halcon标定相关信息收集

最新推荐文章于 2024-03-09 16:59:23 发布

*Major*

最新推荐文章于 2024-03-09 16:59:23 发布

阅读量314

点赞数

文章标签： halcon

本文链接：https://blog.csdn.net/qq_41375318/article/details/120152673

版权

该博客详细介绍了使用HALCON进行相机标定的步骤，包括创建标定板、标定内参和外参的计算。通过示例代码展示了如何读取图像、寻找标定对象、计算相机参数，并将结果保存到文件中。此外，还提供了计算像素距离和实际距离的方法，以及将结果输出到CSV文件的过程。

摘要由CSDN通过智能技术生成

halcon标定相关信息收集

在这里插入图片描述

标定1

https://baijiahao.baidu.com/s?id=1603212014194819932&wfr=spider&for=pc

https://blog.csdn.net/weixin_43206570/article/details/84797361

**创建标定板
gen_caltab(7,7,0.008,0.5,'48_48mm.descr','48_48mm.ps')
           
*=======标定内参
dev_close_window ()
dev_open_window (0, 0, 652, 494, 'black', WindowHandle)
dev_update_off ()
dev_set_draw ('margin')
dev_set_line_width (3)
OpSystem := environment('OS')
set_display_font (WindowHandle, 14, 'mono', 'true', 'false')
           
*标定相机
StartCamPar := [0.0,0.0,0.0000299,0.0000299,2352/2,1728/2,2352,1728]
create_calib_data ('calibration_object', 1, 1, CalibDataID)
set_calib_data_cam_param (CalibDataID, 0, 'area_scan_telecentric_division', StartCamPar)
set_calib_data_calib_object (CalibDataID, 0, '48_48mm.descr')
           
* Note, we do not use the image from which the pose of the measurement plane can be derived
for index := 1 to 7 by 1
    read_image (Image, 'calibrationbmp/' + index + '.bmp')
    get_image_size(Image, Width, Height)
    dev_display (Image)
    find_calib_object (Image, CalibDataID, 0, 0, index, [], [])
    get_calib_data_observ_contours (Caltab, CalibDataID, 'caltab', 0, 0, index)
    dev_set_color ('green')
    dev_display (Caltab)
endfor
           
calibrate_cameras (CalibDataID, Error)
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
get_calib_data (CalibDataID, 'calib_obj_pose', [0,1], 'pose', PoseCalib)
           
*输出计算的相机内参
write_cam_par (CamParam, 'camera_parameters.dat')
           
           
Message:= '相机内参已经写入文件中'
disp_message (WindowHandle, Message, 'window', 12, 12, 'red', 'false')
clear_calib_data (CalibDataID)
stop()
           
           
*=====标定外参
dev_set_draw ('margin')
dev_set_line_width (1)
set_display_font (WindowHandle, 14, 'mono', 'true', 'false')
           
*从文件中读取内参 存储文件：camera_parameters.dat
try
    read_cam_par ('camera_parameters.dat', CamParam)
catch (Exception)
    stop ()
endtry
           
*开始计算
open_file('data.csv','output', FileHandle)
fwrite_string(FileHandle,'Dis_pix*0.0299204,Dis_m*1000,Distance')
fnew_line (FileHandle)
close_file(FileHandle)
           
*选择一张作为标定作为最终标定位姿（任意一张都可以）
index:=1
read_image (Image,'标定20/'+index+'.png')
dev_display (Image)
CaltabName := '48_48mm.descr'
create_calib_data ('calibration_object', 1, 1, CalibDataID)
* Here, the final camera parameters are already known and can be used instead
* of the starting values used in the program 'camera_calibration_internal.hdev'
set_calib_data_cam_param (CalibDataID, 0, 'area_scan_telecentric_division', CamParam)
set_calib_data_calib_object (CalibDataID, 0, CaltabName)
find_calib_object (Image, CalibDataID, 0, 0, 1, [], [])
get_calib_data_observ_contours (Caltab, CalibDataID, 'caltab', 0, 0, 1)
get_calib_data_observ_points (CalibDataID, 0, 0, 1, RCoord, CCoord, Index, PoseForCalibrationPlate)
dev_set_color ('green')
dev_display (Caltab)
dev_set_color ('red')
disp_caltab (WindowHandle, CaltabName, CamParam, PoseForCalibrationPlate, 1)
dev_set_line_width (1)
disp_circle (WindowHandle, RCoord, CCoord, gen_tuple_const(|RCoord|,1.5))
* caltab_points (CaltabName, X, Y, Z)
* calibrate_cameras (CalibDataID, Error)
* To take the thickness of the calibration plate into account, the z-value
* of the origin given by the camera pose has to be translated by the
* thickness of the calibration plate.
* Deactivate the following line if you do not want to add the correction.
set_origin_pose (PoseForCalibrationPlate, 0, 0, 0, PoseCalib)
* disp_continue_message (WindowHandle, 'black', 'true')
stop ()
           
*像素距离
distance_pp(RCoord[0],CCoord[0],RCoord[48],CCoord[48], Dis_pix)
*像素直接转换mm然后计算
pix2mm(RCoord, CCoord,CamParam[2],CamParam[3],newCol,newRow)
distance_pp(newRow[0],newCol[0],newRow[48],newCol[48], Dis_m)
*用同一个世界坐标系来计算
image_points_to_world_plane(CamParam, PoseCalib,[RCoord[0],RCoord[48]], [CCoord[0],CCoord[48]], 'mm', X1, Y1)
distance_pp(Y1[0],X1[0],Y1[1],X1[1],Distance)
           
*输出计算结果比较
open_file('data.csv','append', FileHandle)
fwrite_string(FileHandle, Dis_pix*0.0299+','+Dis_m*1000+','+Distance+'\n')
close_file(FileHandle)    
           
Message:= '计算完毕'
disp_message (WindowHandle, Message, 'window', 12, 12, 'red', 'false')
stop()