sim_caltabT_sim_caltabSimCaltabSimCaltab (Operator)

Name

sim_caltabT_sim_caltabSimCaltabSimCaltab — Simulate an image with calibration plate.

Signature

Description

sim_caltabsim_caltabSimCaltabSimCaltabSimCaltab is used to generate a simulated calibration image. The calibration plate description is read from the file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescr and will be projected into the image plane using the given camera parameters (internal camera parameters CameraParamCameraParamCameraParamCameraParamcameraParam and external camera parameters CalPlatePoseCalPlatePoseCalPlatePoseCalPlatePosecalPlatePose), see also project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPoint.

In the simulated image only the calibration plate is shown. The image background is set to the gray value GrayBackgroundGrayBackgroundGrayBackgroundGrayBackgroundgrayBackground, the calibration plate background is set to GrayPlateGrayPlateGrayPlateGrayPlategrayPlate, and the calibration marks are set to the gray value GrayMarksGrayMarksGrayMarksGrayMarksgrayMarks. The parameter ScaleFacScaleFacScaleFacScaleFacscaleFac influences the number of supporting points to approximate the elliptic contours of the calibration marks, see also disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltab. Increasing the number of supporting points causes a more accurate determination of the mark boundary, but increases the computation time, too. For each pixel of the simulated image which touches a subpixel-boundary of this kind, the gray value is set linearly between GrayMarksGrayMarksGrayMarksGrayMarksgrayMarks and GrayPlateGrayPlateGrayPlateGrayPlategrayPlate dependent on the proportion Inside/Outside.

By applying the operator sim_caltabsim_caltabSimCaltabSimCaltabSimCaltab you can generate synthetic calibration images (with known camera parameters!) to test the quality of the calibration algorithm (see calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras, or camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibration).

Execution Information

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Automatically parallelized on internal data level.

Parameters

Example (HDevelop)

* Read calibration image.
read_image(Image1, 'calib-01')
* Find calibration pattern.
CameraType := 'area_scan_division'
StartCamPar := [CameraType, Focus, Kappa, Sx, Sy, Cx, Cy, \
                ImageWidth, ImageHeight]
create_calib_data ('calibration_object', 1, 1, CalibDataID)
set_calib_data_cam_param (CalibDataID, 0, [], StartCamPar)
set_calib_data_calib_object (CalibDataID, 0, 'calplate.cpd')
find_caltab(Image1, CalPlate1, 'caltab.descr', 3, 112, 5)
* Find calibration marks and initial pose.
find_calib_object (Image1, CalibDataID, 0, 0, 0, [], [])
* Camera calibration.
calibrate_cameras (CalibDataID, Error)
* Simulate calibration image.
get_calib_data (CalibDataID, 'calib_obj_pose', [0, 0], 'pose', FinalPose)
get_calib_data (CalibDataID, 'camera', 0, 'params', CameraParam)
sim_caltab(Image1Sim, 'calplate.cpd', CameraParam, FinalPose, 128, \
           80, 224, 1)

Result

sim_caltabsim_caltabSimCaltabSimCaltabSimCaltab returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised.

Possible Predecessors

camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibration, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPose, read_poseread_poseReadPoseReadPoseReadPose, read_cam_parread_cam_parReadCamParReadCamParReadCamPar, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPose

Possible Successors

find_caltabfind_caltabFindCaltabFindCaltabFindCaltab

See also

find_caltabfind_caltabFindCaltabFindCaltabFindCaltab, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPose, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibration, disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltab, create_posecreate_poseCreatePoseCreatePoseCreatePose, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPose, project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPoint, gen_caltabgen_caltabGenCaltabGenCaltabGenCaltab

Module

Calibration