halcon海康双相机采集与标定

 1.相机设置

相机设置自动曝光，bayerRG8， 触发模式关闭，触发源=软触发
 

2.异步采集 设置及程序

采集助手设置 colortype=default bit=8

相机分辨率3072x2048,下采样2=1536x1024，否则无法采集

* Example for grabbing images from two GigEVision cameras.
*
* For this example we assume that both cameras are connected
* to the PC directly. If the cameras are connected to the PC
* via a switch please refer to the example
* gigevision2_interpacket_delay.hdev.
*
*
dev_close_window ()
dev_close_window ()
info_framegrabber ('GigEVision2', 'device', Information, Devices)
while (|Devices| < 2)
  * This example requires two GigEVision cameras.
endwhile
scale:=5
open_framegrabber ('GigEVision2', 0, 0, 0, 0, 0, 0, 'progressive', 8, 'default', -1, 'false', 'default', 'LL', 0, -1, AcqHandle1)

get_framegrabber_param (AcqHandle1, ['image_width','image_height'], ImageSize1)
dev_open_window (0, 0, ImageSize1[0] / scale, ImageSize1[1] / scale, 'black', WindowHandle1)
open_framegrabber ('GigEVision2', 0, 0, 0, 0, 0, 0, 'progressive', 8, 'default', -1, 'false', 'default', 'RR', 0, -1, AcqHandle2)

get_framegrabber_param (AcqHandle2, ['image_width','image_height'], ImageSize2)
dev_open_window ((ImageSize1[0] / scale) + 10, 0, ImageSize2[0] / scale, ImageSize2[1]/ scale  , 'black', WindowHandle2)

* Deactivate HDevelop update for better performance.
dev_update_off ()
grab_image_start (AcqHandle1, -1)
grab_image_start (AcqHandle2, -1)
while (true)
  dev_set_window (WindowHandle1)
  *grab_image  (Image1, AcqHandle1)
   grab_image_async (Image1, AcqHandle1, -1)
  dev_display (Image1)
  *
  dev_set_window (WindowHandle2)
  *grab_image(Image2, AcqHandle2)
  grab_image_async (Image2, AcqHandle2, -1)
  
  dev_display (Image2)
endwhile
dev_close_window ()
dev_close_window ()
close_framegrabber (AcqHandle1)
close_framegrabber (AcqHandle2)

3.新建程序，创建标定板文件

 我的标定板尺寸：外形70x70,图案56x56,直径3.5,圆心距7,阵列7x7

gen_caltab (7, 7, 0.07, 0.5, 'caltab_hc070x_56x_7_35.descr', 'caltabcaltab_hc070x_56x_7_35.ps')

执行后当前目录产生对应2个文件 ，只用描述文件。ps是photoshop文件

4.打开标定助手

引入上面描述文件

线扫描多相式，单个像素宽2.4um，焦距3.37mm，其他默认

我的海康相机cb060：

传感器类型	CMOS，卷帘快门
传感器型号	IMX178
像元尺寸	2.4 µm × 2.4 µm
靶面尺寸	1/1.8”
分辨率	3072 × 2048

生成标定函数

* Calibration 03: Code generated by Calibration 03
ImageFiles := []
TmpCtrl_ReferenceIndex := -1
TmpCtrl_PlateDescription := '/opt/halcon/calib/calplate_80mm.cpd'
StartParameters := ['line_scan_polynomial',0.00337,0,0,0,0,0,2.4e-06,2.4e-06,320,0,640,480,0,0.0005,0]
TmpCtrl_FindCalObjParNames := 'sigma'
TmpCtrl_FindCalObjParValues := 1
* Calibration 03: Create calibration model for managing calibration data
create_calib_data ('calibration_object', 1, 1, CalibHandle)
set_calib_data_cam_param (CalibHandle, 0, [], StartParameters)
set_calib_data_calib_object (CalibHandle, 0, TmpCtrl_PlateDescription)
* Calibration 03: Collect mark positions and estimated poses for all plates
for Index := 0 to |ImageFiles|-1 by 1
    read_image (Image, ImageFiles[Index])
    * Calibration 03: No image files. Please load images first!
endfor
* Calibration 03: Perform the actual calibration
calibrate_cameras (CalibHandle, TmpCtrl_Errors)
get_calib_data (CalibHandle, 'camera', 0, 'params', CameraParameters)
get_calib_data (CalibHandle, 'calib_obj_pose', [0, TmpCtrl_ReferenceIndex], 'pose', CameraPose)
* Calibration 03: Adjust origin for plate thickness
set_origin_pose (CameraPose, 0.0, 0.0, 0.001, CameraPose)
stop ()

5.标定

线阵相机矫正所需参数共17个

11个参数为内参CamParam:= [Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz]

6个参数分别为x,y,z三个轴的旋转角度和x,y,z三个轴的平移量

4. ------------------------