单目相机标定
dev_update_off ()dev_close_window ()
dev_open_window (0, 0, 652, 494, 'white', WindowHandle)
dev_set_draw ('margin')
dev_set_line_width (3)
dev_get_preferences ('suppress_handled_exceptions_dlg', SuppressExceptionSetting)
dev_set_preferences ('suppress_handled_exceptions_dlg', 'true')
set_display_font (WindowHandle, 14, 'mono', 'true', 'false')
* Perform the standard camera calibration using the calibration plate.
create_calib_data ('calibration_object', 1, 1, CalibDataID)
set_calib_data_cam_param (CalibDataID, 0, 'area_scan_division', )
set_calib_data_calib_object (CalibDataID, 0, 'caltab_800mm.descr')
for I := 1 to 10 by 1
read_image (Image, 'self_calib/calib_' + I $ '02d')
dev_display (Image)
Message := 'Find calibration plate in all calibration images (' + I + '/10)'
disp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'true')
* Find the calibration table
find_calib_object (Image, CalibDataID, 0, 0, I, [], [])
get_calib_data_observ_contours (Caltab, CalibDataID, 'caltab', 0, 0, I)
get_calib_data_observ_points (CalibDataID, 0, 0, I, Row, Column, Index, Pose)
gen_circle (Circles, Row, Column, gen_tuple_const(|Row|,2.0))
dev_set_color ('green')
dev_display (Caltab)
dev_set_color ('red')
dev_display (Circles)
endfor
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
calibrate_cameras (CalibDataID, Errors)
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
clear_calib_data (CalibDataID)
S := CamParam
dev_open_window (0, 0, 652, 494, 'white', WindowHandle)
Message := 'From calibration:\n '
Message := 'Focal length: ' + (CamParam * 1000) $ '5.2f' + ' mm'
Message := 'Kappa: ' + CamParam $ '12.2f'
Message := 'Cx: ' + CamParam $ '15.2f'
Message := 'Cy: ' + CamParam $ '15.2f'
Message := 'Sx: ' + (CamParam * 1e6) $ '15.2f' + ' μm'
Message := 'Sy: ' + (CamParam * 1e6) $ '15.2f' + ' μm'
disp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'false')
输出结果解释如下：标定时个参数值的确定技巧
Focus f:镜头的标称焦距, e.g., 0.016 m.； 对于远心镜头为0.
κ: 一般去0.0
Or:
K1, K2, K3,P1, P2:可全部初始化为0
Sx: 由CCD\CMOS确定建议取值如下:
Full image (640*480) Subsampling (320*240)
1/3"-Chip 0.0000055 m 0.0000110 m
1/2"-Chip 0.0000086 m 0.0000172 m
2/3"-Chip 0.0000110 m 0.0000220 m
Sy: 由CCD\CMOS确定建议取值如下:
for example:
Full image (640*480) Subsampling (320*240)
1/3"-Chip 0.0000055 m 0.0000110 m
1/2"-Chip 0.0000086 m 0.0000172 m
2/3"-Chip 0.0000110 m 0.0000220 m
Cx and Cy: 光心坐标初始值，建议取值如下:
for example:
Full image (640*480) Subsampling (320*240)
Cx 320.0 160.0
Cy 240.0 120.0
ImageWidth，ImageHeight:有实际图片大小来初始化该值参考链接：
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
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