单目相机标定

Halcom

1. dev_update_off ()
   
2. dev_close_window ()
   
3. dev_open_window (0, 0, 652, 494, 'white', WindowHandle)
   
4. dev_set_draw ('margin')
   
5. dev_set_line_width (3)
   
6. dev_get_preferences ('suppress_handled_exceptions_dlg', SuppressExceptionSetting)
   
7. dev_set_preferences ('suppress_handled_exceptions_dlg', 'true')
   
8. set_display_font (WindowHandle, 14, 'mono', 'true', 'false')
   
9. * Perform the standard camera calibration using the calibration plate.
   
10. create_calib_data ('calibration_object', 1, 1, CalibDataID)
    
11. set_calib_data_cam_param (CalibDataID, 0, 'area_scan_division', [0.0125,0,0.0000075,0.0000075,325.5,246.5,652,494])
    
12. set_calib_data_calib_object (CalibDataID, 0, 'caltab_800mm.descr')
    
13. for I := 1 to 10 by 1
    
14.     read_image (Image, 'self_calib/calib_' + I $ '02d')
    
15.     dev_display (Image)
    
16.     Message := 'Find calibration plate in all calibration images (' + I + '/10)'
    
17.     disp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'true')
    
18.     * Find the calibration table
    
19.     find_calib_object (Image, CalibDataID, 0, 0, I, [], [])
    
20.     get_calib_data_observ_contours (Caltab, CalibDataID, 'caltab', 0, 0, I)
    
21.     get_calib_data_observ_points (CalibDataID, 0, 0, I, Row, Column, Index, Pose)
    
22.     gen_circle (Circles, Row, Column, gen_tuple_const(|Row|,2.0))
    
23.     dev_set_color ('green')
    
24.     dev_display (Caltab)
    
25.     dev_set_color ('red')
    
26.     dev_display (Circles)
    
27. endfor
    
28. disp_continue_message (WindowHandle, 'black', 'true')
    
29. stop ()
    
30. calibrate_cameras (CalibDataID, Errors)
    
31. get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
    
32. clear_calib_data (CalibDataID)
    

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1. S := CamParam[3]
   
2. dev_open_window (0, 0, 652, 494, 'white', WindowHandle)
   
3. Message[1] := 'From calibration:\n '
   
4. Message[2] := 'Focal length: ' + (CamParam[0] * 1000) $ '5.2f' + ' mm'
   
5. Message[3] := 'Kappa: ' + CamParam[1] $ '12.2f'
   
6. Message[4] := 'Cx: ' + CamParam[4] $ '15.2f'
   
7. Message[5] := 'Cy: ' + CamParam[5] $ '15.2f'
   
8. Message[6] := 'Sx: ' + (CamParam[2] * 1e6) $ '15.2f' + ' μm'
   
9. Message[7] := 'Sy: ' + (CamParam[3] * 1e6) $ '15.2f' + ' μm'
   
10. disp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'false')
    

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输出结果解释如下：

1. 标定时个参数值的确定技巧
   
2.       Focus f:镜头的标称焦距, e.g., 0.016 m.； 对于远心镜头为0.
   
3.       κ: 一般去0.0
   
4.       Or:
   
5.       K1, K2, K3,P1, P2:可全部初始化为0
   
6.       Sx: 由CCD\CMOS确定建议取值如下:
   
7.            Full image (640*480) Subsampling (320*240)
   
8.            1/3"-Chip 0.0000055 m 0.0000110 m
   
9.            1/2"-Chip 0.0000086 m 0.0000172 m
   
10.            2/3"-Chip 0.0000110 m 0.0000220 m
    
11.       Sy: 由CCD\CMOS确定建议取值如下:
    
12.           for example:
    
13.            Full image (640*480) Subsampling (320*240)
    
14.            1/3"-Chip 0.0000055 m 0.0000110 m
    
15.            1/2"-Chip 0.0000086 m 0.0000172 m
    
16.            2/3"-Chip 0.0000110 m 0.0000220 m
    
17.       Cx and Cy: 光心坐标初始值，建议取值如下:
    
18.          for example:
    
19.           Full image (640*480) Subsampling (320*240)
    
20.           Cx 320.0 160.0
    
21.           Cy 240.0 120.0
    
22.       ImageWidth，ImageHeight:有实际图片大小来初始化该值

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参考链接：
http://www.360doc.com/content/14/0221/16/10724725_354517498.shtml
http://blog.sina.com.cn/s/blog_662c785901018cax.html
https://wenku.baidu.com/view/e47 ... 0bf78a64293a57.html
http://blog.sina.com.cn/s/blog_61cc743001017sz0.html
https://wenku.baidu.com/view/9b0 ... 43.html?from=search
https://wenku.baidu.com/view/e47 ... 57.html?from=search