超远心镜头成像的视觉处理

超远心镜头允许以单个图像同时完成物体的顶部和侧面成像（超广角）功能。

（左）使用常规镜头检查的小瓶的侧视图。（中）使用超心镜头的顶视图。（右）在相机校准和映射后，标签的展开表面。

成像模型如下：

代码：

1. *
   
2. * This example demonstrates how to calibrate a camera
   
3. * with a hypercentric lens and how to unroll the label of a bottle,
   
4. * which can be used to perform various 360 degree inspection tasks.
   
5. *
   
6. * Prepare window.
   
7. dev_close_window ()
   
8. dev_open_window (0, 0, 700, 700, 'black', WindowHandle)
   
9. set_display_font (WindowHandle, 16, 'mono', 'true', 'false')
   
10. dev_update_off ()
    
11. *
    
12. * 1. Calibrate the camera (offline).
    
13. *
    
14. * Specify the calibration object.
    
15. CalTabName := 'calplate_40mm.cpd'
    
16. * Specify the initial camera parameters.
    
17. ImageWidth := 1970
    
18. ImageHeight := 1970
    
19. gen_cam_par_area_scan_hypercentric_polynomial (0.008, 0, 0, 0, 0, 0, 3.1e-006, 3.1e-006, ImageWidth / 2, ImageHeight / 2, ImageWidth, ImageHeight, CameraParamStart)
    
20. * Create a calibration data model.
    
21. create_calib_data ('calibration_object', 1, 1, CalibDataID)
    
22. set_calib_data_cam_param (CalibDataID, 0, [], CameraParamStart)
    
23. set_calib_data_calib_object (CalibDataID, 0, CalTabName)
    
24. *
    
25. get_window_param (WindowHandle, 'flush', Flush)
    
26. set_window_param (WindowHandle, 'flush', 'false')
    
27. for J := 1 to 25 by 1
    
28.     * Read the calibration image.
    
29.     read_image (Image, 'calib/calib_hypercentric_' + J$'02')
    
30.     * Find the calibration object in the image.
    
31.     find_calib_object (Image, CalibDataID, 0, 0, J, [], [])
    
32.     * Visualize the extracted marks.
    
33.     get_calib_data_observ_contours (Ellipses, CalibDataID, 'marks', 0, 0, J)
    
34.     dev_display (Image)
    
35.     dev_set_color ('green')
    
36.     dev_display (Ellipses)
    
37.     dev_disp_text ('Calibration image ' + J + ' (of 25) and extracted marks', 'window', 'top', 'left', 'black', [], [])
    
38.     flush_buffer (WindowHandle)
    
39. endfor
    
40. set_window_param (WindowHandle, 'flush', Flush)
    
41. * Perform the camera calibration.
    
42. calibrate_cameras (CalibDataID, Error)
    
43. * Query the calibrated camera parameters.
    
44. get_calib_data (CalibDataID, 'camera', 0, 'params_labels', CameraParamLabels)
    
45. get_calib_data (CalibDataID, 'camera', 0, 'params', CameraParam)
    
46. * Display the camera parameters.
    
47. display_camera_parameters (CameraParamStart, CameraParam, Error, CameraParamLabels$'-5', WindowHandle)
    
48. dev_disp_text ('Press Run (F5) to continue', 'window', 'bottom', 'right', 'black', [], [])
    
49. stop ()
    
50. *
    
51. * 2. Generate a map that can be used to unroll the surface
    
52. *    of a cylindrical object (offline).
    
53. *
    
54. read_image (Image, 'bottle_label/eye_drops_vial_hypercentric')
    
55. dev_display (Image)
    
56. dev_disp_text ('Top view of a vial with eye drops\nacquired with a hypercentric lens.', 'window', 'top', 'left', 'black', [], [])
    
57. dev_disp_text ('Press Run (F5) to continue', 'window', 'bottom', 'right', 'black', [], [])
    
58. stop ()
    
59. * Specify the radius of the cylindrical vial at its base
    
60. * and at its circular screw cap on top.
    
61. VialRadiusBase := 0.0112
    
62. VialRadiusTop := 0.0034
    
63. * Determine the pose of the vial.
    
64. get_vial_pose (Image, CameraParam, VialRadiusBase, VialRadiusTop, WindowHandle, VialBase, VialAxis)
    
65. stop ()
    
66. * Create a map that unrolls the labeled surface of the vial.
    
67. * Specify the range along the cylinder axis that should be unrolled.
    
68. * CylinderZStart = 0 and CylinderZEnd = 0.026
    
69. * means that the vial is unrolled from its circular bottom
    
70. * up to a height of 2.6 centimeters.
    
71. CylinderZStart := 0.0
    
72. CylinderZEnd := 0.026
    
73. CylinderUnrollAngleStart := rad(40)
    
74. MapWidth := 1500
    
75. MapHeight := 500
    
76. gen_cylinder_unrolling_map (Map, CameraParam, VialBase, VialAxis, VialRadiusBase, CylinderZStart, CylinderZEnd, CylinderUnrollAngleStart, ImageWidth, ImageHeight, MapWidth, MapHeight)
    
77. *
    
78. * 3. Unroll the surface (online)
    
79. *
    
80. * Resize the window according to the size
    
81. * of the unrolled image.
    
82. dev_resize_window_fit_size (0, 0, MapWidth, MapHeight, -1, -1)
    
83. * If it can be ensured that the vial always appears
    
84. * at the same position, the map can be used in runtime images
    
85. * to efficiently unwrap the surface of the vial.
    
86. map_image (Image, Map, ImageMapped)
    
87. dev_display (ImageMapped)
    
88. dev_disp_text ('Unrolled label', 'window', 'top', 'left', 'black', [], [])

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代码位置：

1. %HALCONEXAMPLES%\hdevelop\Calibration\Multi-View\calibrate_cameras_hypercentric.hdev

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感谢大佬的分享，我来学习一下

学习一下

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