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13-4.hdev
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13-4.hdev
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<?xml version="1.0" encoding="UTF-8"?>
<hdevelop file_version="1.1" halcon_version="12.0">
<procedure name="main">
<interface/>
<body>
<c>*使用相机参数校正畸变</c>
<c>* CameraParameters为相机的内部参数</c>
<l>CameraParameters := [0.0271606, -518.0, 1.48e-005, 1.48e-005, 271.343, 260.681, 640, 480]</l>
<c>* CameraPose为相机的外部参数，即位姿</c>
<l>CameraPose := [0.258487, -0.018, 4.954, 2.0, 14.0, 2.4, 0]</l>
<l>scaleParam := 1920/1080.0</l>
<c>*读取待校正的图像</c>
<l>read_image (Image, 'data/chess')</l>
<c>*调整原点的位姿</c>
<l>set_origin_pose (CameraPose, -1,-0.7, 0, rectificationPose)</l>
<c>*生成用于校正的映射图，用来描述图像坐标系与世界坐标系之间的映射</c>
<l>gen_image_to_world_plane_map(rectificationMap,CameraParameters, rectificationPose, 640, 480, 640, 480, scaleParam/ 640, 'bilinear')</l>
<c>*利用映射图rectificationMap进行图像的校正</c>
<l>map_image (Image, rectificationMap, rectifiedImage)</l>
<c></c>
</body>
<docu id="main">
<parameters/>
</docu>
</procedure>
</hdevelop>