九点标定 opencv 方式实现 手眼标定

opencv获取中心点位置代码：

Mat SrcMat(nImgWidth, nImgHeight, CV_8UC3);
    UCharToMat(pSrcImg, nImgHeight, nImgWidth, 24, SrcMat);

    Mat grayMat;
    cvtColor(SrcMat, grayMat, COLOR_BGR2GRAY);
    Mat binMat = cv::Mat::zeros(SrcMat.size(), CV_8UC1);
    MYThresHold(grayMat.data, binMat.data, SrcMat.cols, SrcMat.rows, params.nGrayMin, params.nGrayMax);

    vector<vector<Point> > contours;
    vector<Vec4i> hierarchy;
    findContours(binMat, contours, hierarchy, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
    for (size_t i = 0; i < contours.size(); ++i) {
        double fArea = contourArea(contours[i]);
        if (fArea < params.nAreaMin || fArea > params.nAreaMax) {
            continue;
        }
        Moments mm = moments(contours[i], false);
        Point2f pnt = Point2f(mm.m10 / mm.m00, mm.m01 / mm.m00);//计算中心点
        ptCenter.push_back(pnt);
    }

获取手眼坐标变换系数：

    Mat warpMat = estimateAffine2D(points_camera, points_robot);//仿射变换
    double rms = 0;
    if (warpMat.cols == 3 && warpMat.rows == 2)
    {
        double A = warpMat.ptr<double>(0)[0];
        double B = warpMat.ptr<double>(0)[1];
        double C = warpMat.ptr<double>(0)[2];
        double D = warpMat.ptr<double>(1)[0];
        double E = warpMat.ptr<double>(1)[1];
        double F = warpMat.ptr<double>(1)[2];
        /*****************************************************RMS误差***********************************************/
        double sumX = 0, sumY = 0;
        for (int i = 0; i < 9; i++)
        {
            Point2f pt;
            pt.x = A * points_camera[i].x + B * points_camera[i].y + C;
            pt.y = D * points_camera[i].x + E * points_camera[i].y + F;
            sumX += pow(points_robot[i].x - pt.x, 2);
            sumY += pow(points_robot[i].y - pt.y, 2);
        }
        rms = sqrt(sumX / 9) + sqrt(sumY / 9);
    }
    for (int k = 0; k < 3; k++)
    {
        for (int i = 0; i < 9; i++)
        {
            /**********************************************对X操作**********************************************************/
            points_robot[i].x += 0.01;
            double curr = RMS_Add(points_camera, points_robot);
            if (curr < rms)
            {
                while (curr < rms)
                {
                    points_robot[i].x += 0.01;
                    rms = curr;
                    curr = RMS_Add(points_camera, points_robot);
                }
                points_robot[i].x -= 0.01;
            }
            else
            {
                points_robot[i].x -= 0.02;
                curr = RMS_Add(points_camera, points_robot);
                while (curr < rms)
                {
                    points_robot[i].x -= 0.01;
                    rms = curr;
                    curr = RMS_Add(points_camera, points_robot);
                }
                points_robot[i].x += 0.01;
            }
            /**********************************************对Y操作**********************************************************/
            points_robot[i].y += 0.01;
            curr = RMS_Add(points_camera, points_robot);
            if (curr < rms)
            {
                while (curr < rms)
                {
                    points_robot[i].y += 0.01;
                    rms = curr;
                    curr = RMS_Add(points_camera, points_robot);
                }
                points_robot[i].y -= 0.01;
            }
            else
            {
                points_robot[i].y -= 0.02;
                curr = RMS_Add(points_camera, points_robot);
                while (curr < rms)
                {
                    points_robot[i].y -= 0.01;
                    rms = curr;
                    curr = RMS_Add(points_camera, points_robot);
                }
                points_robot[i].y += 0.01;
            }
        }
    }
    Mat warp = estimateAffine2D(points_camera, points_robot);//仿射变换
    return warp;

最后，图像上得坐标转变为机械坐标：

ptR.x = _stCalibrateParams.A * ptI.x + _stCalibrateParams.B * ptI.y + _stCalibrateParams.C;
    ptR.y = _stCalibrateParams.D * ptI.x + _stCalibrateParams.E * ptI.y + _stCalibrateParams.F;

代码连接：https://download.csdn.net/download/weixin_42789529/88441518

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