直線標定板圖片：

機械吸頭位置圖片：

處理代碼

read_image (Image, '直線標定板圖片/Left201118140641772.bmp') get_image_size (Image, Width, Height) dev_close_window () dev_open_window_fit_image (Image, 0, 0, -1, -1, WindowHandle) dev_display (Image) * Image Acquisition 01: Code generated by Image Acquisition 01 list_files ('直線標定板圖片', ['files','follow_links'], ImageFiles) tuple_regexp_select (ImageFiles, ['\\.(tif|tiff|gif|bmp|jpg|jpeg|jp2|png|pcx|pgm|ppm|pbm|xwd|ima|hobj)$','ignore_case'], ImageFiles) gen_empty_obj (Edges) *|ImageFiles| for Index := 0 to |ImageFiles| - 1 by 1read_image (Image, ImageFiles[Index])edges_sub_pix (Image, ImageEdges, 'canny', 1, 10, 40)segment_contours_xld (ImageEdges, SplitEdges, 'lines_circles', 5, 4, 2)select_shape_xld (SplitEdges, SelectedEdges, 'contlength', 'and', 30, 100000)concat_obj (Edges, SelectedEdges, Edges)dev_display (Image)dev_set_colored (12)dev_display (SelectedEdges) * wait_seconds (0.1) endfor stop ()radial_distortion_self_calibration (Edges, CalibrationEdges, Width, Height, 0.01, 42, 'division', 'variable', 0, CamParMultiImage) dev_clear_window () dev_set_colored (12) dev_display (CalibrationEdges)PosInImageX:=0 PosInImageY:=0 RadiusInImage:=0 *直線畸變矯正準備 change_radial_distortion_cam_par ('fixed', CamParMultiImage, 0, CamParMultiImageRect) get_domain (Image, Domain) create_metrology_model (MetrologyHandle) * Image Acquisition 01: Code generated by Image Acquisition 01 list_files ('weizhi', ['files','follow_links'], ImageFiles) tuple_regexp_select (ImageFiles, ['\\.(tif|tiff|gif|bmp|jpg|jpeg|jp2|png|pcx|pgm|ppm|pbm|xwd|ima|hobj)$','ignore_case'], ImageFiles) for Index := 0 to |ImageFiles| - 1 by 1read_image (Image, ImageFiles[Index])* 直線標定change_radial_distortion_image (Image, Domain, ImageRectified, CamParMultiImage, CamParMultiImageRect)binary_threshold (ImageRectified, Region, 'max_separability', 'dark', UsedThreshold)fill_up (Region, RegionFillUp)difference (RegionFillUp, Region, RegionDifference)fill_up (RegionDifference, RegionFillUp1)connection (RegionFillUp1, ConnectedRegions)select_shape_std (ConnectedRegions, SelectedRegions, 'max_area', 70)smallest_circle (SelectedRegions, Row, Column, Radius)add_metrology_object_circle_measure (MetrologyHandle, Row, Column, Radius, Radius/10, Radius/60, 1, 90, ['measure_distance','min_score'], [Radius/30,0.2], Index1)apply_metrology_model (ImageRectified, MetrologyHandle)gen_empty_obj (Contours)get_metrology_object_measures (Contours, MetrologyHandle, 'all', 'all', Row1, Column1)get_metrology_object_result (MetrologyHandle, 'all', 'all', 'result_type', 'all_param', Parameter)get_metrology_object_result_contour (Contour, MetrologyHandle, 'all', 'all', 1.5)dev_display (ImageRectified)dev_display (Contour)PosInImageX[Index]:=Parameter[1]PosInImageY[Index]:=Parameter[0]RadiusInImage[Index]:=Parameter[2] endfor stop ()MacX:=[154.394,151.394,148.394,154.394,151.394,148.394,154.394,151.394,148.394] MacY:=[-12.367,-12.367,-12.367,-14.368,-14.368,-14.368,-16.367,-16.367,-16.367]PointImageDis:=0 PointMacDis:=0distance_pp (PosInImageY[0], PosInImageX[0], PosInImageY[1], PosInImageX[1], Distance) PointImageDis[0]:=Distancedistance_pp (MacY[0], MacX[0], MacY[1], MacX[1], Distance) PointMacDis[0]:=Distancedistance_pp (PosInImageY[1], PosInImageX[1], PosInImageY[2], PosInImageX[2], Distance) PointImageDis[1]:=Distancedistance_pp (MacY[1], MacX[1], MacY[2], MacX[2], Distance) PointMacDis[1]:=Distancedistance_pp (PosInImageY[3], PosInImageX[3], PosInImageY[4], PosInImageX[4], Distance) PointImageDis[2]:=Distancedistance_pp (MacY[3], MacX[3], MacY[4], MacX[4], Distance) PointMacDis[2]:=Distancedistance_pp (PosInImageY[4], PosInImageX[4], PosInImageY[5], PosInImageX[5], Distance) PointImageDis[3]:=Distancedistance_pp (MacY[4], MacX[4], MacY[5], MacX[5], Distance) PointMacDis[3]:=Distancepix:=PointMacDis[0]/PointImageDis[0]vector_to_hom_mat2d (PosInImageX, PosInImageY, MacX, MacY, HomMat2D)//求解變換矩陣HomMat2D affine_trans_point_2d (HomMat2D, PosInImageX, PosInImageY, Qx, Qy)//根據模板中心坐標求取距離相機中心實際距離

實際結果

總結

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