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18-4.hdev
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18-4.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>
<l>read_image(ImageRec1,'data/stereo-left')</l>
<l>read_image(ImageRec2,'data/stereo-right')</l>
<l>binocular_disparity (ImageRec1, ImageRec2, Disparity, Score, 'ncc', 11, 11, 0, -150, 30, 4, 0.6, 'none', 'none')</l>
<c>*将整幅视差图像转换为3d点图。</c>
<c>*计算后输出的三张图，三张图的灰度分别表示视差图中的对应位置的点在X, Y, Z轴的坐标</c>
<l>CamParamRect1 := [0.0121606, 0.0, 1.48e-005, 1.48e-005, -101.343, 120.681, 337, 242]</l>
<l>CamParamRect2:=[0.0121606, 0.0, 1.48e-005, 1.48e-005, 546.365, 120.681, 364, 242]</l>
<l>Cam1PoseRect1:=[0.158487, 0.0, 0.0, 0.0, 0.0, 0.0, 0]</l>
<l>disparity_image_to_xyz(Disparity, ImgX, ImgY, ImgZ,CamParamRect1, CamParamRect2, Cam1PoseRect1) </l>
<c>*释放相机资源</c>
<l>*close_framegrabber(AcqHandle1)</l>
<l>*close_framegrabber(AcqHandle2)</l>
<c></c>
</body>
<docu id="main">
<parameters/>
</docu>
</procedure>
</hdevelop>