Halcon 学习笔记---单相机标定（2）

一、单项机标定原因

降低畸变（相差）
测量

二、相机标定求出什么

该方程是求取世界坐标系与像素坐标系之间转换矩阵，本质就是求出相机的内外参数。其中dx和dy为每个像素在图像坐标系（UVO）沿U和V方向的物理尺寸，单位毫米每像素， U0 和 V0 为像素坐标中心即图像中心（光轴与图像平面的交点）。

三、标定助手

设置标定参数；

尽量选择9到16张图片，且图片覆盖整个视野，Mark点出现在视野各个区域，同时标定板也可以发生倾斜，旋转，注意只要不出现标定点提取失败就可以。点击标定按钮前，选择一张设置位姿。

查看结果：相机内外参数。也可插入代码。

四、畸变校正（不需要外参）

畸变的原因自己去查找，在这里不罗嗦了。畸变如B所示。

过程：

标定助手---->获取相机内外参数------->校正（相机位置不能发生改变）

change_radial_distortion_cam_param() 径向畸变

gen_radial_distorition_map() 形成映射矩阵

map_image() 图像映射

* Calibration 01: Code generated by Calibration 01
ImageFiles := []
ImageFiles[0] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_01.png'
ImageFiles[1] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_02.png'
ImageFiles[2] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_03.png'
ImageFiles[3] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_04.png'
ImageFiles[4] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_05.png'
ImageFiles[5] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_06.png'
ImageFiles[6] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_07.png'
ImageFiles[7] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_08.png'
ImageFiles[8] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_09.png'
ImageFiles[9] := 'E:/欣奕华/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_10.png'
ImageFiles[10] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_11.png'
ImageFiles[11] := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_12.png'
dev_close_window()
read_image (Image1, 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_01.png')
get_image_size (Image1, Width, Height)
dev_open_window (0, 0, Width, Height, 'black', WindowHandle)
dev_set_line_width (2)
dev_set_draw ('margin')
TmpCtrl_ReferenceIndex := 0
TmpCtrl_PlateDescription := 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/caltab_30mm.descr'
StartParameters := [0.008,0,8.3e-006,8.3e-006,320,240,640,480]
TmpCtrl_FindCalObjParNames := ['gap_tolerance','alpha','skip_find_caltab']
TmpCtrl_FindCalObjParValues := [1,1,'false']
* Calibration 01: Create calibration model for managing calibration data
create_calib_data ('calibration_object', 1, 1, CalibHandle)
set_calib_data_cam_param (CalibHandle, 0, 'area_scan_division', StartParameters)
set_calib_data_calib_object (CalibHandle, 0, TmpCtrl_PlateDescription)
* Calibration 01: Collect mark positions and estimated poses for all plates
for Index := 0 to |ImageFiles|-1 by 1
    read_image (Image, ImageFiles[Index])
    find_calib_object (Image, CalibHandle, 0, 0, Index, TmpCtrl_FindCalObjParNames, TmpCtrl_FindCalObjParValues)
    get_calib_data_observ_contours (Contours, CalibHandle, 'marks', 0, 0, Index)
    get_calib_data_observ_points (CalibHandle, 0, 0, Index, RCoord, CCoord, Index1, Pose)
    dev_set_color ('green')
    dev_display (Image)
    dev_display (Contours)
    disp_cross (WindowHandle, RCoord, CCoord, 6, 0)
    dev_set_color ('yellow')
    disp_3d_coord_system (WindowHandle, StartParameters, Pose, 0.02)
endfor
* Calibration 01: 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 01: Adjust origin for plate thickness
set_origin_pose (CameraPose, 0.0, 0.0, 0.001, CameraPose)
* Calibration 01: Clear calibration model when done
clear_calib_data (CalibHandle)
stop ()
CameraParametersDis := CameraParameters
CameraParametersDis[1] := 0
change_radial_distortion_cam_par ('adaptive', CameraParameters, 0, CamParamOut)
gen_radial_distortion_map (Map, CameraParameters, CamParamOut, 'bilinear')
map_image (Image1, Map, ImageMapped)

五、测量

* Measure 01: Code generated by Measure 01
* Measure 01: Initialize calibration
CameraParameters := [0.0186517,-518.695,8.35295e-006,8.3e-006,243.968,254.876,640,480]
CameraPose := [0.0102948,-0.00294296,0.290575,358.426,32.4473,91.0773,0]
* Measure 01: Prepare measurement
AmplitudeThreshold := 15
RoiWidthLen2 := 2
set_system ('int_zooming', 'true')
* Measure 01: Coordinates for line Measure 01 [0]
LineRowStart_Measure_01_0 := 143.25
LineColumnStart_Measure_01_0 := 359.016
LineRowEnd_Measure_01_0 := 143.25
LineColumnEnd_Measure_01_0 := 382.761
* Measure 01: Convert coordinates to rectangle2 type
TmpCtrl_Row := 0.5*(LineRowStart_Measure_01_0+LineRowEnd_Measure_01_0)
TmpCtrl_Column := 0.5*(LineColumnStart_Measure_01_0+LineColumnEnd_Measure_01_0)
TmpCtrl_Dr := LineRowStart_Measure_01_0-LineRowEnd_Measure_01_0
TmpCtrl_Dc := LineColumnEnd_Measure_01_0-LineColumnStart_Measure_01_0
TmpCtrl_Phi := atan2(TmpCtrl_Dr, TmpCtrl_Dc)
TmpCtrl_Len1 := 0.5*sqrt(TmpCtrl_Dr*TmpCtrl_Dr + TmpCtrl_Dc*TmpCtrl_Dc)
TmpCtrl_Len2 := RoiWidthLen2
* Measure 01: Create measure for line Measure 01 [0]
* Measure 01: Attention: This assumes all images have the same size!
gen_measure_rectangle2 (TmpCtrl_Row, TmpCtrl_Column, TmpCtrl_Phi, TmpCtrl_Len1, TmpCtrl_Len2, 640, 480, 'nearest_neighbor', MsrHandle_Measure_01_0)
* Measure 01: ***************************************************************
* Measure 01: * The code which follows is to be executed once / measurement *
* Measure 01: ***************************************************************
* Measure 01: Load image
read_image (Image, 'E:/项目/Halcon/STUDY/Lesson_13_棋盘格标定/scratch/scratch_calib_01.png')
* Measure 01: Execute measurements
measure_pos (Image, MsrHandle_Measure_01_0, 0.4, 15, 'all', 'all', Row_Measure_01_0, Column_Measure_01_0, Amplitude_Measure_01_0, Distance_Measure_01_0)
* Measure 01: Transform to world coordinates
* Measure 01: Calibrate positions for Measure 01 [0]
image_points_to_world_plane (CameraParameters, CameraPose, Row_Measure_01_0, Column_Measure_01_0, 0.001, Column_World_Measure_01_0, Row_World_Measure_01_0)
* Measure 01: Calibrate distances
TmpCtrl_Length := |Row_World_Measure_01_0|
if (TmpCtrl_Length > 0)
    tuple_select_range (Row_World_Measure_01_0, 0, TmpCtrl_Length - 2, TmpCtrl_RowFrom)
    tuple_select_range (Column_World_Measure_01_0, 0, TmpCtrl_Length - 2, TmpCtrl_ColumnFrom)
    tuple_select_range (Row_World_Measure_01_0, 1, TmpCtrl_Length - 1, TmpCtrl_RowTo)
    tuple_select_range (Column_World_Measure_01_0, 1, TmpCtrl_Length - 1, TmpCtrl_ColumnTo)
    distance_pp (TmpCtrl_RowFrom, TmpCtrl_ColumnFrom, TmpCtrl_RowTo, TmpCtrl_ColumnTo, Distance_World_Measure_01_0)
endif
* Measure 01: Do something with the results
* Measure 01: Clear measure when done
close_measure (MsrHandle_Measure_01_0)