3D相机9点标定使用范围

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9 点标定法

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1 适用范围及情形

1.1      在机器人外固定安装的3D相机与机器人的手眼标定，相机等安装与固定支架上，不依赖与外部运动机构而自动获取3D图像的情形**

1.2      在机器人外部安装于运动机构上的3D相机与机器人的手眼标定，相机等安装于直线导轨单元上，由电机带着相机运动来获取3D图像；

1.3      相机安装于机器人第6轴上，相机由机器人轨迹驱动从而获取3D图像，但是机器人只需要带动相机在固定位置/轨迹获取图像，或者不需机器人频繁变换取图位置(只有有限几个取图路径)，此时可以视作同情形1.2。

2 能做

2.1      允许如此安装的情形。

2.2      如果相机在机器人第6轴上安装并沿固定轨迹取图，精度要求不高的场合；具体视客户测试情况而定。

3 不能做

3.1      如果相机在机器人第6轴上安装并沿固定轨迹取图，精度要求过高；

4 示例作业

4.1     采用halcon与3D视觉进行九点标定；

```js

devupdateoff () devsetcolor ('green') * 打开新的窗口 devclosewindow () WindowWidth := 512 WindowHeight := 384 * 设置窗口 ImagesDir := '3dmachinevision/handeye/robotgrippergray' devopenwindow (0, WindowWidth + 10, WindowWidth, WindowHeight, 'black', ImageWindowHandle) devopenwindow (0, 0, WindowWidth, WindowHeight, 'black', WindowHandle) setdisplayfont (WindowHandle, 14, 'mono', 'true', 'false') setdisplayfont (ImageWindowHandle, 14, 'mono', 'true', 'false') Instruction := ['Rotate: Left button','Zoom: Shift + left button','Move: Ctrl + left button'] * 读取3D模型

readobjectmodel3d ('handeye/robotgripper3dmodel.om3', 1, [], [], OM3DModel, Status) createsurfacemodel (OM3DModel, 0.03, [], [], SurfaceModelID) Message := 'Surface model to be searched' * 为了更好地显示，请减少模型的点密度。 sampleobjectmodel3d (OM3DModel, 'fast', 0.0009, [], [], SampledObjectModel3D) visualizeobjectmodel3d (WindowHandle, SampledObjectModel3D, [], [], 'color0', 'gray', Message, [], Instruction, PoseOut) * NumCalibrationScenes := 15 *创建手眼校准的校准模型

*使用固定的3D传感器。由于未使用摄像机校准

*执行校准对象并直接设置姿势

*在模型中，摄像机数量和校准对象数量为0。 createcalibdata ('handeyestationarycam', 0, 0, HECCalibDataID) *设置要使用的优化方法。 setcalibdata (HECCalibDataID, 'model', 'general', 'optimizationmethod', 'nonlinear') * *确定观察模型对象的三维姿势

*在所有场景中使用基于曲面的匹配。 for I := 1 to NumCalibrationScenes by 1 readimage (ImageRobotGripperGray, ImagesDir + I$'02d') readpose ('toolinbasepose' + I$'02d' + '.dat', ToolInBasePose) * 读取3D模型 filename := 'handeye/robotgripper3dscene' + I$'02d' * 读取 readobjectmodel3d (filename, 1, [], [], OM3DScene, Status1) *在当前场景中查找曲面模型。 findsurfacemodel (SurfaceModelID, OM3DScene, 0.05, 1, 0, 'false', [], [], ObjInCamPose, Score, SurfaceMatchingResultID) refinesurfacemodel_pose (SurfaceModelID, OM3DScene, ObjInCamPose, 0, 'false', [], [], ObjInCamPose, Score, SurfaceMatchingResultID1) if (|Score|) *仅当基于曲面的匹配结果为

*足够好了。 setcalibdata (HECCalibDataID, 'tool', I, 'toolinbasepose', ToolInBasePose) setcalibdataobserv_pose (HECCalibDataID, 0, 0, I, ObjInCamPose) endif *要可视化在场景中发现模型的姿势，

*变换三维对象模型，以便可以将其覆盖到

*当前场景。 posetohommat3d (ObjInCamPose, HomMat3D) affinetransobjectmodel3d (SampledObjectModel3D, HomMat3D, OM3DModelTrans) *仅显示前三个场景的交互式三维可视化。 if (I < 4) * Clear both windows. devclearwindow () devsetwindow (ImageWindowHandle) devdisplay (ImageRobotGripperGray) dispmessage (ImageWindowHandle, 'Image from pinhole camera', 'window', 12, 12, 'black', 'true') devsetwindow (WindowHandle) Message := 'Surface model is matched in the 3D scene.' Message[1] := 'Points of the current scene are gray.' Message[2] := 'Points of the matched model are green.' * For better visualization, reduce the point density of the model. sampleobjectmodel3d (OM3DScene, 'fast', 0.0009, [], [], SampledOM3DScene) dispmessage (WindowHandle, Message, 'window', 12, 12, 'black', 'true') Message := 'Scene: ' Message[1] := I + ' of ' + NumCalibrationScenes dispmessage (WindowHandle, Message, 'window', 80, 12, 'white', 'false') * Visualize matching result with user interaction. visualizeobjectmodel3d (WindowHandle, [SampledOM3DScene,OM3DModelTrans], [], [], ['color0','color1','dispbackground'], ['gray','green','true'], [], [], Instruction, PoseOut) else * Clear both windows. devclearwindow () devsetwindow (ImageWindowHandle) devclearwindow () devsetwindow (WindowHandle) if (I == 4) Message := 'In the following, the surface-based matching' Message[1] := 'result is shown using the 3D visualization ' Message[2] := 'without user interaction.' dispmessage (WindowHandle, Message, 'window', 12, 12, 'black', 'true') dispcontinuemessage (WindowHandle, 'black', 'true') stop () devclearwindow () endif devsetwindow (ImageWindowHandle) devdisplay (ImageRobotGripperGray) dispmessage (ImageWindowHandle, 'Image from pinhole camera', 'window', 12, 12, 'black', 'true') devsetwindow (WindowHandle) * For better visualization, reduce the point density of the model. sampleobjectmodel3d (OM3DScene, 'fast', 0.0009, [], [], SampledOM3DScene) * Visualize matching result without user interaction. dispobjectmodel3dsafe (WindowHandle, [SampledOM3DScene,OM3DModelTrans], [], [], ['color0','color1'], ['gray','green']) Message := 'Scene: ' + I + ' of ' + NumCalibrationScenes dispmessage (WindowHandle, Message, 'window', 12, 12, 'white', 'false') dispcontinuemessage (WindowHandle, 'black', 'true') stop () endif endfor * Check the input poses for consistency checkhandeyecalibrationinputposes (HECCalibDataID, 0.05, 0.005, Warnings) if (|Warnings| != 0) *在输入姿势中检测到问题。检查警告和

*使用remove\u calib\u data和remove\u calib\u data\u observ删除错误姿势。 devinspectctrl (Warnings) stop () ```