halcon相机标定参数转为opencv参数形式

最新推荐文章于 2022-04-12 14:45:05 发布

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最新推荐文章于 2022-04-12 14:45:05 发布

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分类专栏： opencv 文章标签： opencv

本文链接：https://blog.youkuaiyun.com/qq_39003748/article/details/108118051

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本文介绍了一种将Halcon相机标定得到的畸变系数转换为OpenCV格式的方法，通过具体数学公式展示了如何调整参数以适应OpenCV的畸变矫正算法。

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由于条件限制拿到了halcon标定相机的参数，但由于自己畸变矫正采用opencv形式，但halcon官网给出5畸变系数到opencv不可转换。实际转换公式为：

void calibParaL (Mat &cameraMatrix, Mat &distCoeffs)
{
   double F = 6.2254672188473579e-03;
   double sx = 4.7992918037134185e-06;
   double sy = 4.7999999999999998e-06;
   double k1h = 5.7491650585212965e+03; //k1k2k3p1p2
   double k2h = - 2.7796396962651394e+07;
   double k3h = - 1.4920594731728228e+12;
   double p1h = 5.6153778906380375e-02;
   double p2h = - 9.1599064524437290e-03; //p2

   cameraMatrix = Mat::eye(3, 3, CV_64F);
   cameraMatrix.at<double>(0, 0) = F / sx;
   cameraMatrix.at<double>(0, 1) = 0.0;
   cameraMatrix.at<double>(0, 2) = 6.402223194383531e+02;
   cameraMatrix.at<double>(1, 1) = F / sy;
   cameraMatrix.at<double>(1, 2) = 5.076691017558288e+02;

   distCoeffs = Mat::zeros(5, 1, CV_64F);
   distCoeffs.at<double>(0, 0) = -k1h*F*F ;
   distCoeffs.at<double>(1, 0) = k2h*F*F*F*F;
   distCoeffs.at<double>(2, 0) = p2h*F;
   distCoeffs.at<double>(3, 0) = p1h*F;
   distCoeffs.at<double>(4, 0) = k3h*F*F*F*F*F*F;
}

本公式参考

https://stackoverflow.com/questions/58606394/halcon-to-opencv-distortion-coefficients-convertion