Halcon-标定双目立体视觉系统

Halcon-标定双目立体视觉系统
1.caltab_points( : :CalTabDescrFile:X,Y,Z)
从标定文件中读取标定板坐标系中的标定点坐标
2.binocular_calibration( : :NX,NY,NZ,NRow1,NCol1, NRow2,NCol2,StartCamParam1,StartCamParam2, NStartPose1,NStartPose2,EstimateParams:CamParam1, CamParam2,NFinalPose1,NFinalPose2,RelPose,Errors)计算立体视觉系统的所有参数
参数:
NX,NY,NZ：标定点坐标数组；
NRow1,NCol1,NRow2,NCol2：标定点的图像坐标数组；
StartCamParam1,StartCamParam2：相机1，2的初始内参数；
NStartPose1,NStartPose2：标定板在相机1，2的初始位姿；
EstimateParams：选择将被计算的相机参数；
CamParam1,CamParam2：计算得到的相机1，2的内参数；
NFinalPose1,NFinalPose2：所有标定模型在摄像机坐标系中的位姿数组；
RelPose：相机2相对于相机1的位姿；
Errors：像素距离的平均错位率；
3.check_epipolar_constraint(ImageRectifiedL, ImageRectifiedR: :RectCamParL,RectCamParR,WindowHandle1, WindowHandle2:EpipolarError)
内部程序，检查并显示极线约束
4.gen_binocular_rectification_map( :Map1,Map2: CamParam1,CamParam2,RelPose,SubSampling,Method, MapType:CamParamRect1,CamParamRect2,CamPoseRect1, CamPoseRect2,RelPoseRect)产生变换映射，该映射描述了左右相机对到图像校正后的基平面之间的映射。

参数:
MapL, MapR：包含左右目相机映射数据的映射图。

CamParamL, CamParamR：两相机的原始参数。

RelPose：右目相对于左目的位姿。

SubSampling: 相机的二次采样因数。

Method:图像校正方法。

MapType: 映射的插值方式。

CamParamRect1, CamParamRect2: 相机图像矫正后的内外参数CamPoseRect1,CamPoseRect2:校正前的相机在校正后相机坐标系中的位姿态
RelPoseRect:矫正后的相机2相对于相机1的位姿。

5.find_marks_and_pose(Image,CalTabRegion : : CalTabDescrFile,StartCamParam,StartThresh,DeltaThresh, MinThresh,Alpha,MinContLength,MaxDiamMarks :RCoord, CCoord, StartPose)
从图像中抽取标定点，计算标定板在摄像机坐标系中的位姿。

控制参数：
CalTabDescrFile：标定板描述文件
StartCamParam：照相机的内参数
StartThresh：检测轮廓时的初始阈值。

DeltaThresh：检测失败时下一次比前一次减小的阈值。

MinThresh：检测循环时终止的阈值。

Alpha：边缘检测时的滤波参数，值越小平滑效果越好，但细节越模糊。

MinContLength：标定点轮廓的最小长度，小于此长度的轮廓将被去除。

MaxDiamMarks：标定点的最大直径，大于此直径的椭圆区域将被去除。

RCoord,CCoord：标定点中心坐标。

StartPose：标定板坐标系在摄像机坐标系下的位姿。

* Application program to demonstrate the calibration of a
binocular stereo system.
*
* We have a stereo setup of two cameras ('camera1 is left of camera2').
* Both cameras will be calibrated by a couple of images of a 30mm calibration plate. An image pair
* will be rectified to epipolar images and the epipolar constraint will be checked.
* ---------------------------------------------------------
* Set the image path
ImgPath := 'stereo/board/'
* Read the first images to get their size
Index := 1
read_image (ImageL, ImgPath+'calib_l_'+Index$'02d')
read_image (ImageR, ImgPath+'calib_r_'+Index$'02d')
* Reopen the windows with an appropriate size
dev_close_window ()
get_image_size (ImageL, WidthL, HeightL)
dev_open_window (0, 0, WidthL, HeightL, 'black', WindowHandle1)
dev_set_draw ('margin')
dev_set_color ('green')
dev_update_window ('off')
set_display_font (WindowHandle1, 14, 'mono', 'true', 'false') get_image_size (ImageR, WidthR, HeightR)
dev_open_window (0, WidthL+5, WidthL, HeightL, 'black', WindowHandle2)
dev_set_draw ('margin')
dev_set_color ('green')
dev_update_window ('off')
* Read the model calibration points.
CaltabFile := 'caltab_30mm.descr'
caltab_points (CaltabFile, X, Y, Z) //从标定板文件中读取标定点坐标//
* Set the initial values for the interior camera parameters
StartCamParL := [0.0125, 0, 1.48e-5, 1.48e-5,WidthL/2.0,HeightL/2.0,WidthL,HeightL]
StartCamParR := StartCamParL
* Parameter settings for find_caltab and find_marks_and_pose
SizeGauss := 3
MarkThresh := 120
MinDiamMarks := 5
StartThresh := 128
DeltaThresh := 10
MinThresh := 18
Alpha := 0.9
MinContLength := 15
MaxDiamMarks := 100
* Create the tuples in which the image coordinates of the
* calibration marks and the initial poses will be accumulated * dev_update_window ('off')
RowsL := []
ColsL := []
StartPosesL := []
RowsR := []
ColsR := []
StartPosesR := []
* Start the loop over the calibration images
for Index := 1 to 15 by 1
* Read the calibration images
read_image (ImageL, ImgPath+'calib_l_'+Index$'02d')
read_image (ImageR, ImgPath+'calib_r_'+Index$'02d')
* Search for the calibration plate
find_caltab (ImageL, CaltabL, CaltabFile, SizeGauss, MarkThresh, MinDiamMarks)
find_caltab (ImageR, CaltabR, CaltabFile, SizeGauss, MarkThresh, MinDiamMarks)
* Display calibration plate regions
dev_set_window (WindowHandle1)
dev_display (ImageL)
dev_display (CaltabL)
dev_set_window (WindowHandle2)
dev_display (ImageR)
dev_display (CaltabR)
* Extraction of marks and pose as well as visualization of the * results for the second image.
find_marks_and_pose (ImageL, CaltabL, 'caltab_30mm.descr', StartCamParL, StartThresh, DeltaThresh, MinThresh, Alpha, MinContLength, MaxDiamMarks, RCoordL, CCoordL, StartPoseL) disp_caltab (WindowHandle1, CaltabFile, StartCamParL, StartPoseL, 1)
* Extraction of marks and pose as well as visualization of the * results for the second image.
find_marks_and_pose (ImageR, CaltabR, 'caltab_30mm.descr', StartCamParR, StartThresh, DeltaThresh, MinThresh, Alpha, MinContLength, MaxDiamMarks, RCoordR, CCoordR, StartPoseR) disp_caltab (WindowHandle2, CaltabFile, StartCamParR, StartPoseR, 1)
* Accumulate the image coordinates of the calibration marks
* as well as the estimated initial poses for all stereo pairs,
* where the poses has been estimated consistently.
RowsL := [RowsL,RCoordL]
ColsL := [ColsL,CCoordL]
StartPosesL := [StartPosesL,StartPoseL]
RowsR := [RowsR,RCoordR]
ColsR := [ColsR,CCoordR]
StartPosesR := [StartPosesR,StartPoseR]
endfor
* Perform the actual calibration
binocular_calibration (X, Y, Z, RowsL, ColsL, RowsR, ColsR, StartCamParL, StartCamParR, StartPosesL, StartPosesR, 'all', CamParamL, CamParamR, NFinalPoseL, NFinalPoseR, cLPcR, Errors)
* If required, save the results to disk:
* write_cam_par (CamParamL, 'cam_left-125.dat')
* write_cam_par (CamParamR, 'cam_right-125.dat')
* write_pose (cLPcR, 'pos_right2left.dat')
* Generate the rectification maps
gen_binocular_rectification_map (MapL, MapR, CamParamL, CamParamR, cLPcR, 1, 'geometric', 'bilinear', RectCamParL, RectCamParR, CamPoseRectL, CamPoseRectR, RectLPosRectR) * Read in a stereo image pair, aquired with the stereo camera system,
* which has been calibrated, just now.
read_image (ImageL, ImgPath+'calib_l_01')
read_image (ImageR, ImgPath+'calib_r_01')
* Rectify the stereo images and display them
map_image (ImageL, MapL, ImageRectifiedL)
map_image (ImageR, MapR, ImageRectifiedR)
* Check the epipolar constraint on the rectified images,
* (the differences of the features' row coordinates should be small)
* and visualize the result (including some corresponding epipolar lines)
check_epipolar_constraint (ImageRectifiedL, ImageRectifiedR, RectCamParL, RectCamParR, WindowHandle1, WindowHandle2, EpipolarError)。