get_camera_setup_param — Get generic camera setup model parameters.
get_camera_setup_param( : : CameraSetupModelID, CameraIdx, GenParamName : GenParamValue)
The operator get_camera_setup_param can be used to inspect diverse
generic parameters of the camera setup model CameraSetupModelID.
Two types of parameters can be queried with this operator:
General parameters:
By setting CameraIdx to 'general' and GenParamName
to one of the following values, general camera setup parameters are
returned in GenParamValue:
Number of cameras described in the model. The number of cameras is fixed
with the creation of the camera setup model and cannot be changed after
that (see create_camera_setup_model).
The root mean square error (RMSE) of the back projection of the
optimization of the camera system. This error
is identical with the error returned by calibrate_cameras.
Returns the index of the camera that has been defined as reference
camera within the system. If no reference camera has been specified
using set_camera_setup_param, the index 0 is returned.
If the coordinate system has been moved by setting a pose with the
parameter 'coord_transf_pose' in set_camera_setup_param,
the origin of the coordinate system is not located in any of the
available cameras. Therefore, the index -1 is returned.
Returns the pose in which the coordinate system of the setup has been
moved. Please note that after setting a reference camera with
set_camera_setup_param, the pose of this camera is returned.
Adjusting this coordinate system subsequently using the parameter
'coord_transf_pose' in set_camera_setup_param yields a
pose that corresponds to the location and orientation of the desired
coordinate system relative to the current one.
Camera parameters:
By setting CameraIdx to a valid setup camera index (a value between
0 and NumCameras-1) and GenParamName
to one of the following values, camera-specific parameters are returned
in GenParamValue:
Camera type (see set_camera_setup_cam_param).
A tuple with internal camera parameters. The length of the tuple depends on the camera type.
A tuple representing the standard deviations of the internal camera parameters. The length of the tuple depends on the camera type.
A tuple representing the covariance matrix if the internal camera parameters. The length of the tuple depends on the camera type.
Camera pose relative to the setup's coordinate system (see
create_camera_setup_model for more details).
Note that the camera needs to be set first by
set_camera_setup_cam_param, before any of its parameters can be
inspected by get_camera_setup_param. If CameraIdx is an
index of an undefined camera, the operator returns an error.
For more information about the calibration process of your camera setup see the chapter reference Calibration.
CameraSetupModelID (input_control) camera_setup_model → (handle)
Handle to the camera setup model.
CameraIdx (input_control) integer(-array) → (integer / string)
Index of the camera in the setup.
Default value: 0
Suggested values: 0, 1, 2, 'general'
GenParamName (input_control) attribute.name → (string)
Names of the generic parameters to be queried.
List of values: 'camera_calib_error', 'coord_transf_pose', 'num_cameras', 'params', 'params_covariances', 'params_deviations', 'pose', 'reference_camera', 'type'
GenParamValue (output_control) attribute.value(-array) → (real / integer / string)
Values of the generic parameters to be queried.
Calibration