set_calib_data_observ_pointsT_set_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPoints (Operator)

Name

set_calib_data_observ_pointsT_set_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPoints — Set point-based observation data in a calibration data model.

Signature

set_calib_data_observ_points( : : CalibDataID, CameraIdx, CalibObjIdx, CalibObjPoseIdx, Row, Column, Index, Pose : )

For a calibration model of type CalibSetup='calibration_object'"calibration_object""calibration_object""calibration_object""calibration_object" (see create_calib_datacreate_calib_dataCreateCalibDataCreateCalibDataCreateCalibData), cameras are calibrated based on so-called observations of calibration objects. With set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPoints, you store such an observation in the calibration data model CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID. An observation consists of the following data:

CameraIdxCameraIdxCameraIdxCameraIdxcameraIdx:: index of the observing camera
CalibObjIdxCalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdx:: index of the observed calibration object
CalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxcalibObjPoseIdx:: index of the observed pose of the calibration object. You can choose it freely, without following a strict order. If you specify an index that already exists for the calibration object CalibObjIdxCalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdx, the corresponding observation data is replaced by the new one. Of course, the same index can be assigned to poses of different calibration objects.
RowRowRowRowrow, ColumnColumnColumnColumncolumn, IndexIndexIndexIndexindex:: Extracted image coordinates and corresponding index of the calibration marks of the calibration object. RowRowRowRowrow and ColumnColumnColumnColumncolumn are tuples containing the same number of elements. IndexIndexIndexIndexindex can either contain a tuple (of the same length) or the value 'all'"all""all""all""all", indicating that the points [Row, Column] correspond in a one-to-one relation to the calibration marks of the calibration object. If the number of row or column coordinates does not match the number of calibration marks, a corresponding error message is returned.
PosePosePosePosepose:: A roughly estimated pose of the observed calibration object relative to observing camera.

If you are using the HALCON calibration plate, it is recommended to use find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObject instead of set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPoints, since the contour information, which it stores in the calibration data model, enables a more precise calibration procedure with calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras.

The observation data can be accessed later by calling get_calib_data_observ_pointsget_calib_data_observ_pointsGetCalibDataObservPointsGetCalibDataObservPointsGetCalibDataObservPoints using the same values for the arguments CameraIdxCameraIdxCameraIdxCameraIdxcameraIdx, CalibObjIdxCalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdx, and CalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxcalibObjPoseIdx.

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 → (handle)

Handle of a calibration data model.

CameraIdxCameraIdxCameraIdxCameraIdxcameraIdx (input_control) number → (integer)

Index of the observing camera.

Default value: 0

Suggested values: 0, 1, 2

CalibObjIdxCalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdx (input_control) number → (integer)

Index of the calibration object.

Default value: 0

Suggested values: 0, 1, 2

CalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxcalibObjPoseIdx (input_control) number → (integer)

Index of the observed calibration object.

Default value: 0

Suggested values: 0, 1, 2

Restriction: CalibObjPoseIdx >= 0

RowRowRowRowrow (input_control) number-array → (real / integer)

Row coordinates of the extracted points.

ColumnColumnColumnColumncolumn (input_control) number-array → (real / integer)

Column coordinates of the extracted points.

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

Correspondence of the extracted points to the calibration marks of the observed calibration object.

Default value: 'all' "all" "all" "all" "all"

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

PosePosePosePosepose (input_control) number-array → (real / integer)

Roughly estimated pose of the observed calibration object relative to the observing camera.

Number of elements: 7

Possible Predecessors

find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPose, set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParamSetCalibDataCamParam, set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObjectSetCalibDataCalibObject

Possible Successors

set_calib_dataset_calib_dataSetCalibDataSetCalibDataSetCalibData, calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras

Alternatives

find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObject

Module

Calibration

Operators