大恒halcon图像处理资料.pdf

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HALCON标定与高精度测量段德山产品总监中国大恒（集团）有限公司北京图像视觉技术分公司 H b m G e r a w t f o S c e T V M 2 1 0 2 - 3 0 0 2 ©

HALCON provides measuring technology for all applications Interest points (0D) Edge transition (1D) Line Standard Calibration Arc Fuzzy Threshold Contour (2D) Gray Edge Color Line Threshold Pattern matching

Overview: Conditions  1D (line scan) or 2D (matrix) sensor  Planar measurement surface  The objects to be measured are on the surface and are planar  The objects have a known thickness, typically 0

Calibration — What for?  Accurate measurement  Convert image coordinates to world coordinates  Correct lens distortions  Align the camera  Align the images of two cameras  Determine the relation between the camera and a plane  Determine the relation between two planes  Determine the relation between the camera and a robot  Rectify images when looking non-orthogonal  Convert world coordinates to image coordinates

Calibration modes Area scan sensor? Yes Only camera parameters? Yes Use calibration plate? Yes No No No Line scan calibration Area scan calibration Self- calibration Area scan calibration

Overview: Calibration process Calibrate the system using the calibration plate

Overview: Correction Get calibrated measurement results by  measuring in the image and transform the results using calibration  correcting the image and applying the measurement afterwards

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