get_camera_setup_paramT_get_camera_setup_paramGetCameraSetupParamGetCameraSetupParamget_camera_setup_param (Operator)

Name

get_camera_setup_paramT_get_camera_setup_paramGetCameraSetupParamGetCameraSetupParamget_camera_setup_param — Get generic camera setup model parameters.

Signature

Description

The operator get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamGetCameraSetupParamGetCameraSetupParamget_camera_setup_param can be used to inspect diverse generic parameters of the camera setup model CameraSetupModelIDCameraSetupModelIDCameraSetupModelIDCameraSetupModelIDcameraSetupModelIDcamera_setup_model_id. Two types of parameters can be queried with this operator:

General parameters:

By setting CameraIdxCameraIdxCameraIdxCameraIdxcameraIdxcamera_idx to 'general'"general""general""general""general""general" and GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name to one of the following values, general camera setup parameters are returned in GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value:

'num_cameras'"num_cameras""num_cameras""num_cameras""num_cameras""num_cameras":

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_modelcreate_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModelCreateCameraSetupModelcreate_camera_setup_model).

'camera_calib_error'"camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error":

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_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras.

'reference_camera'"reference_camera""reference_camera""reference_camera""reference_camera""reference_camera":

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_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamSetCameraSetupParamset_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'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose" in set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamSetCameraSetupParamset_camera_setup_param, the origin of the coordinate system is not located in any of the available cameras. Therefore, the index -1 is returned.

'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose":

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_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamSetCameraSetupParamset_camera_setup_param, the pose of this camera is returned. Adjusting this coordinate system subsequently using the parameter 'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose" in set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamSetCameraSetupParamset_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 CameraIdxCameraIdxCameraIdxCameraIdxcameraIdxcamera_idx to a valid setup camera index (a value between 0 and NumCameras-1) and GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name to one of the following values, camera-specific parameters are returned in GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value:

'type'"type""type""type""type""type":

Camera type (see set_camera_setup_cam_paramset_camera_setup_cam_paramSetCameraSetupCamParamSetCameraSetupCamParamSetCameraSetupCamParamset_camera_setup_cam_param).

'params'"params""params""params""params""params":

A tuple with internal camera parameters. The length of the tuple depends on the camera type.

'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations""params_deviations":

A tuple representing the standard deviations of the internal camera parameters. The length of the tuple depends on the camera type.

'params_covariances'"params_covariances""params_covariances""params_covariances""params_covariances""params_covariances":

A tuple representing the covariance matrix if the internal camera parameters. The length of the tuple depends on the camera type.

'pose'"pose""pose""pose""pose""pose":

Camera pose relative to the setup's coordinate system (see create_camera_setup_modelcreate_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModelCreateCameraSetupModelcreate_camera_setup_model for more details).

Note that the camera needs to be set first by set_camera_setup_cam_paramset_camera_setup_cam_paramSetCameraSetupCamParamSetCameraSetupCamParamSetCameraSetupCamParamset_camera_setup_cam_param, before any of its parameters can be inspected by get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamGetCameraSetupParamGetCameraSetupParamget_camera_setup_param. If CameraIdxCameraIdxCameraIdxCameraIdxcameraIdxcamera_idx 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.

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