halcon ABB机械手 手眼标定

halcon的手眼标定是有例程的，我用的是手被固定在眼外。

首先是准备一块halcon的标定板，固定在ABB的法兰盘工具处，手动控制机械臂移动。

每固定一次，拍摄图片，记录当前机械臂姿态。记录姿态用：hand_eye_robot_pose.hdev (选ZYX格式）

下面是我用的例程，修改文件名即可使用：

* Read image
read_image (Image, ImageNameStart + 'intensity1.png')
get_image_size (Image, Width, Height)
* Open window
dev_close_window ()
dev_open_window (0, 0, Width, Height, 'black', WindowHandle)
dev_set_line_width (2)
dev_set_draw ('margin')
dev_display (Image)
* Set font
set_display_font (WindowHandle, 14, 'mono', 'true', 'false')
* Load the calibration plate description file.
* Make sure that the file is in the current directory,
* the HALCONROOT/calib directory, or use an absolut path
CalTabFile := '30_30.descr'
* Read the initial values for the internal camera parameters
read_cam_par (DataNameStart + 'Cam.dat', StartCamParam)
* Create the calibration model for the hand eye calibration
create_calib_data ('hand_eye_stationary_cam', 1, 1, CalibDataID)
set_calib_data_cam_param (CalibDataID, 0, [], StartCamParam)
set_calib_data_calib_object (CalibDataID, 0, CalTabFile)
set_calib_data (CalibDataID, 'model', 'general', 'optimization_method', 'nonlinear')
disp_message (WindowHandle, 'The calibration data model was created', 'window', 12, 12, 'black', 'true')
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* Start the loop over the calibration images
for I := 1 to NumImages - 1 by 1
    read_image (Image, ImageNameStart + 'intensity'+I+'.png')
    * Search for the calibration plate, extract the marks and the
    * pose of it, and store the results in the calibration data model of the
    * hand-eye calibration
    find_calib_object (Image, CalibDataID, 0, 0, I, [], [])
    get_calib_data_observ_contours (Caltab, CalibDataID, 'caltab', 0, 0, I)
    get_calib_data_observ_points (CalibDataID, 0, 0, I, RCoord, CCoord, Index, CalObjInCamPose)
    * Visualize the extracted calibration marks and the estimated pose (coordinate system)
    dev_set_color ('green')
    dev_display (Image)
    dev_display (Caltab)
    dev_set_color ('yellow')
    disp_cross (WindowHandle, RCoord, CCoord, 6, 0)
    dev_set_colored (3)
    disp_3d_coord_system (WindowHandle, StartCamParam, CalObjInCamPose, 0.1)
    * Read pose of tool in robot base coordinates (ToolInBasePose)
    read_pose (DataNameStart + 'robot_pose_file' + I + '.dat', ToolInBasePose)
    * Set the pose tool in robot base coordinates in the calibration data model
    set_calib_data (CalibDataID, 'tool', I, 'tool_in_base_pose', ToolInBasePose)
    * Uncomment to inspect visualization
*     disp_message (WindowHandle, 'Extracting data from calibration image ' + (I + 1) + ' of ' + NumImages, 'window', 12, 12, 'black', 'true')
*     disp_continue_message (WindowHandle, 'black', 'true')
*     stop ()
endfor
disp_message (WindowHandle, 'All relevant data has been set in the calibration data model', 'window', 12, 12, 'black', 'true')
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* Check the input poses for consistency
check_hand_eye_calibration_input_poses (CalibDataID, 0.05, 0.005, Warnings)
if (|Warnings| != 0)
    * There were problem detected in the input poses. Inspect Warnings and
    * remove erroneous poses with remove_calib_data and remove_calib_data_observ.
    dev_inspect_ctrl (Warnings)
    stop ()
endif
* Perform hand-eye calibration
* Internally before performing the hand-eye calibration the cameras are calibrated
* and the calibrated poses of the calibration object in the camera are used.
dev_display (Image)
disp_message (WindowHandle, 'Performing the hand-eye calibration', 'window', 12, 12, 'black', 'true')
calibrate_hand_eye (CalibDataID, Errors)
* Query the error of the camera calibration
get_calib_data (CalibDataID, 'model', 'general', 'camera_calib_error', CamCalibError)
* Query the camera parameters and the poses
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
* Get poses computed by the hand eye calibration
get_calib_data (CalibDataID, 'camera', 0, 'base_in_cam_pose', BaseInCamPose)
get_calib_data (CalibDataID, 'calib_obj', 0, 'obj_in_tool_pose', ObjInToolPose)
try
    * Store the camera parameters to file
    write_cam_par (CamParam, DataNameStart + 'final_campar.dat')
    * Save the hand eye calibration results to file
    write_pose (BaseInCamPose, DataNameStart + 'final_pose_cam_base.dat')
    write_pose (ObjInToolPose, DataNameStart + 'final_pose_tool_calplate.dat')
catch (Exception)
    * Do nothing
endtry
* Display calibration errors of the hand-eye calibration
disp_results (WindowHandle, CamCalibError, Errors)
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* For the given camera, get the corresponding pose indices and calibration object indices
query_calib_data_observ_indices (CalibDataID, 'camera', 0, CalibObjIdx, PoseIds)
* Compute the pose of the calibration object in the camera coordinate
* system via calibrated poses and the ToolInBasePose and visualize it.
for I := 5 to NumImages - 2 by 1
    read_image (Image, ImageNameStart +'intensity'+I+'.png')
    * Obtain the pose of the tool in robot base coordinates used in the calibration.
    * The index corresponds to the index of the pose of the observation object.
    get_calib_data (CalibDataID, 'tool', PoseIds[I], 'tool_in_base_pose', ToolInBasePose)
    dev_display (Image)
    * Compute the pose of the calibration plate with respect to the camera
    * and visualize it
    calc_calplate_pose_stationarycam (ObjInToolPose, BaseInCamPose, ToolInBasePose, CalObjInCamPose)
    dev_set_colored (3)
    disp_3d_coord_system (WindowHandle, CamParam, CalObjInCamPose, 0.1)
    Message := 'Using the calibration results to display the'
    Message[1] := 'coordinate system in image ' + (I + 1) + ' of ' + NumImages
    disp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'true')
    if (I < NumImages - 1)
        disp_continue_message (WindowHandle, 'black', 'true')
        stop ()
    endif
endfor
* Clear the data model
clear_calib_data (CalibDataID)
 
* After the hand-eye calibration, the computed pose
* BaseInCamPose can be used in robotic grasping applications.
* To grasp an object with the robot, typically, its pose
* with respect to the camera is determined (which
* is simulated here by setting the object's pose to the
* pose of the calibration object)

ObjInCamPose := CalObjInCamPose
* If the tool coordinate system is placed at the gripper
* and an object detected at ObjInCamPose shall be grasped,
* the pose of the detected object relative
* to the robot base coordinate system has to be computed.
pose_invert (BaseInCamPose, CamInBasePose)
pose_compose (CamInBasePose, ObjInCamPose, ObjInBasePose)