halcon标定后畸变校正与测量

这是一个很久以前的微博网友写的，现在的halcon运行有问题，因为已经没有parameters_image_to_world_plane_centered这个函数了，知道现在版本替换它的函数的朋友麻烦告知一下，万分感谢

本文出处：http://blog.sina.com.cn/s/blog_442bfe0e0100yjce.html#commonComment

1.get_image_size(Image : : : Width, Height)

返回图像的尺寸。

2.parameters_image_to_world_plane_centered (CamParam, Pose, CenterRow, CenterCol, WidthMappedImage, HeightMappedImage, ScaleForCenteredImage, PoseForCenteredImage)

Halcon内部程序，输出为图像的比率和姿态。

3.gen_image_to_world_plane_map( : Map : CameraParam, WorldPose, WidthIn, HeightIn, WidthMapped, HeightMapped, Scale, MapType : )

产生一个投影映射，该映射描述图像平面与Z=O的世界平面之间的关系，输出为图像MAP，是一个多通道的图像

包含了映射数据。

4.map_image(Image, Map : ImageMapped : : )

利用映射变换校正图像，输出为矫正后的图像。

5.image_to_world_plane(Image : ImageWorld : CameraParam, WorldPose, Width, Height, Scale, Interpolation : )

把校正后的图像转换到Z=0的世界平面。

6.image_points_to_world_plane( : : CameraParam, WorldPose, Rows, Cols, Scale : X, Y)

把图像上的点转换到Z=0的世界平面，输出为点坐标。

* This program provides procedures for the determination of the * parameters Pose and Scale of the operators image_to_world_plane * and gen_image_to_world_plane_map. * * Read the image ImgPath := '3d_machine_vision/calib/' read_image (Image, ImgPath+'caliper_01') * Set the camera parameters for the image CamParam := [0.0160728,-631.843,7.40077e-006,7.4e-006,326.369,246.785,652,494] Pose := [-41.2272,26.763,398.682,359.655,359.202,322.648,0] * Reopen the window appropriately get_image_size (Image, WidthOriginalImage, HeightOriginalImage) dev_open_window_fit_image (Image, 0, 0, WidthOriginalImage, HeightOriginalImage, WindowHandle) set_display_font (WindowHandle, 14, 'mono', 'true', 'false') dev_set_color ('red') WidthMappedImage := 652 HeightMappedImage := 494 * Transform the image such that a given point appears in the * center of the rectified image and the the scale of the rectified image * is similar to the scale of the original image (in the surroundings * of the given point) * Define the point that will appear in the center of the rectified image dev_display (Image) disp_message (WindowHandle, 'Define the center of the mapped image', 'window', 12, 12, 'white', 'false') get_mbutton (WindowHandle, CenterRow, CenterCol, Button) * Determine scale and pose such that the given point appears * in the center of the rectified image and that the * scale of the two images is similar (in the surroundings * of the given point). parameters_image_to_world_plane_centered (CamParam, Pose, CenterRow, CenterCol, WidthMappedImage, HeightMappedImage, ScaleForCenteredImage, PoseForCenteredImage) * Rectify the image gen_image_to_world_plane_map (Map, CamParam, PoseForCenteredImage, WidthOriginalImage, HeightOriginalImage, WidthMappedImage, HeightMappedImage, ScaleForCenteredImage, 'bilinear') map_image (Image, Map, ImageMapped) dev_open_window_fit_image (ImageMapped, 0, 0, WidthMappedImage, HeightMappedImage, WindowHandleMapped) set_display_font (WindowHandleMapped, 14, 'mono', 'true', 'false') dev_set_color ('red') dev_display (ImageMapped) * In case, 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 together with map_image. image_to_world_plane (Image, ImageMapped, CamParam, PoseForCenteredImage, WidthMappedImage, HeightMappedImage, ScaleForCenteredImage, 'bilinear') * Display the center point image_points_to_world_plane (CamParam, PoseForCenteredImage, CenterRow, CenterCol, ScaleForCenteredImage, CenterX, CenterY) disp_cross (WindowHandleMapped, CenterY, CenterX, 6, rad(45)) disp_message (WindowHandleMapped, 'The selected point appears in the center', 'window', 12, 12, 'white', 'false') disp_message (WindowHandleMapped, 'of the rectified image', 'window', 36, 12, 'white', 'false') disp_continue_message (WindowHandleMapped, 'black', 'true') stop () * * Now determine scale and pose such that the entire image * fits into the rectified image. parameters_image_to_world_plane_entire (Image, CamParam, Pose, WidthMappedImage, HeightMappedImage, ScaleForEntireImage, PoseForEntireImage) * Rectify the image image_to_world_plane (Image, ImageMapped, CamParam, PoseForEntireImage, WidthMappedImage, HeightMappedImage, ScaleForEntireImage, 'bilinear') dev_clear_window () dev_display (ImageMapped) disp_message (WindowHandleMapped, 'The entire image is visible in the rectified image', 'window', -1, -1, 'white', 'false')