using HalconDotNet;
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using MvCameraControl;
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using LB_VisionControls;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Serialization;
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using SharpCompress.Common;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Diagnostics;
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using System.Linq;
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using System.Runtime.Intrinsics.X86;
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using System.Text;
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using System.Threading.Tasks;
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namespace LB_VisionProcesses.Alogrithms.Halcon
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{
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public class BaseCalib
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{
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#region 标定板
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// Procedures
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// Chapter: Calibration / Camera Parameters
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// Short Description: Generate a camera parameter tuple for an area scan camera with distortions modeled by the division model.
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/// <summary>
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/// 面阵相机内参生成
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/// </summary>
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/// <param name="hv_Focus"></param>
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/// <param name="hv_Kappa"></param>
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/// <param name="hv_Sx"></param>
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/// <param name="hv_Sy"></param>
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/// <param name="hv_Cx"></param>
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/// <param name="hv_Cy"></param>
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/// <param name="hv_ImageWidth"></param>
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/// <param name="hv_ImageHeight"></param>
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/// <param name="hv_CameraParam"></param>
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public static void gen_cam_par_area_scan_division(HTuple hv_Focus, HTuple hv_Kappa, HTuple hv_Sx,
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HTuple hv_Sy, HTuple hv_Cx, HTuple hv_Cy, HTuple hv_ImageWidth, HTuple hv_ImageHeight,
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out HTuple hv_CameraParam)
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{
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// Local iconic variables
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// Initialize local and output iconic variables
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hv_CameraParam = new HTuple();
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//Generate a camera parameter tuple for an area scan camera
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//with distortions modeled by the division model.
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//
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hv_CameraParam.Dispose();
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using (HDevDisposeHelper dh = new HDevDisposeHelper())
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{
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hv_CameraParam = new HTuple();
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hv_CameraParam[0] = "area_scan_division";
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hv_CameraParam = hv_CameraParam.TupleConcat(hv_Focus, hv_Kappa, hv_Sx, hv_Sy, hv_Cx, hv_Cy, hv_ImageWidth, hv_ImageHeight);
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}
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return;
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}
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/// <summary>
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/// 生成棋盘格标定板文件
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/// </summary>
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/// <param name="dirPath"></param>
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/// <param name="size"></param>
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/// <param name="count"></param>
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public static void CreateCaltab(out string CalPlateDescr, string dirPath = @"C:\\", int XNum = 7, int YNum = 7
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, double MarkDist = 12.5, double DiameterRatio = 0.5)
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{
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//命名规范不要修改
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CalPlateDescr = dirPath + $"\\Caltab_{XNum}_{YNum}_{MarkDist}.descr";
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string CalPlatePSFile = dirPath + $"\\Caltab_{XNum}_{YNum}_{MarkDist}.ps";
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try
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{
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//XNum：每行黑色标志圆点的数量。
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//YNum：每行黑色标志圆点的数量。
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//MarkDist：两个就近黑色圆点中心之间的距离。
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//DiameterRstio：黑色圆点半径与圆点中心距离的比值。
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//CalPlateDescr：标定板描述文件的文件路径（.descr文件为标定板描述文件）。
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//CalPlatePSFile：标定板图像文件的文件路径（.ps文件为标定板图形文件,可利用PS类软件打开）。
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CalPlateDescr.Replace("\\", "//");
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CalPlatePSFile.Replace("\\", "//");
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HOperatorSet.GenCaltab(XNum, YNum, MarkDist / 1000.0, DiameterRatio, CalPlateDescr, CalPlatePSFile);
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}
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catch { }
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}
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public static void CaltabCalib(HTuple hv_CameraParam, List<HObject> lst_Images
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, out HTuple CameraInner, out HTuple CameraPose, out HTuple CameraInner_Adaptive
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, out HObject Map, out HObject CircleXld, out string msg
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, string CalPlateDescr
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//, string CameraInnerPath = "C:\\CameraInner.tup"
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//, string CameraInnerAdaptivePath = "C:\\CameraInner_Adaptive.tup", string CameraPosePath = "C:\\CameraPose.tup"
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)
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{
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msg = "";
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CameraInner = null; CameraPose = null; CameraInner_Adaptive = null; Map = null; CircleXld = null;
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try
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{
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//1.获取相机参数
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//using (HDevDisposeHelper dh = new HDevDisposeHelper())
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//{
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// hv_CameraParam.Dispose();
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// gen_cam_par_area_scan_division(0.008, 0, 5.2e-06, 5.2e-06, 3072 / 2, 2048 / 2, 3072,
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// 2048, out hv_CameraParam);
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//}
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//2.创建标定对象
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HOperatorSet.CreateCalibData("calibration_object", 1, 1, out HTuple hv_CalibDataID);
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//3.在标定对象中设置相机参数
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HOperatorSet.SetCalibDataCamParam(hv_CalibDataID, 0, new HTuple(), hv_CameraParam);
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//4.在标定对象中设置标定板描述文件
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HOperatorSet.SetCalibDataCalibObject(hv_CalibDataID, 0, CalPlateDescr);
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//5.加载标定图像，进行标定
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//- 标定板不要过曝，不要出现255的灰度值
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//- 光照要均匀
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//- 标定板特征点的对比度要高，黑白区域灰度值差100以上
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//- 标定板在图像中至少占1 / 4面积
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//- 特征点应该对焦清晰
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//- 所有特征点应该全部落在图像范围内
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//- 标定图像至少10幅
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//- 标定板应该覆盖整个视野的各个角落
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//- 标定板角度变化要明显
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//- 图像大小要一致
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int Index = 0;
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if (lst_Images == null || lst_Images.Count == 0)
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throw new Exception();
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// 标定图片必须为黑白
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try
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{
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for (int i = 0; i < lst_Images.Count; i++)
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{
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var ho_Image = lst_Images[i];
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HOperatorSet.CountChannels(ho_Image, out HTuple hv_Channels);
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if (hv_Channels.TupleInt() != 1)
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HOperatorSet.Rgb1ToGray(ho_Image, out ho_Image);
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lst_Images[i] = ho_Image;
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}
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}
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catch { }
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foreach (var ho_Image in lst_Images)
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{
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//标定图像
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HOperatorSet.FindCalibObject(ho_Image, hv_CalibDataID, 0, 0, Index, new HTuple(),
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new HTuple());
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//获取轮廓
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HOperatorSet.GetCalibDataObservContours(out HObject ho_Contours, hv_CalibDataID, "marks", 0, 0, Index);
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//获取圆心点和位姿
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HOperatorSet.GetCalibDataObservPoints(hv_CalibDataID, 0, 0, Index
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, out HTuple hv_Row, out HTuple hv_Column, out HTuple _, out HTuple _);
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HOperatorSet.GenCrossContourXld(out CircleXld, hv_Row, hv_Column, 10, 0.785398);
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}
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//6.标定
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HOperatorSet.CalibrateCameras(hv_CalibDataID, out HTuple hv_Error);
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//7.获取相机内参
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HOperatorSet.GetCalibData(hv_CalibDataID, "camera", 0, "params", out CameraInner);
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//8.获取相机外参
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HOperatorSet.GetCalibData(hv_CalibDataID, "calib_obj_pose", (new HTuple(0)).TupleConcat(
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0), "pose", out HTuple hv_Pose);
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HOperatorSet.SetOriginPose(hv_Pose, 0, 0, 0.002, out CameraPose);
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//9.获取畸变参数
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//描述：根据指定的径向畸变系数，求取理想无畸变的相机内参。
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//参数：
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//Mode：畸变模式
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//CamParamIn：畸变的相机内部参数
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//DistortionCoeffs ：畸变系数值
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//CamParamOut：已校正的相机内参
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HOperatorSet.ChangeRadialDistortionCamPar("adaptive", CameraInner, 0, out CameraInner_Adaptive);
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////10.保存相机参数
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////相机内参
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//HOperatorSet.WriteTuple(CameraInner_Adaptive, CameraInnerAdaptivePath);
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//HOperatorSet.WriteTuple(CameraInner, CameraInnerPath);
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////相机外参
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//HOperatorSet.WriteTuple(CameraPose, CameraPosePath);
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//11.生成畸变矫正Map
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//描述：根据指定图像和指定相加参数来矫正输入图像的畸变。change_radial_distortion_image根据摄像机内部参数CamParamIn和CamParamOut对输入图像图像的径向畸变进行改变。使用CamParamOut将位于区域区域内的输出图像的每个像素转换为图像平面，然后使用CamParamIn将其投影为图像的亚像素。通过双线性插值确定得到的灰度值。如果该亚像素在图像之外，则将图像重建中的对应像素设置为“黑色”并从图像域中消除。
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//参数：
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//Image：输入图像
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//Region ：矫正图像的区域
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//ImageRectified ：矫正图像
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//CamParamIn：输入相机参数
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//CamParamOut ：输出相机参数
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HOperatorSet.GenRadialDistortionMap(out Map, CameraInner, CameraInner_Adaptive, "bilinear");
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}
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catch (Exception ex)
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{
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msg = $"{ex.Message}【{ex.StackTrace}】";
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CameraInner = null; CameraPose = null; CameraInner_Adaptive = null; Map = null; CircleXld = null;
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}
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}
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public static void ApplyCaltabCalib(HObject Image, HObject Map, out HObject MappedImage)
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{
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try
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{
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HOperatorSet.MapImage(Image, Map, out MappedImage);
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}
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catch { MappedImage = null; }
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}
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public static void ApplyCaltabCalibByPoint(HPoint imagePoint, out HPoint worldPoint, HTuple hv_CaltabCalibParams, HTuple hv_PoseCalibParams)
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{
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worldPoint = new HPoint(imagePoint);
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try
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{
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HOperatorSet.ImagePointsToWorldPlane(hv_CaltabCalibParams, hv_PoseCalibParams
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, imagePoint.Row, imagePoint.Column, "mm", out HTuple Row, out HTuple Column);
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worldPoint.Row = Row.D;
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worldPoint.Column = Column.D;
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}
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catch { }
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}
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#endregion
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#region 棋盘格
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/// <summary>
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/// 生成棋盘格标定板文件
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/// </summary>
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/// <param name="dirPath"></param>
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/// <param name="size"></param>
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/// <param name="count"></param>
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public static void CreateCheckerBoard(string dirPath = "C:\\", int size = 17, int count = 17)
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{
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try
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{
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string saveFullPath = dirPath + $"Grid_{size}*{size}_{count}.ps";
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HOperatorSet.CreateRectificationGrid(size / 100.0, count, saveFullPath);
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}
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catch { }
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}
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public static void CheckerBoardCalib(HObject Image, out HObject Map
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, int MinContrast = 25, int Radius = 10, int SigmaSaddlePoints = 2, int Threshold = 3
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, double SigmaConnectGridPoints = 0.9, int MaxDist = 5, int GridSpacing = 45)
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{
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try
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{
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HOperatorSet.Rgb1ToGray(Image, out Image);
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//****************************标定矫正过程**************************************
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//查找结构化网格
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//MinContrast 查找网格对比度
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//Radius 查找网格半径
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HOperatorSet.FindRectificationGrid(Image, out HObject ho_GridRegion, MinContrast, Radius);
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HOperatorSet.ReduceDomain(Image, ho_GridRegion, out HObject Image_Reduced);
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//提取（鞍）点，输出Row, Col
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//'facet'：滤波器
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//Sigma：平滑系数
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//Threshold:分割阈值
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HOperatorSet.SaddlePointsSubPix(Image_Reduced, "facet", SigmaSaddlePoints, Threshold, out HTuple hv_Row, out HTuple hv_Col);
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HOperatorSet.GenCrossContourXld(out HObject ho_SaddlePoints, hv_Row, hv_Col, 20, 1);
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HOperatorSet.ConnectGridPoints(Image_Reduced, out HObject ho_ConnectingLines, hv_Row,
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hv_Col, SigmaConnectGridPoints, MaxDist);
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//生成变换图
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HOperatorSet.GenGridRectificationMap(Image_Reduced, ho_ConnectingLines, out Map,
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out HObject ho_Meshes, GridSpacing, 0, hv_Row, hv_Col, "bilinear");
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}
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catch { Map = null; }
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}
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public static void ApplyCheckerBoardCalibMap(HObject Image, HObject Map, out HObject MappedImage)
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{
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try
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{
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HOperatorSet.MapImage(Image, Map, out MappedImage);
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}
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catch { MappedImage = null; }
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}
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#endregion
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}
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}
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