halcon标定详解

*创建标定板

gen_caltab(7,7,0.008,0.5,'48_48mm.descr','48_48mm.ps')

*=======标定内参

dev_close_window ()

dev_open_window (0, 0, 652, 494, 'black', WindowHandle)

dev_update_off ()

dev_set_draw ('margin')

dev_set_line_width (3)

OpSystem := environment('OS')

set_display_font (WindowHandle, 14, 'mono', 'true', 'false')

*标定相机

StartCamPar := [0.0,0.0,0.0000299,0.0000299,4896/2,3264/2,4896,3264] create_calib_data ('calibration_object', 1, 1, CalibDataID)

set_calib_data_cam_param (CalibDataID, 0, 'area_scan_telecentric_divi sion', StartCamPar)

set_calib_data_calib_object (CalibDataID, 0, '48_48mm.descr')

* Note, we do not use the image from which the pose of the measuremen t plane can be derived

for index := 1 to 13 by 1

read_image (Image, '标定20/' + index + '.png')

get_image_size(Image, Width, Height)

dev_display (Image)

find_calib_object (Image, CalibDataID, 0, 0, index, [], [])

get_calib_data_observ_contours (Caltab, CalibDataID, 'caltab', 0, 0, index)

dev_set_color ('green')

dev_display (Caltab)

endfor

calibrate_cameras (CalibDataID, Error)

get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)

get_calib_data (CalibDataID, 'calib_obj_pose', [0,1], 'pose', PoseCal ib)

*输出计算的相机内参

write_cam_par (CamParam, 'camera_parameters.dat')

Message:= '相机内参已经写入文件中'

disp_message (WindowHandle, Message, 'window', 12, 12, 'red', 'false ')

clear_calib_data (CalibDataID)

stop()

*=====标定外参

dev_set_draw ('margin')

dev_set_line_width (1)

set_display_font (WindowHandle, 14, 'mono', 'true', 'false')

*从文件中读取内参存储文件：camera_parameters.dat

try

read_cam_par ('camera_parameters.dat', CamParam)

catch (Exception)

stop ()

endtry

*开始计算

open_file('data.csv','output', FileHandle)

fwrite_string(FileHandle,'Dis_pix*0.0299204,Dis_m*1000,Distance') fnew_line (FileHandle)

close_file(FileHandle)

*选择一张作为标定作为最终标定位姿（任意一张都可以）

index:=1

read_image (Image,'标定20/'+index+'.png')

dev_display (Image)

CaltabName := '48_48mm.descr'

create_calib_data ('calibration_object', 1, 1, CalibDataID)

* Here, the final camera parameters are already known and can be used instead

* of the starting values used in the program 'camera_calibration_inte rnal.hdev'

set_calib_data_cam_param (CalibDataID, 0, 'area_scan_telecentric_divi sion', CamParam)

set_calib_data_calib_object (CalibDataID, 0, CaltabName)

find_calib_object (Image, CalibDataID, 0, 0, 1, [], [])

get_calib_data_observ_contours (Caltab, CalibDataID, 'caltab', 0, 0, 1)

get_calib_data_observ_points (CalibDataID, 0, 0, 1, RCoord, CCoord, I ndex, PoseForCalibrationPlate)

dev_set_color ('green')

dev_display (Caltab)

dev_set_color ('red')