halcon 标定

合集 - Halcon(58)

1.halcon-轮廓拟合圆fit_circle_contour_xld2023-12-252.Halcon 标定例程（calibration-adjust_mosaic_images.hdev）2023-12-283.Halcon 相机外部参数（camera_calibration_external.hdev）2023-12-28

4.halcon 标定2023-12-28

5.Halcon 相机内部参数（camera_calibration_internal.hdev）2023-12-286.halcon 标定算子汇总2024-04-197.halcon 拼接参考2024-04-198.halcon 双目相机标定2024-01-199.HALCON 杂记2024-01-2310.dump_window & dump_window_image 区别2024-02-2911.拟合——直线2024-02-2912.halcon崩溃，未及时保存文件临时存储路径2024-02-2913.halcon-——显示颜色对照表2024-02-2914.矩阵基本操作2024-02-2915.通过高斯的导数获取法向量2024-02-2916.halcon ——从几个不同照明的图像重建表面2024-02-2917.脱离halcon环境运行2024-02-2918.Halcon 一维测量/1D-Measuring2024-03-0119.Halcon——矩阵/Matrix2024-03-0120.dev_set_lut显示效果2024-03-0121.基础设置之——dev_set_check2024-03-0122.基础设置之——dev_open_file_dialog2024-03-0123.基础设置之——dev_open_dialog2024-03-0124.基础设置之——dev_disp_text2024-03-0225.基础操作之——生成一张背景图像2024-03-0226.基础设置之——dev_open_tool2024-03-0427.基本设置之——算术运算2024-03-0428.基础设置之——字符显示格式设置2024-03-0429.基础设置之——条件判断(一)2024-03-0430.基础操作之——tuple基本操作2024-03-0431.基本操作之——位运算2024-03-0532.基本操作之——正弦函数绘制2024-03-0533.基本操作之——多维空间欧几里得距离距离计算及标量积计算2024-03-0534.基本操作之——集合基本操作2024-03-0535.基本操作之——字符截取操作2024-03-0536.基本操作之——Unicode编码2024-03-0537.基本操作之——正则表达式2024-03-0538.基本操作之——字典2024-03-0639.基础设置之——条件判断(二)2024-03-0640.基本操作之——tuple类型2024-03-0641.基本操作之——tuple值分布范围获取2024-03-0642.基本操作之——tuple增删查改操作2024-03-0643.基本操作之——Object比较2024-03-0744.基本操作之——Object插入2024-03-0745.基本操作之——Object差异2024-03-0746.基本操作之——Object移除操作2024-03-0747.基本操作之——Object替换2024-03-0748.分类器——高斯混合模型/Gaussian-Mixture-Models(GMM)之图像分割2024-03-0749.分类器——高斯混合模型之水果分类2024-03-0750.分类器——高斯混合模型之缺陷检测（纹理缺陷检测）2024-03-0751.基本操作之——图像纹理处理texture_laws2024-04-1952.分类器——高斯混合模型之查找表分类器（保险丝分类）2024-03-0853.模版匹配——set_shape_model_param2024-03-1354.模板匹配——set_shape_model_clutter2024-03-1355.模板匹配——金字塔图像计算gen_gauss_pyramid2024-03-1356.模板匹配——determine_shape_model_params2024-03-1457.模板匹配——create_shape_model2024-03-1458.模版匹配——inspect_shape_model2024-03-15

收起

1.标定板类型

    a.Calibration plate with hexagonally arranged marks  带有六边形排列标记的校准板

 

 

    b.Calibration plate with rectangularly arranged marks   带有矩形排列标记的校准板

 2.标定过程

　a.准备校准输入数据

　　1.create_calib_data   创建校准数据模型，指定设置中的相机数量和使用的校准对象数量

　　　　Create a calibration data model with the operator create_calib_data, specifying the number of cameras in the setup and the number of used calibration objects.

　　2.set_calib_data_cam_param   指定相机类型和初始内部相机参数

　　　　Specify the camera type and the initial internal camera parameters with the operator set_calib_data_cam_param.

　　3.set_calib_data_calib_object     指定所有校准对象的描述

　　　　Specify the description of all calibration objects with the operator set_calib_data_calib_object.

　　4.  采集观测数据，即获得提取的标定对象标定标记的图像坐标和标定对象相对于观测相机的粗略估计位置find_calib_object/set_calib_data_observ_points

　　　　Collect observation data with the operators find_calib_object or set_calib_data_observ_points, i.e., obtain the image coordinates of the extracted calibration marks of the calibration object and a roughly estimated pose of the calibration object relative to the  observing camera.

　　5.配置标定过程 set_calib_data

　　　　Configure the calibration process, e.g., exclude certain camera parameters from the optimization. You can specify these parameters with the operator set_calib_data. For example, if the image sensor cell size of camera 0 is known precisely and only the rest of the parameters needs to be calibrated, you call

　　set_calib_data (CalibDataID, 'camera', 0, 'excluded_settings', ['sx','sy']).

b.执行实际的相机校准并获得其结果　　get_calib_data

c.查询校准结果        get_calib_data

d.检查校准是否成功   RMS值单位为像素

 

3.关于相机参数，您可以区分内部和外部相机参数

A.相机外部参数

　　The following 6 parameters describe the 3D pose, i.e., the position and orientation of the world coordinate system relative to the camera coordinate system. The x- and y-axis of the camera coordinate system are parallel to the column and row axes of the image, while the z-axis is perpendicular to the image plane. For line scan cameras, the pose of the world coordinate system refers to the camera coordinate system of the first image line.以下 6 个参数描述了 3D 姿态，即世界坐标系相对于相机坐标系的位置和方向。相机坐标系的 x 轴和 y 轴平行于图像的列轴和行轴，而 z 轴垂直于图像平面。对于线扫描相机，世界坐标系的姿态是指第一条图像线的相机坐标系。

TransX:
Translation along the x-axis of the camera coordinate system. 沿相机坐标系的 X 轴平移

TransY:
Translation along the y-axis of the camera coordinate system.  沿相机坐标系的 Y 轴平移

TransZ:
Translation along the z-axis of the camera coordinate system.沿相机坐标系的 Z 轴平移

RotX:
Rotation around the x-axis of the camera coordinate system. 绕相机坐标系的 X 轴旋转

RotY:
Rotation around the y-axis of the camera coordinate system.绕相机坐标系的 Y 轴旋转

RotZ:
Rotation around the z-axis of the camera coordinate system.绕相机坐标系的 Z 轴旋转

 

B.相机内部参数

a.常规镜头的面阵相机

Projective area scan cameras with regular lenses 带有常规镜头的投射面阵扫描相机

　　'area_scan_division'
　　['area_scan_division', Focus, Kappa, Sx, Sy*, Cx, Cy, ImageWidth, ImageHeight]

　　'area_scan_polynomial'
　　['area_scan_polynomial', Focus, K1, K2, K3, P1, P2, Sx, Sy*, Cx, Cy, ImageWidth, ImageHeight]

Telecentric area scan cameras with regular lenses  配备常规镜头的远心面阵扫描相机

　　'area_scan_telecentric_division'
　　['area_scan_telecentric_division', Magnification, Kappa, Sx, Sy*, Cx, Cy, ImageWidth, ImageHeight]

　　'area_scan_telecentric_polynomial'
　　['area_scan_telecentric_polynomial', Magnification, K1, K2, K3, P1, P2, Sx, Sy*, Cx, Cy, ImageWidth, ImageHeight]

b.带倾斜镜头的面阵相机

Projective area scan cameras with tilt lenses 带倾斜镜头的投射面阵扫描相机

　　'area_scan_tilt_division'
　　['area_scan_tilt_division', Focus, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy*, Cx, Cy, ImageWidth, ImageHeight]

　　'area_scan_tilt_polynomial'
　　['area_scan_tilt_polynomial', Focus, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy*, Cx, Cy, ImageWidth, ImageHeight]

　　'area_scan_tilt_image_side_telecentric_division'
　　['area_scan_tilt_image_side_telecentric_division', Focus, Kappa, Tilt, Rot, Sx*, Sy*, Cx, Cy, ImageWidth, ImageHeight]

　　'area_scan_tilt_image_side_telecentric_polynomial'
　　['area_scan_tilt_image_side_telecentric_polynomial', Focus, K1, K2, K3, P1, P2, Tilt, Rot, Sx*, Sy*, Cx, Cy, ImageWidth, ImageHeight]

Telecentric area scan cameras with tilt lenses带倾斜镜头的远心面阵扫描相机

　　'area_scan_tilt_bilateral_telecentric_division'
　　['area_scan_tilt_bilateral_telecentric_division', Magnification, Kappa, Tilt, Rot, Sx*, Sy*, Cx, Cy, ImageWidth, ImageHeight]

　　'area_scan_tilt_bilateral_telecentric_polynomial'
　　['area_scan_tilt_bilateral_telecentric_polynomial', Magnification, K1, K2, K3, P1, P2, Tilt, Rot, Sx*, Sy*, Cx, Cy, ImageWidth, ImageHeight]

　　'area_scan_tilt_object_side_telecentric_division'
　　['area_scan_tilt_object_side_telecentric_division', Magnification, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy*, Cx, Cy, ImageWidth, ImageHeight]

　　'area_scan_tilt_object_side_telecentric_polynomial'
　　['area_scan_tilt_object_side_telecentric_polynomial', Magnification, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy*, Cx, Cy, ImageWidth, ImageHeight]

c.Area scan cameras with hypercentric lenseshypercentric lens（超中心镜头其实就是个大视场角100度左右的鱼眼镜头，设计是按照大景深鱼眼镜头设计，一般用在测柱状体或孔的顶面和侧面用的）

Projective area scan cameras with hypercentric lenses

　　'area_scan_hypercentric_division'
　　['area_scan_hypercentric_division', Focus, Kappa, Sx, Sy*, Cx, Cy, ImageWidth, ImageHeight]

　　'area_scan_hypercentric_polynomial'
　　['area_scan_hypercentric_polynomial', Focus, K1, K2, K3, P1, P2, Sx, Sy*, Cx, Cy, ImageWidth, ImageHeight]

d.线扫相机

Projective line scan cameras with regular lenses 常规镜头

　　'line_scan_division'
　　['line_scan_division', Focus, Kappa, Sx*, Sy*, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz]

　　'line_scan_polynomial'
　　['line_scan_polynomial', Focus, K1, K2, K3, P1, P2, Sx*, Sy*, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz]

Telecentric line scan cameras with regular lenses 远心镜头

　　'line_scan_telecentric_division'
　　['line_scan_telecentric_division', Magnification, Kappa, Sx*, Sy*, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz*]

　　'line_scan_telecentric_polynomial'
　　['line_scan_telecentric_polynomail', Magnification, K1, K2, K3, P1, P2, Sx*, Sy*, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz*]

内部参数：

Focus/焦距

Magnification/放大倍率

Kappa/畸变系数

 

 

C.相机参数单位