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BBK-相机内参标定

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本文字数： 2.1k 阅读时长 ≈ 2 分钟

介绍BBK软件中采用的简易内参标定, 主要用于计算相机焦距

BBK使用的内参标定方法之一

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Camera.IntrinsicsCalibriton(_calibrationAgorithm.DotLeftTop,
    _calibrationAgorithm.DotRightTop,
    _calibrationAgorithm.DotLeftBottom,
    _calibrationAgorithm.DotRightBottom,
    _calibrationAgorithm.DotHorLength,
        _calibrationAgorithm.DotVerLength,
    _calibrationAgorithm.DotDistance);

public void IntrinsicsCalibriton(PointF LeftTop, PointF RightTop, PointF LeftBottom, PointF RightBottom, double LengthHor, double LengthVer, double Distance)
{
    // 计算四点组成矩形的四条边长(单位像素)
    double L1 = Math.Sqrt((RightTop.X - LeftTop.X) * (RightTop.X - LeftTop.X) + (RightTop.Y - LeftTop.Y) * (RightTop.Y - LeftTop.Y));
    double L2 = Math.Sqrt((LeftBottom.X - LeftTop.X) * (LeftBottom.X - LeftTop.X) + (LeftBottom.Y - LeftTop.Y) * (LeftBottom.Y - LeftTop.Y));
    double L3 = Math.Sqrt((RightBottom.X - LeftBottom.X) * (RightBottom.X - LeftBottom.X) + (RightBottom.Y - LeftBottom.Y) * (RightBottom.Y - LeftBottom.Y));
    double L4 = Math.Sqrt((RightBottom.X - RightTop.X) * (RightBottom.X - RightTop.X) + (RightBottom.Y - RightTop.Y) * (RightBottom.Y - RightTop.Y));

    double diffPixelX = (L1 + L3) / 2;// 图像平均横向长度(像素)
    double diffPixelY = (L2 + L4) / 2;// 图像平均竖向长度(像素)

    if ((diffPixelX == 0) || (diffPixelY == 0))
        throw new ArgumentOutOfRangeException("boardParam.RightTop , boardParam.LeftTop , boardParam.RightBottom , boardParam.LeftBottom");

    // Distance为感光芯片到物体的距离 = 光学公式中的D+f(近似认为像距=焦距)
    // 即:(D-f)/f = L/p
    // 下面公式中为: f = D*p / (L+p)
    // f/D = p/(L+p)
    // D/f = (L+p)/p = L/p + 1
    // D/f-1 = L/p = (D-f)/f
    double fx = (Distance * diffPixelX * PixelSize) / (LengthHor + diffPixelX * PixelSize);
    double fy = (Distance * diffPixelY * PixelSize) / (LengthVer + diffPixelY * PixelSize);
    // 相机焦距为XY方向的平均焦距(单位毫米)
    Intrinsics_f = fx / 2 + fy / 2;
    // 相机内参(单位像素)
    Intrinsics_Fx = (fx / PixelSize).Round(4);
    Intrinsics_Fy = (fy / PixelSize).Round(4);
    // 相机内参(单位像素)
    Intrinsics_Cx = PixelWidth / 2;
    Intrinsics_Cy = PixelHeight / 2;
}