1.初始化相机并设置相机内部参数和相机类型，确定校准目标。 gen_cam_par_area_scan_division create_calib_data set_calib_data_cam_param set_calib_data_calib_object 2.校正相机 find_calib_object get_calib_data(CalibDataID, ‘camera’, 0, ‘init_params’, StartCamPar) get_calib_data_observ_points get_calib_data_observ_contours gen_cross_contour_xld
calib_camera calibrate_cameras get_calib_data (CalibDataID, ‘camera’, 0, ‘params’, CamParam)
3.校正前的准备 get_calib_data (CalibDataID, ‘calib_obj_pose’, [0,I - 1], ‘pose’, Pose) 获取目标位姿 set_origin_pose (Pose, -1.125, -1.0, 0, PoseNewOrigin) 在给定DXDYDZ平面内平移原点位姿 gen_image_to_world_plane_map (MapSingle, CamParam, PoseNewOrigin, 768, 576, 900, 800, 0.0025, ‘bilinear’) 生成一个投影映射图，它描述了在一个世界坐标系中图像平面与z=0平面(测量平面)之间的映射。此映射可用于使用map_image操作符对图像进行校正。校正后的图像既无径向畸变，也无透视畸变;它对应于由垂直于测量平面的无畸变相机获取的图像
concat_obj(Maps, MapSingle, Maps)
4.校正 map_image(Image, MapSingle, ImageMapped)
学习的算子： pose_to_hom_mat3d将三维位姿转换为齐次变换矩阵。
affine_trans_point_3d对点应用任意仿射三维变换。 将模型点转换为摄像机坐标系。
project_3d_point项目3D点进入(子)像素图像坐标。 将一个或多个3D点(坐标为X、Y和Z)投影到图像平面(以像素为单位)，并以行和列返回结果。坐标X、Y、Z在摄像机坐标系中给定，即，它们描述点相对于摄像机的位置。 例程：
dev_close_window () dev_open_window (0, 0, 768 / 2, 576 / 2, 'black', WindowHandle1) set_display_font (WindowHandle1, 14, 'mono', 'true', 'false') dev_update_off () dev_set_draw ('margin') dev_set_line_width (2) * * Calibrate the camera. * CalTabDescrFile := 'caltab_big.descr' * Make sure that the file 'CaltabName' is in the current directory, * the HALCONROOT/calib directory, or use an absolute path gen_cam_par_area_scan_division (0.008, 0, 0.0000086, 0.0000086, 384, 288, 768, 576, StartCamPar) create_calib_data ('calibration_object', 1, 1, CalibDataID) set_calib_data_cam_param (CalibDataID, 0, [], StartCamPar) set_calib_data_calib_object (CalibDataID, 0, CalTabDescrFile) NumImages := 10 read_image (Images, 'calib/calib-3d-coord-' + [1:NumImages]$'02d') for I := 1 to NumImages by 1 select_obj (Images, Image, I) dev_display (Image) Message := 'Find calibration plate in\nall calibration images (' + I + '/' + NumImages + ')' disp_message (WindowHandle1, Message, 'window', 12, 12, 'black', 'true') * Find the calibration plate find_calib_object (Image, CalibDataID, 0, 0, I - 1, [], []) get_calib_data (CalibDataID, 'camera', 0, 'init_params', StartCamPar) get_calib_data_observ_points (CalibDataID, 0, 0, I - 1, Row, Column, Index, Pose) get_calib_data_observ_contours (Contours, CalibDataID, 'caltab', 0, 0, I - 1) gen_cross_contour_xld (Cross, Row, Column, 6, 0.785398) dev_set_color ('green') dev_display (Contours) dev_set_color ('yellow') dev_display (Cross) endfor disp_continue_message (WindowHandle1, 'black', 'true') stop () calibrate_cameras (CalibDataID, Error) get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam) gen_empty_obj (Maps) for I := 1 to NumImages by 1 * Obtain the pose of the calibration table get_calib_data (CalibDataID, 'calib_obj_pose', [0,I - 1], 'pose', Pose) set_origin_pose (Pose, -1.125, -1.0, 0, PoseNewOrigin) * Generate map gen_image_to_world_plane_map (MapSingle, CamParam, PoseNewOrigin, 768, 576, 900, 800, 0.0025, 'bilinear') concat_obj (Maps, MapSingle, Maps) endfor clear_calib_data (CalibDataID) * * Map the images * dev_open_window (0, 391, 900 / 2, 800 / 2, 'black', WindowHandle2) set_display_font (WindowHandle2, 14, 'mono', 'true', 'false') Button := 0 NumImage := 1 for I := 1 to NumImages by 1 dev_set_window (WindowHandle1) dev_set_part (0, 0, 575, 767) dev_clear_window () select_obj (Images, Image, I) dev_display (Image) select_obj (Maps, MapSingle, I) map_image (Image, MapSingle, ImageMapped) dev_set_window (WindowHandle2) dev_set_part (0, 0, 799, 899) dev_clear_window () dev_display (ImageMapped) Message := 'Calibration image (' + I + '/' + NumImages + ')' disp_message (WindowHandle1, Message, 'window', 12, 12, 'black', 'true') Message := 'Mapped image' disp_message (WindowHandle2, Message, 'window', 12, 12, 'black', 'true') if (I < NumImages) disp_continue_message (WindowHandle1, 'black', 'true') stop () endif endfor