get_calib_data_observ_contoursT_get_calib_data_observ_contoursGetCalibDataObservContoursGetCalibDataObservContours (Operator)

Name

get_calib_data_observ_contoursT_get_calib_data_observ_contoursGetCalibDataObservContoursGetCalibDataObservContours — Get contour-based observation data from a calibration data model.

Signature

Description

The operator get_calib_data_observ_contoursget_calib_data_observ_contoursGetCalibDataObservContoursGetCalibDataObservContoursGetCalibDataObservContours reads contour-based observation data from a calibration data model CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID and returns it in ContoursContoursContoursContourscontours. These contours result from a preceding call of find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObject. The parameters CameraIdxCameraIdxCameraIdxCameraIdxcameraIdx, CalibObjIdxCalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdx, and CalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxcalibObjPoseIdx are indices of the observing camera, calibration plate, and calibration object pose. Together, they specify an observation from the calibration model. Note that if an observation exists, but it was stored in the calibration model CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID by set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPoints, no contour-based results can be returned.

By setting ContourNameContourNameContourNameContourNamecontourName to one of the following values, you can select the specific type of the contour results:

'marks'"marks""marks""marks""marks":

The contours of the calibration plate marks

'caltab'"caltab""caltab""caltab""caltab":

The contour of the calibration plate finder pattern.

'last_caltab'"last_caltab""last_caltab""last_caltab""last_caltab":

The contour of the calibration plate finder pattern, which has been extracted by the last successful preceding call to find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObject. Note that the observation of the successful call to find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObject is used and consequently the values in CameraIdxCameraIdxCameraIdxCameraIdxcameraIdx, CalibObjIdxCalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdx, and CalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxcalibObjPoseIdx are ignored.

The mentioned finder pattern depends on the calibration plate:

• Calibration plates with hexagonally arranged marks: Special mark hexagon (i.e., a mark and its six neighbors) where either four or six marks contain a hole, see create_caltabcreate_caltabCreateCaltabCreateCaltabCreateCaltab.

• Calibration plates with rectangularly arranged marks: The border of the calibration plate with a triangle in one corner.

Execution Information

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

Parameters

Module

Calibration