太原网站制作机构,网页视频下载到电脑,做机电预算的网站,五八精准恶意点击软件1、为什么要用手眼标定
参考手眼标定特别是眼在手上在网上的文章很多#xff0c;但很多在实际中调试不通。在定位时候#xff0c;往往希望相机能返回的是机械的世界坐标#xff0c;而不是相机的的图像坐标。从而间接计算出相机坐标系与机械坐标世界坐标转换矩阵#xff0c…1、为什么要用手眼标定
参考手眼标定特别是眼在手上在网上的文章很多但很多在实际中调试不通。在定位时候往往希望相机能返回的是机械的世界坐标而不是相机的的图像坐标。从而间接计算出相机坐标系与机械坐标世界坐标转换矩阵以镜头中心为参考点。
2、手眼标定的实现 stp1移动模组3*3 3行3列分别模组走一个点BxBy相机拍照获取一张图片Mark的坐标AxAy的坐标。
*已知相机的9个点 Ax:[825.505,1116.06,1405.89,830.793,1121.89,1412.44,836.321,1127.35,1417.95] Ay:[1413.87,1419.22,1423.91,1122.52,1128.24,1133.46,830.913,836.734,842.063]
*分别对应相机Mark点的模组获取的坐标 Bx:[-152.7289,-153.7289,-154.7289,-152.7289,-153.7289,-154.7289,-152.7289,-153.7289,-154.7289] By:[-92.8409,-92.8409,-92.8409,-93.8409,-93.8409,-93.8409,-94.8409,-94.8409,-94.8409]
stp2仿射变换求出仿射矩阵HomMat2D
vector_to_hom_mat2d ( Ax, Ay, Bx, By,HomMat2D)
stp3求世界坐标
手眼标定以相机中心
1、求出base以图像dqx1, dqy100为参考点
affine_trans_point_2d (HomMat2D, 0, 0, dqx1, dqy1)
2、求出图像Mark坐标pixx:1417.95pixy:842.063到图像中心点坐标的世界坐标标定时候的中心点10241224
dpix:1024-pixx dpiy:1224-pixy
affine_trans_point_2d (HomMat2D, dpix, dpiy, dqx, dqy)
3、求出偏差Offset dqx2dqy2
dqx2:dqx-dqx1 dqy2:dqy-dqy1
4、模组获取反馈的运动控制的坐标realxraaly求出镜头中心实际坐标realx3realy3
realx3:realxdqx2 realy3:raalydqy2
read_image(Image, printer_chip/printer_chip_01)
*已知A坐标系的9个点
Ax:[825.505,1116.06,1405.89,830.793,1121.89,1412.44,836.321,1127.35,1417.95]
Ay:[1413.87,1419.22,1423.91,1122.52,1128.24,1133.46,830.913,836.734,842.063]*待识别的B坐标点和上面的A坐标系点一一对应
Bx:[-152.7289,-153.7289,-154.7289,-152.7289,-153.7289,-154.7289,-152.7289,-153.7289,-154.7289]
By:[-92.8409,-92.8409,-92.8409,-93.8409,-93.8409,-93.8409,-94.8409,-94.8409,-94.8409]
* for Index : 1 to 9 by 1
* dev_display (Image)* 以下过程为在B坐标系找A中的9个点
* draw_rectangle1 (200000, Row1, Column1, Row2, Column2)
* gen_rectangle1 (Rectangle, Row1, Column1, Row2, Column2)
* reduce_domain (Image, Rectangle, ImageReduced)
* binary_threshold (ImageReduced, Region, max_separability, light, UsedThreshold)
* connection (Region, ConnectedRegions)
* select_shape (ConnectedRegions, SelectedRegions, roundness, and, 0.7, 1)
* select_shape (SelectedRegions, SelectedRegion2, rb, and, 32, 100)
* fill_up (SelectedRegions, RegionFillUp)*找到了B坐标系的点(Row,Column)
* area_center (RegionFillUp, Area, Row, Column)
* Bx:[Bx,Column]
* By:[By,Row]
* endfor
*得到目标变换矩阵HomMat2Dvector_to_hom_mat2d ( Ax, Ay, Bx, By,HomMat2D)vector_to_hom_mat2d ( Bx, By, Ax, Ay,HomMat2DINV)********new realx raaly机械反馈的坐标
realx:-154.7289
raaly:-94.8409
pixx:1417.95
pixy:842.063
dpix:1024-pixx
dpiy:1224-pixy
affine_trans_point_2d (HomMat2D, dpix, dpiy, dqx, dqy)
affine_trans_point_2d (HomMat2D, 0, 0, dqx1, dqy1)dqx2:dqx-dqx1
dqy2:dqy-dqy1realx3:realxdqx2
realy3:raalydqy2
