Halcon之畸变标定Grid-Rectiﬁcation

﹏ヽ暗。殇╰゛Y 2022-09-10 15:24 211阅读 0赞

1、官方例程

C:\\Users\\Public\\Documents\\MVTec\\HALCON-18.11-Progress\\examples\\hdevelop\\Tools\\Grid-Rectification\\

gen\_arbitrary\_distortion\_map.hdev  
grid\_rectification.hdev

2、算子说明

**connect\_grid\_points**

功能：建立矫正网格的矫正点间的连接。

**create\_rectification\_grid**

功能：建立一个附文件，描述矫正网格。

**find\_rectification\_grid**

功能：分割图像中矫正网格区域。

**gen\_arbitrary\_distortion\_map**

功能：产生一个投射图，其描述随意扭曲图像与正确图像间的映射。

**gen\_grid\_rectification\_map**

功能：计算扭曲图像与基于规律的网格的正确的图像的映射。

3、源码grid\_rectification.hdev

* This example illustrates how to use the operators for the grid-rectification.
    * 
    * The following command creates a postscript file
    * that contains the rectification grid. This grid must be
    * printed. Then it must be mounted on the object surface.
    WidthOfGrid := 0.17
    NumSquares := 17
    create_rectification_grid (WidthOfGrid, NumSquares, 'rectification_grid.ps')
    * 
    * Read the image of the object wrapped by the rectification grid
    * and reopen the window with an appropriate size.
    read_image (Image, 'can_with_grid')
    get_image_size (Image, ImageWidth, ImageHeight)
    dev_close_window ()
    dev_open_window (0, 0, ImageWidth * 0.75, ImageHeight * 0.75, 'black', WindowID1)
    dev_display (Image)
    dev_update_off ()
    set_display_font (WindowID1, 14, 'mono', 'true', 'false')
    * 
    * 
    * Part 1: Determination of the image map
    * The surface to be rectified is wrapped by a checkered pattern, which
    * is used to determine the mapping between the distorted image and
    * the rectified image. Note the orientation of the two circular marks. When
    * in gen_grid_rectification_map() the parameter Rotation is 'auto', the rectified
    * image is rotated such that the black mark is left of the white mark.
    * 
    * Determine region of interest
    MinContrast := 25
    Radius := 10
    find_rectification_grid (Image, GridRegion, MinContrast, Radius)
    * 
    dev_display (GridRegion)
    disp_message (WindowID1, 'Grid region', 'window', 12, 12, 'black', 'true')
    disp_continue_message (WindowID1, 'black', 'true')
    stop ()
    reduce_domain (Image, GridRegion, ImageReduced)
    * 
    * Determine grid points
    SigmaSaddlePoints := 1.5
    Threshold := 5
    saddle_points_sub_pix (ImageReduced, 'facet', SigmaSaddlePoints, Threshold, Row, Col)
    * 
    dev_set_color ('blue')
    gen_cross_contour_xld (SaddlePoints, Row, Col, 6, 0.785398)
    dev_display (Image)
    dev_display (SaddlePoints)
    disp_message (WindowID1, 'Grid points', 'window', 12, 12, 'black', 'true')
    disp_continue_message (WindowID1, 'black', 'true')
    stop ()
    * 
    * Connect points to grid
    SigmaConnectGridPoints := 0.9
    MaxDist := 5.0
    GridSpacing := 20
    dev_set_color ('red')
    connect_grid_points (ImageReduced, ConnectingLines, Row, Col, SigmaConnectGridPoints, MaxDist)
    * 
    dev_display (ConnectingLines)
    disp_message (WindowID1, 'Connected grid points', 'window', 12, 12, 'black', 'true')
    disp_continue_message (WindowID1, 'black', 'true')
    stop ()
    * 
    * Determine image map
    gen_grid_rectification_map (ImageReduced, ConnectingLines, Map, Meshes, GridSpacing, 0, Row, Col, 'bilinear')
    map_image (ImageReduced, Map, ImageMapped)
    * 
    get_image_size (Map, MapWidth, MapHeight)
    dev_open_window (0, (ImageWidth * 0.75) + 12, MapWidth, MapHeight, 'black', WindowID2)
    set_display_font (WindowID2, 14, 'mono', 'true', 'false')
    dev_display (ImageMapped)
    disp_message (WindowID2, 'Rectified grid', 'window', 12, 12, 'black', 'true')
    stop ()
    * 
    * 
    * Part 2: Application of the image map
    * The original surface (without the checkered pattern) is rectified
    * using the previously calculated image map.
    * 
    * 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)
    * 
    dev_set_window (WindowID1)
    dev_display (Image)
    disp_message (WindowID1, 'Original image', 'window', 12, 12, 'black', 'true')
    dev_set_window (WindowID2)
    dev_display (ImageMapped)
    disp_message (WindowID2, 'Rectified image', 'window', 12, 12, 'black', 'true')