set_calib_data_cam_paramT_set_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam (Operator)

Name

set_calib_data_cam_paramT_set_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam — Set type and initial parameters of a camera in a calibration data model.

Signature

set_calib_data_cam_param( : : CalibDataID, CameraIdx, CameraType, CameraParam : )

Description

The operator set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParamSetCalibDataCamParam sets the initial camera parameters CameraParamCameraParamCameraParamCameraParamcameraParam for the camera with the index CameraIdxCameraIdxCameraIdxCameraIdxcameraIdx in the calibration data model CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID. The parameter CameraIdxCameraIdxCameraIdxCameraIdxcameraIdx must be between 0 and NumCameras-1 (NumCameras is specified during model creation with create_calib_datacreate_calib_dataCreateCalibDataCreateCalibDataCreateCalibData and can be queried with get_calib_dataget_calib_dataGetCalibDataGetCalibDataGetCalibData). If a camera with CameraIdxCameraIdxCameraIdxCameraIdxcameraIdx was already defined, its parameters are overwritten by the current ones (the camera is substituted). In this case, the selection which camera parameters are marked for optimization is reset and maybe has to be set again. Note that all NumCameras cameras must be set to perform calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras. The calibration procedure refines these initial parameters.

Below is an overview of all available camera types and their respective parameters CameraParamCameraParamCameraParamCameraParamcameraParam. In the list, “projective area-scan cameras” refers to the property that the lens performs a perspetive projection on the object-side of the lens, while “telecentric area-scan cameras” refers to the property that the lens performs a telecentric projection on the object-side of the lens.

CameraTypeCameraTypeCameraTypeCameraTypecameraType is only provided for backwards compatibility. Its value is ignored since the same information is also contained in the first element of CameraParamCameraParamCameraParamCameraParamcameraParam.

Area-scan Cameras with regular lenses

Projective area-scan cameras

'area_scan_division'"area_scan_division""area_scan_division""area_scan_division""area_scan_division": ['area_scan_division', Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]
'area_scan_polynomial'"area_scan_polynomial""area_scan_polynomial""area_scan_polynomial""area_scan_polynomial": ['area_scan_polynomial', Focus, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

Telecentric area-scan cameras

'area_scan_telecentric_division'"area_scan_telecentric_division""area_scan_telecentric_division""area_scan_telecentric_division""area_scan_telecentric_division": ['area_scan_telecentric_division', Magnification, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]
'area_scan_telecentric_polynomial'"area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial": ['area_scan_telecentric_polynomial', Magnification, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

Area-scan cameras with tilt lenses

Projective area-scan cameras

'area_scan_tilt_division'"area_scan_tilt_division""area_scan_tilt_division""area_scan_tilt_division""area_scan_tilt_division": ['area_scan_tilt_division', Focus, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]
'area_scan_tilt_polynomial'"area_scan_tilt_polynomial""area_scan_tilt_polynomial""area_scan_tilt_polynomial""area_scan_tilt_polynomial": ['area_scan_tilt_polynomial', Focus, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]
'area_scan_tilt_image_side_telecentric_division': ['area_scan_tilt_image_side_telecentric_division', Focus, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]
'area_scan_tilt_image_side_telecentric_polynomial': ['area_scan_tilt_image_side_telecentric_polynomial', Focus, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

Telecentric area-scan cameras

'area_scan_tilt_bilateral_telecentric_division': ['area_scan_tilt_bilateral_telecentric_division', Magnification, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]
'area_scan_tilt_bilateral_telecentric_polynomial': ['area_scan_tilt_bilateral_telecentric_polynomial', Magnification, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]
'area_scan_tilt_object_side_telecentric_division': ['area_scan_tilt_object_side_telecentric_division', Magnification, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]
'area_scan_tilt_object_side_telecentric_polynomial': ['area_scan_tilt_object_side_telecentric_polynomial', Magnification, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

Line scan cameras

'line_scan'"line_scan""line_scan""line_scan""line_scan": ['line_scan', Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz]

For a detailed description of the camera types, camera parameters and suggested initial values, see calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras.

The camera type can be queried later by calling get_calib_dataget_calib_dataGetCalibDataGetCalibDataGetCalibData with the arguments ItemType='camera'"camera""camera""camera""camera" and DataName='type'"type""type""type""type". The initial camera parameters can be queried by calling get_calib_dataget_calib_dataGetCalibDataGetCalibDataGetCalibData with arguments ItemType='camera'"camera""camera""camera""camera" and DataName='init_params'"init_params""init_params""init_params""init_params".

Execution Information

Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Processed without parallelization.

This operator modifies the state of the following input parameter:

CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID

The value of this parameter may not be shared across multiple threads without external synchronization.

Parameters

CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID (input_control, state is modified) calib_data → (integer)

Handle of a calibration data model.

CameraIdxCameraIdxCameraIdxCameraIdxcameraIdx (input_control) number-array → (integer / string)

Camera index.

Default value: 0

Suggested values: 'all'"all""all""all""all", 0, 1, 2

CameraTypeCameraTypeCameraTypeCameraTypecameraType (input_control) string(-array) → (string)

Type of the camera.

Default value: []

List of values: []

CameraParamCameraParamCameraParamCameraParamcameraParam (input_control) campar → (real / integer / string)

Initial camera internal parameters.

Possible Predecessors

create_calib_datacreate_calib_dataCreateCalibDataCreateCalibDataCreateCalibData, set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObjectSetCalibDataCalibObject

Possible Successors

set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObjectSetCalibDataCalibObject, set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPoints, find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObject

Module

Calibration

Operators