
concat_obj (Maps, MapSingle, Maps)
endfor
disp_continue_message (WindowHandle1, 'black', 'true')
stop ()
*代码到此处：有了NumImages张标定的原图 + NumImages张带矫正映射信息的图像,
*接下来While循环，一张一张的矫正图像
*
* Map the images.(矫正图像)步骤三
*
*窗口设置
dev_open_window (0, 391, 900/2, 800/2, 'black', WindowHandle2)
Button := 0
NumImage := 1
while (Button # 1)
dev_set_window (WindowHandle1)
dev_set_part (0, 0, 575, 767)
dev_clear_window ()
*从图像元组中选择一张图像
select_obj (Images, Image, NumImage)
*显示选择的图像
dev_display (Image)
disp_message (WindowHandle1, 'Press any mouse button to stop', 'image', -1, -1, 'black', 'true')
*选择对应位置的带矫正信息的图像
select_obj (Maps, MapSingle, NumImage)
*(核心函数)矫正图像：原图，带矫正信息图，矫正结果图
map_image (Image, MapSingle, ImageMapped)
*以下为窗口、循环之类的处理，与图像处理没什么关系
dev_set_window (WindowHandle2)
dev_set_part (0, 0, 799, 899)
dev_clear_window ()
dev_display (ImageMapped)
NumImage := NumImage + 1
if (NumImage > NumImages)
NumImage := 1
endif
dev_error_var (Error, 1)
dev_set_check ('~give_error')
get_mposition (WindowHandle1, R, C, Button)
dev_error_var (Error, 0)
dev_set_check ('give_error')
if (Error#H_MSG_TRUE)
Button := 0
endif
if (Button)
break
endif
endwhile
dev_set_window (WindowHandle2)
dev_close_window ()