Calibration of Halcon's single camera
Single camera calibration steps:
Step 1: Open HALCON and create a new program.
Step 2: Enter the operator gen_caltab in the program editor, then right-click to open the operator window, enter the relevant parameters, and click OK, as shown in the figure.
Note: After completing this step, two files will be generated, one is the calibration board description file with the suffix .descr, and the other is the image file of the calibration board. The save path of these two files can be changed in the operator window.
Step 3: Open the calibration assistant in the assistant, as shown in the figure.
Step 4: Enter the calibration assistant interface, change the description file, camera model and camera related parameters, as shown in the figure: 
Step 5: Click the calibration tab, and then click the image acquisition assistant, the image acquisition assistant dialog box will pop up immediately ( If you have opened the image acquisition assistant before, it will not pop up here), then proceed to connect the camera.
Click on the automatic detection interface, you can choose the interface that comes with halcon or the interface of the camera. After
clicking the connection tab, click connect, and then close the image acquisition assistant.
Note: If there is a problem connecting the camera, you can refer to the following connection to solve:
https: //blog.csdn.net/Kevin_Sun777/article/details/108813517
Step 6: Go back to the calibration assistant page, click on the real-time image, and then the camera will be opened, as shown in the figure:
Step 7: Click to capture, after each click, you need to change the pose of the calibration board, usually 9 to 9 16 pictures are enough , as shown in the figure:
Step 8: After the acquisition is completed, clear the check of the real-time image and then choose any picture to set it as the reference pose, and then click on the calibration, as shown in the figure:
After clicking on the calibration, the calibration result will be generated immediately (as shown in the picture), the internal and external parameters of the camera will be saved, and the internal and external parameter files can be directly called by the measurement assistant next time.
Next, you can also generate codes or use examples:
Finally, let’s talk about
the calibration board. The specification of the calibration board used this time is GB025-1.25-7x7, as shown in Figure
1.25 is the diameter of the mark point. This value is multiplied by 2 to get two adjacent marks. The point center distance
7x7 is the number of marked points in the x and y directions.
Attachment:
Calibration board reference data For 
the theoretical introduction of calibration, please refer to this blog:
https://blog.csdn.net/weixin_43197380/article/details/90438976