Halcon 映射校正例程注释(MapImage)

 *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 (, , /, /, '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 ()
 *
 * 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,,0.0000086,0.0000086,,,,]
 *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 :=
            *接下来for循环，依次读取、处理NumImages张图像
            for I :=  to NumImages by
                *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, , , )
                *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, , , , 0.9, , , 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 :=  to NumImages by
 * Obtain the pose of the calibration table.
 *获取标定出来的位姿3D
 Pose := NFinalPose[(NumImage-)*:(NumImage-)*+]
 *设置新的原始3D位姿
 set_origin_pose (Pose, -1.125, -1.0, , 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, , , , , 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 (, , /, /, 'black', WindowHandle2)
 Button :=
 NumImage :=
 while (Button # )
     dev_set_window (WindowHandle1)
     dev_set_part (, , , )
     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', -, -, '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 (, , , )
     dev_clear_window ()
     dev_display (ImageMapped)
     NumImage := NumImage +
     if (NumImage > NumImages)
         NumImage :=
     endif
     dev_error_var (Error, )
     dev_set_check ('~give_error')
     get_mposition (WindowHandle1, R, C, Button)
     dev_error_var (Error, )
     dev_set_check ('give_error')
     if (Error#H_MSG_TRUE)
         Button :=
     endif
     if (Button)
         break
     endif
 endwhile
 dev_set_window (WindowHandle2)
 dev_close_window ()

Halcon例程代码注释，记录以备查看。