WPF实现相机标定
一 标定参数类
/// <summary>/// 标定参数类/// </summary>publicclassCalibrationModel{[Category("创建标定描述文件参数"),Description("圆点行数")]publicint行数{get;set;}=7;[Category("创建标定描述文件参数"),Description("圆点行数")]publicint列数{get;set;}=7;[Category("创建标定描述文件参数"),Description("两个圆之间的距离， 单位米")]publicdouble圆间距{get;set;}=0.007;[Category("创建标定描述文件参数"),Description("比例值： Mark直径比上Mark中心距离")]publicdouble比例{get;set;}=0.5;[Category("创建标定描述文件参数"),Description("用于标定的描述文件")]publicstring描述文件{get;set;}=@".//标定文件//caltab.descr";[Category("创建标定描述文件参数"),Description("制作标定板的PS文件")]publicstringPS文件{get;set;}=@".//标定文件//caltab.ps";[Category("创建标定对象参数"),Description("厚度")]publicint厚度{get;set;}=1;[Category("创建标定对象参数"),Description("相机类型")]publicstring相机类型{get;set;}="面扫描（除法)";[Category("创建标定对象参数"),Description("单个相机像元的宽")]publicdouble像元宽{get;set;}=8.3;[Category("创建标定对象参数"),Description("单个相机像元的高")]publicdouble像元高{get;set;}=8.3;[Category("创建标定对象参数"),Description("图像宽")]publicdouble图像宽{get;set;}=1120;[Category("创建标定对象参数"),Description("图像高")]publicdouble图像高{get;set;}=1120;[Category("创建标定对象参数"),Description("镜头的焦距")]publicdouble焦距{get;set;}=8;[Category("标定结果"),Description("标定效果，越接近0越越好")]publicdouble平均误差{get;set;}=999.9;}
二 保存参数文件
/// <summary>/// 保存参数文件/// </summary>/// <param name="sender"></param>/// <param name="e"></param>privatevoidmaterialButton43_Click(objectsender,EventArgse){CalibrationModelcalibrationModel=propertyGrid_Cali.SelectedObjectasCalibrationModel;XmlSerializerHelper.WriteXML(calibrationModel,@".//标定文件//CalibrationModel.xnml",typeof(CalibrationModel));}
三 读取参数
if(File.Exists(@".//标定文件//CalibrationModel.xnml")){propertyGrid_Cali.SelectedObject=XmlSerializerHelper.ReadXML(@".//标定文件//CalibrationModel.xnml",typeof(CalibrationModel));}else{propertyGrid_Cali.SelectedObject=newCalibrationModel();}
四 创建标定板描述文件
/// <summary>/// 创建标定板描述文件/// </summary>/// <param name="sender"></param>/// <param name="e"></param>privatevoidmaterialButton49_Click(objectsender,EventArgse){CalibrationModelcalibrationModel=propertyGrid_Cali.SelectedObjectasCalibrationModel;// 创建保存文件夹if(!Directory.Exists(Path.GetDirectoryName(calibrationModel.描述文件))){Directory.CreateDirectory(Path.GetDirectoryName(calibrationModel.描述文件));}HOperatorSet.GenCaltab(calibrationModel.行数,calibrationModel.列数,calibrationModel.圆间距,calibrationModel.比例,calibrationModel.描述文件,calibrationModel.PS文件);MessageBox.Show("创建标定描述文件成功");}
五 创建标定对象
/// <summary>/// 创建标定文件/// </summary>/// <param name="sender"></param>/// <param name="e"></param>privatevoidmaterialButton48_Click(objectsender,EventArgse){// 1.创建标定对象HOperatorSet.CreateCalibData("calibration_object",1,1,outhv_CalibDataID);// 2 确定描述文件CalibrationModelcalibrationModel=propertyGrid_Cali.SelectedObjectasCalibrationModel;HOperatorSet.SetCalibDataCalibObject(hv_CalibDataID,0,calibrationModel.描述文件);// 3.确定相机参数// 获取标定数据varFocus=calibrationModel.焦距*0.001;varKappa=0;varSx=calibrationModel.像元宽*1e-06;varSy=calibrationModel.像元高*1e-06;varImageWidth=calibrationModel.图像宽;varImageHeight=calibrationModel.图像高;varCx=ImageWidth*0.5;// 图像中心点varCy=ImageHeight*0.5;// 图像中心点HTupleCameraParam=newHTuple();CameraParam.TupleConcat("area_scan_division",Focus,Kappa,Sx,Sy,Cx,Cy,ImageWidth,ImageHeight);HOperatorSet.SetCalibDataCamParam(hv_CalibDataID,0,newHTuple(),CameraParam);MessageBox.Show("创建标定对象成功");}
六 加载标定图像
/// <summary>/// 加载标定图像/// </summary>/// <param name="sender"></param>/// <param name="e"></param>privatevoidmaterialButton47_Click(objectsender,EventArgse){OpenFileDialogofd=newOpenFileDialog();ofd.Multiselect=true;if(ofd.ShowDialog()==DialogResult.OK){string[]filepaths=ofd.FileNames;for(inti=0;i<filepaths.Length;i++){HOperatorSet.ReadImage(outHObjectho_Image,filepaths[i]);hWindow_Final_Cali.HobjectToHimage(ho_Image);// 查找当前图像中与标定板匹配到的标定板的轮廓及原点中心HOperatorSet.FindCalibObject(ho_Image,hv_CalibDataID,0,0,i,newHTuple(),newHTuple());// 获取对应轮廓及每个标定板上原点的中心HOperatorSet.GetCalibDataObservContours(outHObjectho_Contours,hv_CalibDataID,"caltab",0,0,i);HOperatorSet.GetCalibDataObservPoints(hv_CalibDataID,0,0,i,outHTuplehv_Row,outHTuplehv_Column,outHTuplehv_Index,outHTuplehv_Pose);HOperatorSet.GenCrossContourXld(outHObjectho_Cross,hv_Row,hv_Column,10,0.785398);hWindow_Final_Cali.DispObj(ho_Contours,"blue");hWindow_Final_Cali.DispObj(ho_Cross,"red");}}}
七 标定，生成畸变矫正文件
/// <summary>/// 标定/// </summary>/// <param name="sender"></param>/// <param name="e"></param>privatevoidmaterialButton41_Click(objectsender,EventArgse){// 标定HOperatorSet.CalibrateCameras(hv_CalibDataID,outHTuplehv_Error);// 更新UI显示误差CalibrationModelcalibrationModel=propertyGrid_Cali.SelectedObjectasCalibrationModel;calibrationModel.平均误差=hv_Error.D;propertyGrid_Cali.SelectedObject=calibrationModel;// 获取相机内参HOperatorSet.GetCalibData(hv_CalibDataID,"camera",0,"params",outHTuplehv_CameraParameters);// 生成畸变矫正参数HOperatorSet.ChangeRadialDistortionCamPar("adaptive",hv_CameraParameters,0,outHTuplehv_CamParamChange);//生成畸变矫正MapHOperatorSet.GenRadialDistortionMap(outHObjectho_Map,hv_CameraParameters,hv_CamParamChange,"bilinear");// 保存畸变矫正文件HOperatorSet.WriteImage(ho_Map,"tiff",0,@"./Map");//** 8.获取相机外参HOperatorSet.GetCalibData(hv_CalibDataID,"calib_obj_pose",(newHTuple(0)).TupleConcat(0),"pose",outHTuplehv_Object_Pose_1);HOperatorSet.SetOriginPose(hv_Object_Pose_1,0,0,0.002,outHTuplehv_PoseCalibParams);//** 9.保存相机参数HOperatorSet.WriteTuple(hv_CameraParameters,"CameraParameters.tup");HOperatorSet.WriteTuple(hv_PoseCalibParams,"CameraPose.tup");}
八 查看畸变矫正效果
/// <summary>/// 查看畸变矫正效果/// </summary>/// <param name="sender"></param>/// <param name="e"></param>privatevoidmaterialButton42_Click(objectsender,EventArgse){// 读取畸变矫正文件HOperatorSet.ReadImage(outHObjectMap,@"./标定文件/Map");OpenFileDialogopenFileDialog=newOpenFileDialog();if(openFileDialog.ShowDialog()==DialogResult.OK){stringfilePath=openFileDialog.FileName;HOperatorSet.ReadImage(outHObjectImage,filePath);HOperatorSet.MapImage(Image,Map,outHObjectimageMapped);hWindow_Final_Cali.HobjectToHimage(imageMapped);}}
