| Operators |
set_calib_data_observ_pose — Set observed calibration object poses in a calibration data model.
set_calib_data_observ_pose( : : CalibDataID, CameraIdx, CalibObjIdx, CalibObjPoseIdx, ObjInCameraPose : )
For a calibration data model of type CalibSetup='hand_eye_moving_cam', 'hand_eye_stationary_cam', 'hand_eye_scara_moving_cam', or 'hand_eye_scara_stationary_cam' with no calibration object (see create_calib_data), the hand-eye calibration is based on so-called observations of an arbitrary object in the camera coordinate system. In the following this object will be called calibration object. Additionally, the corresponding poses of the robot tool in the robot base coordinate system must be known. With set_calib_data_observ_pose, you store an observation of the calibration object pose in the calibration data model CalibDataID. An observation of the calibration object pose consists of the following data:
Index of the observing camera
Index of the observed calibration object
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 CalibObjIdx, the corresponding observation data is replaced by the new one.
Pose of the observed calibration object relative to observing camera.
Note that, since the model CalibDataID uses a general sensor and no calibration object (i.e., the model was created by create_calib_data with NumCameras=0 and NumCalibObjects=0), both CameraIdx and CalibObjIdx must be set to 0. If the model uses a camera and an calibration object (i.e., NumCameras=1 and NumCalibObjects=1), then find_calib_object or set_calib_data_observ_points must be used.
The observation pose data can be accessed later by calling get_calib_data_observ_pose using the same values for the arguments CameraIdx, CalibObjIdx, and CalibObjPoseIdx.
This operator modifies the state of the following input parameter:
The value of this parameter may not be shared across multiple threads without external synchronization.Handle of a calibration data model.
Index of the observing camera.
Default value: 0
Suggested values: 0, 1, 2
Index of the calibration object.
Default value: 0
Suggested values: 0, 1, 2
Index of the observed calibration object.
Default value: 0
Suggested values: 0, 1, 2
Restriction: CalibObjPoseIdx >= 0
Pose of the observed calibration object relative to the observing camera.
Number of elements: 7
find_marks_and_pose, set_calib_data_cam_param, set_calib_data_calib_object
set_calib_data, calibrate_cameras
Calibration
| Operators |