halcon机器人视觉(四)calibrate_hand_eye_stationary_3d_sensor

一、准备数据和模型

1、读3D模型：read_object_model_3d
2、创建表面匹配模板：create_surface_model
3、创建一个HALCON校准数据模型：create_calib_data

read_object_model_3d ('hand_eye/robot_gripper_3d_model.om3', 1, [], [], OM3DModel, Status)
create_surface_model (OM3DModel, 0.03, [], [], SurfaceModelID)
sample_object_model_3d (OM3DModel, 'fast', 0.0009, [], [], SampledObjectModel3D)
visualize_object_model_3d (WindowHandle, SampledObjectModel3D, [], [], 'color_0', 'gray', Message, [], Instruction, PoseOut)
NumCalibrationScenes := 15

create_calib_data ('hand_eye_stationary_cam', 0, 0, HECCalibDataID)
set_calib_data (HECCalibDataID, 'model', 'general', 'optimization_method', 'nonlinear')

二、按照表面匹配的的结果进行手眼标定

1、表面匹配获得ObjInCamPose：find_surface_model 和refine_surface_model_pose
2、设置标定姿态： set_calib_data_observ_pose (HECCalibDataID, 0, 0, I, ObjInCamPose)
3、进行手眼标定：calibrate_hand_eye

read_image (ImageRobotGripperGray, ImagesDir + I$'02d')
read_pose ('tool_in_base_pose_' + I$'02d' + '.dat', ToolInBasePose)

filename := 'hand_eye/robot_gripper_3d_scene_' + I$'02d'
read_object_model_3d (filename, 1, [], [], OM3DScene, Status1)
find_surface_model (SurfaceModelID, OM3DScene, 0.05, 1, 0, 'false', [], [], ObjInCamPose, Score, SurfaceMatchingResultID)
refine_surface_model_pose (SurfaceModelID, OM3DScene, ObjInCamPose, 0, 'false', [], [], ObjInCamPose, Score, SurfaceMatchingResultID1)
if (|Score|)
    set_calib_data (HECCalibDataID, 'tool', I, 'tool_in_base_pose', ToolInBasePose)
    set_calib_data_observ_pose (HECCalibDataID, 0, 0, I, ObjInCamPose)
endif
pose_to_hom_mat3d (ObjInCamPose, HomMat3D)
affine_trans_object_model_3d (SampledObjectModel3D, HomMat3D, OM3DModelTrans)

check_hand_eye_calibration_input_poses (HECCalibDataID, 0.05, 0.005, Warnings)
calibrate_hand_eye (HECCalibDataID, HECPoseError)

三、根据标定结果计算CalObjInCamPose

1、获取标定结果：BaseInSensorPose、ObjInToolPose、ToolInBasePose
get_calib_data (HECCalibDataID, ‘camera’, 0, ‘base_in_cam_pose’, BaseInSensorPose)
get_calib_data (HECCalibDataID, ‘calib_obj’, 0, ‘obj_in_tool_pose’, ObjInToolPose)
get_calib_data (HECCalibDataID, ‘tool’, PoseIds[J - 1], ‘tool_in_base_pose’, ToolInBasePose)
2、根据标定结果计算CalObjInCamPose：calc_calplate_pose_stationarycam
3、变换和可视化：affine_trans_object_model_3d 和 visualize_object_model_3d

get_calib_data (HECCalibDataID, 'camera', 0, 'base_in_cam_pose', BaseInSensorPose)
get_calib_data (HECCalibDataID, 'calib_obj', 0, 'obj_in_tool_pose', ObjInToolPose)
read_image (ImageRobotGripperGray, ImagesDir + J$'02d')
filename := 'hand_eye/robot_gripper_3d_scene_' + J$'02d'
read_object_model_3d (filename, 1, [], [], OM3DScene, Status1)
get_calib_data (HECCalibDataID, 'tool', PoseIds[J - 1], 'tool_in_base_pose', ToolInBasePose)
calc_calplate_pose_stationarycam (ObjInToolPose, BaseInSensorPose, ToolInBasePose, CalObjInCamPose)
pose_to_hom_mat3d (CalObjInCamPose, HomMat3D)
affine_trans_object_model_3d (OM3DModel, HomMat3D, OM3DModelTrans)
visualize_object_model_3d (WindowHandle, [SampledOM3DScene,OM3DModelTrans], [], [], ['color_0', 'color_1', 'disp_background'], ['gray', 'green', 'true'], [], [], Instruction, PoseOut)