Halcon相机标定代码.hdev/Halcon_摄像机标定流程.pdf/Halcon标定版描述文件.doc/双目标定/单目标定

上传者: lqr1836283506 | 上传时间: 2021-05-25 11:17:07 | 文件大小: 2.05MB | 文件类型: ZIP
Halcon相机标定代码.hdev 1.初始化 for example: Full image (640*480) Subsampling (320*240) ImageWidth 640 320 ImageHeight 480 240 2.标定板初始化 CaltabName := 'caltab_30mm.descr'//标定板描述文件 set_calib_data_calib_object (CalibDataID, 0, CaltabName) 3.创建数据模型 create_calib_data ('calibration_object', 1, 1, CalibDataID) 4.获取标定图片 相机拍摄不同位姿下图片8-15张,拍摄图片时标定板尽量覆盖整个视场(标定板要根据工作距离、视场大小定制);拍摄图片上的圆直径不得小于10个像素 5.加载所有图像,寻找标定板区域,确定圆心,将结果加载到组元中 for I := 1 to NumImages by 1 ... acquire image ... find_caltab (Image, Caltab, CaltabName, SizeGauss, MarkThresh, MinDiamMarks) find_marks_and_pose (Image, Caltab, CaltabName, StartCamPar, StartThresh, \ DeltaThresh, MinThresh, Alpha, MinContLength, MaxDiamMarks, RCoord, CCoord, StartPose) set_calib_data_observ_points (CalibDataID, 0, 0, I, RCoord, CCoord, 'all', StartPose) endfor 下面将Halcon中提取目标点的大致原理说一下: 首先find_caltab 算子对图像高斯滤波(核大小为SizeGauss),接着阈值分割(与之大小为MarkThresh)将标定板的区域找出来, find_marks_and_pose 算子对区域中的圆进行分割,找到圆的个数,周长,坐标位置等应该和标定板描述文件中的一致,否则会自动调整StartThresh,使得StartThresh按照DeltaThresh步长减小到MinThresh,知道找到准确的圆心。 6.有了所有图像中的圆心就可以标定了 calibrate_cameras (CalibDataID, Errors) 返回平均投影误差Errors

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