少有人走的路
代码中有几个外部算子，没办法运行。
只能看图识代码了。
*
* This example visualizes different poses
* in the camera coordinate system
*
* A calibration plate is held at varying positions in different
* orientations with respect to the camera.
* The left window visualizes the pose of the camera and the calibration
* plate as seen from the side.
* The right windows shows how the calibration
* plate appears when seen through the camera.
* The crosslines show the center of the image plane.
* The position of the calibration plate is described
* by a 3D translation(tx,ty,tz) specifying the translation along
* the x-,y-,and z-axis. Its orientation is described
* by successive rotations(Rx,Ry,Rz) around the x-,y-,and z-axis.
*
* Different poses of the calibration plate are visualized as seen by the camera.
* An ideal camera without radial distortion is assumed.
* The calibration plate is held at different poses with
* respect to the camera.
*
* The 3D-translations(tx,ty,tz) are the first 3 elements of a pose.
* At the first pose,the calibration plate is moved tz=0.2 m along the z-axis of the camera
* coordinate system. The z-axis points along the camera axis,i.e. away from
* the viewer. The camera coordinate system is shown in the left window by the
* red arrow(x-axis),green arrow(y-axis),and blue arrow(z-axis) placed on the camera.
* The calibration plate is held parallel to the camera plane.
* The camera plane is the xy-plane of the camera coordinate system.
* The pose of the calibration plate in the camera coordinate system can also be
* interpreted as a local coordinate system attached to the calibration plate.
* In both windows,this local coordinate system is shown and moves with the calibration
* plate.
*
*
* First,the effect of rotations is demonstrated. The translational
* components tx,ty are set to zero. Tz is set to 0.2 m to make sure
* the calibration plate is visible by the camera.
*
* For the following rotations the order of rotation 'gba' is chosen.
* It stands for Rot(x)*Rot(y)*Rot(z).
*
* Read from the right,the orientation of the pose
* in this example is determined by always performing rotations relative to
* the global(i.e.,fixed or “old”) coordinate system of the camera.
*
* If the chain of rotations is read from the left,the orientation of the pose
* is determined by always performing rotations relative to
* the local(i.e. “new”) coordinate system attached to the rotated object,
* i.e. the calibration plate in this example.
*
* Interpreting the chain of rotations as rotations in the new,local
* object coordinate system is often easier to understand
* and will thus be demonstrated in this example.
*
* The rotation('gba') can be read as follows:
* First rotate around the x-axis,then around the “new” y-axis,
* and finally around the “new” z-axis. The effect of different
* rotations is shown by the next calibration plate poses.
*
*
* Second,combined translations along all three axes
* and a combined rotation about all three axes are shown.
*
* The object is translated along the z-axis,then along
* the x-axis,and the then along the the y-axis.
*
* After that,the object is rotated about the x-axis of the
* camera_calibration coordinate system which is identical with the
* x-axis of the local object coordinate system.
* This results in a new calibration plate coordinate system.
* Then,the calibration plate is rotated about the y-axis
* of this new coordinate system. And finally a rotation about
* the z-axis of the new coordinate system is performed.
*
*
* Initialization
*
* First,define calibration plate and read the values for
* the ideal internal camera parameters
CalTabFile:='caltab_30mm.descr'
IdealCamParam:=[0.0117685,0.0,7.32909e-006,7.4e-006,259,259,512,512]
dev_close_window()
* Get image width and heigth from camera parameters
Width:=IdealCamParam[6]
Height:=IdealCamParam[7]
dev_open_window(0,0,Width,Height,'white',TitleWindowHandle)
set_display_font(TitleWindowHandle,14,'mono','true','false')
dev_set_line_width(2)
dev_open_window(0,Width+12,Width,Height,'white',WindowHandle)
set_display_font(WindowHandle,14,'mono','true','false')
dev_set_line_width(2)
gen_camera_image(TitleImage,TitleWindowHandle)
*
* Part I
*
* Demonstrate the effect of rotations
*
* Place calibration plate tz=0.2m away from the camera along the z-axis.
create_pose(0,0.0,0.2,0,0,0,'Rp+T','gba','point',ObjInCamPose)
Message:='The calibration plate is placed Tz='+ObjInCamPose[2]+' m along'
Message[1]:='the z-axis of the camera coordinate system'
Message[2]:='and held parallel to the camera plane.'
show_camera_view(CalTabFile,IdealCamParam,ObjInCamPose,WindowHandle)
show_extern_scene_view(TitleWindowHandle,CalTabFile,IdealCamParam,ObjInCamPose,Message)
stop()
*
* Rotate by rx=60 degrees about the x-axis.
* The effect is that the calibration plate is tilted towards
* the left with respect to the camera plane.
create_pose(0.0,0.0,0.2,60,0,0,'Rp+T','gba','point',ObjInCamPose)
Message:='The plate is rotated by Rx='+ObjInCamPose[3]+'° around the x-axis'
Message[1]:='(red arrow) of the local plate coordinate '
Message[2]:='system. It is NOT parallel to the camera plane.'
show_camera_view(CalTabFile,IdealCamParam,ObjInCamPose,WindowHandle)
show_extern_scene_view(TitleWindowHandle,CalTabFile,IdealCamParam,ObjInCamPose,Message)
stop()
*
* Rotate by ry=45 degrees about the x-axis.
* The effect is that the calibration plate is tilted towards
* the left with respect to the camera plane.
create_pose(0.0,0.0,0.2,0,45,0,'Rp+T','gba','point',ObjInCamPose)
Message:='The plate is rotated by Ry='+ObjInCamPose[4]+'° around the y-axis'
Message[1]:='(green arrow) of the local plate coordinate'
Message[2]:='system. It is NOT parallel to the camera plane.'
show_camera_view(CalTabFile,IdealCamParam,ObjInCamPose,WindowHandle)
show_extern_scene_view(TitleWindowHandle,CalTabFile,IdealCamParam,ObjInCamPose,Message)
stop()
*
* Rotate by rz=30 degrees about the x-axis.
* This has the effect that the calibration plate is rotated
* in the camera plane but is still parallel to the camera plane,
* i.e. is still parallel to the xy plane of the camera
* coordinate system.
create_pose(0.0,0.0,0.2,0,0,30,'Rp+T','gba','point',ObjInCamPose)
Message:='A rotation by Rz='+ObjInCamPose[5]+'° around the z-axis of the'
Message[1]:='calibration plate coordinate system is performed.'
Message[2]:='The plate is still parallel to the camera plane.'
show_camera_view(CalTabFile,IdealCamParam,ObjInCamPose,WindowHandle)
show_extern_scene_view(TitleWindowHandle,CalTabFile,IdealCamParam,ObjInCamPose,Message)
stop()
*
* Part II
*
* Demonstrate combined translations and rotations
*
* Original unrotated calibration plate pose(tz=0.2m).
create_pose(0.0,0.0,0.2,0,0,0,'Rp+T','gba','point',ObjInCamPose)
Message:='Original unrotated calibration plate pose.'
Message[1]:='A translation Tz='+ObjInCamPose[2]+' m along the z-axis'
Message[2]:='of the camera coordinate system is performed.'
show_camera_view(CalTabFile,IdealCamParam,ObjInCamPose,WindowHandle)
show_extern_scene_view(TitleWindowHandle,CalTabFile,IdealCamParam,ObjInCamPose,Message)
stop()
*
* Additionally move the calibration plate tx=0.015 m along the x-axis(red arrow).
create_pose(0.015,0,0,0,0,0,'Rp+T','gba','point',Pose)
pose_compose(ObjInCamPose,Pose,ObjInCamPose)
* Resulting pose: [0.015,0,0.2,0,0,0]
Message:='Additionally,the plate is moved Tx='+ObjInCamPose[0]+' m'
Message[1]:='along the x-axis(red arrow) of the camera'
Message[2]:='coordinate system.'
show_camera_view(CalTabFile,IdealCamParam,ObjInCamPose,WindowHandle)
show_extern_scene_view(TitleWindowHandle,CalTabFile,IdealCamParam,ObjInCamPose,Message)
stop()
*
* Additionally move the calibration plate tx=0.01 m along the y-axis(green arrow).
create_pose(0,0.01,0,0,0,0,'Rp+T','gba','point',Pose)
pose_compose(ObjInCamPose,Pose,ObjInCamPose)
* Resulting pose: [0.015,0.01,0.2,0,0,0]
Message:='Additionally,the plate is moved Ty='+ObjInCamPose[1]+' m'
Message[1]:='along the y-axis(green arrow) of the camera'
Message[2]:='coordinate system.'
show_camera_view(CalTabFile,IdealCamParam,ObjInCamPose,WindowHandle)
show_extern_scene_view(TitleWindowHandle,CalTabFile,IdealCamParam,ObjInCamPose,Message)
stop()
*
* Additionally rotate by rx=20 degrees about the x-axis.
* The effect is that the calibration plate is tilted towards
* the left with respect to the camera plane.
create_pose(0.0,0.0,0,20,0,0,'Rp+T','gba','point',Pose)
pose_compose(ObjInCamPose,Pose,ObjInCamPose)
* Resulting pose: [0.015,0.01,0.2,20,0,0]
Message:='Additionally,the plate is rotated by '
Message[1]:='Rx=20° around the x-axis(red arrow) '
Message[2]:='of the local plate coordinate system.'
show_camera_view(CalTabFile,IdealCamParam,ObjInCamPose,WindowHandle)
show_extern_scene_view(TitleWindowHandle,CalTabFile,IdealCamParam,ObjInCamPose,Message)
stop()
*
* Additionally rotate by ry=45 degrees about the x-axis.
create_pose(0.0,0.0,0,0,45,0,'Rp+T','gba','point',Pose)
pose_compose(ObjInCamPose,Pose,ObjInCamPose)
* Resulting pose: [0.015,0.01,0.2,20,45,0]
Message:='Additionally,the plate is rotated by Ry='+ObjInCamPose[4]+'°'
Message[1]:='around the y-axis(green arrow) of the'
Message[2]:='local plate coordinate system.'
show_camera_view(CalTabFile,IdealCamParam,ObjInCamPose,WindowHandle)
show_extern_scene_view(TitleWindowHandle,CalTabFile,IdealCamParam,ObjInCamPose,Message)
stop()
*
* Additionally rotate by ry=30 degrees about the x-axis.
create_pose(0.0,0.0,0.,0,0,30,'Rp+T','gba','point',Pose)
pose_compose(ObjInCamPose,Pose,ObjInCamPose)
* Resulting pose: [0.015,0.01,0.2,20,45,30]
Message:='The plate is rotated by Rz='+ObjInCamPose[5]+'° around'
Message[1]:='the z-axis(blue arrow) of the local'
Message[2]:='coordinate system of the plate.'
show_camera_view(CalTabFile,IdealCamParam,ObjInCamPose,WindowHandle)
show_extern_scene_view(TitleWindowHandle,CalTabFile,IdealCamParam,ObjInCamPose,Message)本文出自勇哥的网站《少有人走的路》wwww.skcircle.com，转载请注明出处！讨论可扫码加群：
