1.get_image_size( : : : , )

返回图像的尺寸。

2.parameters_image_to_world_plane_centered (CamParam, Pose, CenterRow, CenterCol, WidthMappedImage, HeightMappedImage, ScaleForCenteredImage, PoseForCenteredImage)

Halcon内部程序，输出为图像的比率和姿态。

3.gen_image_to_world_plane_map( :  : , , , ,, , ,  : )

产生一个投影映射，该映射描述图像平面与Z=O的世界平面之间的关系，输出为图像MAP，是一个多通道的图像

包含了映射数据。

4.map_image(,  :  : : ) 

利用映射变换校正图像，输出为矫正后的图像。

5.image_to_world_plane( :  : , , , , , : ) 

把校正后的图像转换到Z=0的世界平面。

6.image_points_to_world_plane( : : , , , ,  : , )  

把图像上的点转换到Z=0的世界平面，输出为点坐标。

* This program provides procedures for the determination of the

* parameters Pose and Scale of the operators image_to_world_plane

* and gen_image_to_world_plane_map.

*

* Read the image

ImgPath := '3d_machine_vision/calib/'

read_image (Image, ImgPath+'caliper_01')

* Set the camera parameters for the image

CamParam := [0.0160728,-631.843,7.40077e-006,7.4e-006,326.369,246.785,652,494]

Pose := [-41.2272,26.763,398.682,359.655,359.202,322.648,0]

* Reopen the window appropriately

get_image_size (Image, WidthOriginalImage, HeightOriginalImage)

dev_open_window_fit_image (Image, 0, 0, WidthOriginalImage, HeightOriginalImage, WindowHandle)

set_display_font (WindowHandle, 14, 'mono', 'true', 'false')

dev_set_color ('red')

WidthMappedImage := 652

HeightMappedImage := 494

* Transform the image such that a given point appears in the

* center of the rectified image and the the scale of the rectified image

* is similar to the scale of the original image (in the surroundings

* of the given point)

* Define the point that will appear in the center of the rectified image

dev_display (Image)

disp_message (WindowHandle, 'Define the center of the mapped image', 'window', 12, 12, 'white', 'false')

get_mbutton (WindowHandle, CenterRow, CenterCol, Button)

* Determine scale and pose such that the given point appears

* in the center of the rectified image and that the

* scale of the two images is similar (in the surroundings

* of the given point).

parameters_image_to_world_plane_centered (CamParam, Pose, CenterRow, CenterCol, WidthMappedImage, HeightMappedImage, ScaleForCenteredImage, PoseForCenteredImage)

* Rectify the image

gen_image_to_world_plane_map (Map, CamParam, PoseForCenteredImage, WidthOriginalImage, HeightOriginalImage, WidthMappedImage, HeightMappedImage, ScaleForCenteredImage, 'bilinear')

map_image (Image, Map, ImageMapped)

dev_open_window_fit_image (ImageMapped, 0, 0, WidthMappedImage, HeightMappedImage, WindowHandleMapped)

set_display_font (WindowHandleMapped, 14, 'mono', 'true', 'false')

dev_set_color ('red')

dev_display (ImageMapped)

* In case, only one image has to be mapped, the operator

* image_to_world_plane can be used instead of the operators

* gen_image_to_world_plane_map together with map_image.

image_to_world_plane (Image, ImageMapped, CamParam, PoseForCenteredImage, WidthMappedImage, HeightMappedImage, ScaleForCenteredImage, 'bilinear')

* Display the center point

image_points_to_world_plane (CamParam, PoseForCenteredImage, CenterRow, CenterCol, ScaleForCenteredImage, CenterX, CenterY)

disp_cross (WindowHandleMapped, CenterY, CenterX, 6, rad(45))

disp_message (WindowHandleMapped, 'The selected point appears in the center', 'window', 12, 12, 'white', 'false')

disp_message (WindowHandleMapped, 'of the rectified image', 'window', 36, 12, 'white', 'false')

disp_continue_message (WindowHandleMapped, 'black', 'true')

stop ()

*

* Now determine scale and pose such that the entire image

* fits into the rectified image.

parameters_image_to_world_plane_entire (Image, CamParam, Pose, WidthMappedImage, HeightMappedImage, ScaleForEntireImage, PoseForEntireImage)

* Rectify the image

image_to_world_plane (Image, ImageMapped, CamParam, PoseForEntireImage, WidthMappedImage, HeightMappedImage, ScaleForEntireImage, 'bilinear')

dev_clear_window ()

dev_display (ImageMapped)

disp_message (WindowHandleMapped, 'The entire image is visible in the rectified image', 'window', -1, -1, 'white', 'false')