基于OpenCV的多视角视觉测量系统标定

《》()20092511-1360/：82-946《200》OpenCVCalibrationforMulti-AnglesVisionMeasuringSystemBasedonOpenCV()LIXuWANGYong-qiangXUZeng-puYUDe-min:,OpenCV,。,。:;;;OpenCV:TP391:AAbstract:Theprincipleofcameracalibrationmethodformulti-anglesvisionmeasuringsystemisanalyzed.TheprocessingflowofthecalibrationmethodisgivenbasedonOpenSourceComputerVisionlibrary.Thecameracalibrationsoftwareformulti-anglesvi-sionmeasuringsystemisrealized.Theexperimentprovesthatthemethodiseasyanduser-friendly.Keywords:Cameracalibration;Multi-angles;Visionmeasuringsystem;OpenCV:1008-0570(2009)11-1-0204-031,,,。OpenCV,,、,,OpenCV。22.11。1Ocxcyczc,Oxy。Os,Osxsyszs。OsxsysOsxsyszs(1)POsxsyszs,p,,。(2)(3):A———R———T———fx,fy———x、yu0,v0———(1)、(2)。(3),(1)、(2)。,。2.2,,,。,。Os,Osxsyszs。,。,。,:Oixiyizi,O1x1y1z1,O2x2y2z2,Osxsyszs。POixiyizi,O1x1y1z1,O2x2y2z2,Osxsyszs,:204--：82-946360/《PLC200》(4)(5)(6)—————————(4)~(6)(7)。3OpenCV3.12,,,。2。,,。,。、OpenCVcvFindChessboardCorners(),cvFindCornerSubPix(),。,。cvCalibrateCamera2(),,fx,fy,u0,v0,、。,,,,。XOY,。,,。,XOY,。,cvFindChessboardCorners(),cvFindExtrinsicCameraParam2()。,(7),。,,。3.2,cvFindChessboardCorners()。,,。,,2。XOY,a。A,B。()m_numofpt,m_panewidth。A(-2*m_panewidth,-2*m_panewidth,0),B(-2*m_panewidth,(m_numofpt+2)*m_panewidth,0)。2resultpts[M][N],M,Nm_numofpt,resultpts[0][0]a,2。,:cvFindChessboardCorners(),pts[M][N](M,Nm_numofpt)。pts[0][0]P1,pts[0][m_numofpt-1]P2,pts[m_numofpt-1][m_numofpt-1]P3,pts[m_numofpt-1][0]P4。3,,P1,P11,,P1,(*),Q1,Q1,(2*),,Area1。,Area2,Area3,Area4。,cvAdaptiveThreshold(),Area1,,xy,xmax,xmin,ymax,ymin,,xyl,l=max((xmax-xmin),(ymax-ymin))。,l[1.6,2.2],P1a,l[0.6,1.2],P1b,Area2,Area3,Area4,P1,P2,P3,P4a,b,c,d。3,:P1-b,P2-c,P3-d,P4-a。3XaOaYaXbObYb。a,b,c,dXaOaYaresultpts,(0,0),(0,m_numofpt-1),(m_numofpt-1,m_numofpt-1),(m_numofpt-1,0),P1,P2,P3,P4XbObYbpts,(0,0),(0,m_numofpt-1),(m_numofpt-1,m_numofpt-1),(m_nu－205--《》()20092511-1360/：82-946《200》mofpt-1,0),XaOaYaXbObYb3*3:M33=1。P1,P2,P3,P4a,b,c,dcvFindHomography()3*3。,(0,0)XbObYbXaOaYa。XbObYb(i,j),XaOaYa(h,k),resultpts[h][k]pts[i][j]。,hk,,hk。4,WindowsXP(SP2),VisualC++6.0OpenCV1.0,。,:274.7mm,279.9mm,5.2mm,1.88%。5OpenCVAPI,、。:OpenCV,。,。:,、。[1].OpenCVVC[J].,2007,4-3:209-210。[2],.,,2004,6[3]ZhangZY.Aflexiblenewtechniqueforcameracalibration.IEEETransactionsonPatternAnalysisandMachineIntelligence,2000,22(11):1330~1334:(1984-),(),,,;(1965-),(),,,,、;(1952-),(),,,,、;(1950-),(),,,,、。Biography:LIXu(1984-),male,Taiyuan,ShanXiProvince,master,researchdirectionforthemachinevision.(300222)(MechanicalEngineeringInstitute,TianjinUniversityofSci-enceandTechnology,Tianjin,300222,China)LIXuWANGYong-qiangXUZeng-puYUDe-min:(3002221038271)(:2008.12.18)(:2009.03.18)(159):RayleighDQPSK,DQPSK,,。[1],,..:,2005[2],,..:,2003[3]..:,1995[4],.MATLAB.:,2000[5],,..,2005,4-1:80-82:(1982-),,,。:;(1968-),,,,,,;(1981-),,,。:。Biography:WANGShi-qiang,(1982-),male,EngineeringCollege,AirForceEngineeringUniversity,master,major:videocompressionandtranslation.(710038)(TheEngineeringInstitute,AirForceEngineeringUniversity,Xi’an710038,China)WANGShi-qiangZHANGDeng-fuLUOWei:(71003814)(:2008.11.20)(:2009.02.20)(181)[1].[J].:,2004,[2],,.[J].,2006,26-2.[3]WangQun,WuNing,WangZhaoan.Aneuronadaptivedetect－ingapproachofharmoniccurrentforAPFanditsrealizationofanalogcircuit.IEEETrans.onInstrumentationandMeasurement,2001,50-1:77-84.[4]GaoDawei,SunXiaorui.Ashuntactivepowerfilterwithcontrolmethodbasedonneuralnetwork.PowerCon2000InternationalConference:1619-1624.[5],.[J].,2007,5-2:291-292.[6].TMS320C542[J].,1999,15-6:62~63.:(1982-),,,,:;(1957-),,,,:,。Biography:YUYi(1982-),Hunanprovince,Researchdirection:IntelligentControlandIntelligentAutomation.(410083)(CollegeofInformationScience&Technology,CentralSouthUniversity,ChangSha,410083,China)YUYiZHANGHang:(410083104)(:2008.12.15)(:2009.03.15)206--