HALCON 21.11.0.0 / HALCON Operator Reference / Calibration / Calibration Object
ClassesClasses | | Operators

caltab_pointsT_caltab_pointsCaltabPointsCaltabPointscaltab_points (Operator)

Name

caltab_pointsT_caltab_pointsCaltabPointsCaltabPointscaltab_points — Read the mark center points from the calibration plate description file.

Signature

caltab_points( : : CalPlateDescr : X, Y, Z)

Herror T_caltab_points(const Htuple CalPlateDescr, Htuple* X, Htuple* Y, Htuple* Z)

void CaltabPoints(const HTuple& CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)

static void HMisc::CaltabPoints(const HString& CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)

static void HMisc::CaltabPoints(const char* CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)

static void HMisc::CaltabPoints(const wchar_t* CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)   (Windows only)

static void HOperatorSet.CaltabPoints(HTuple calPlateDescr, out HTuple x, out HTuple y, out HTuple z)

static void HMisc.CaltabPoints(string calPlateDescr, out HTuple x, out HTuple y, out HTuple z)

def caltab_points(cal_plate_descr: str) -> Tuple[Sequence[float], Sequence[float], Sequence[float]]

Description

caltab_pointscaltab_pointsCaltabPointsCaltabPointsCaltabPointscaltab_points reads the mark center points from the calibration plate description file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr (see gen_caltabgen_caltabGenCaltabGenCaltabGenCaltabgen_caltab for calibration plates with rectangularly arranged marks and create_caltabcreate_caltabCreateCaltabCreateCaltabCreateCaltabcreate_caltab for calibration plates with hexagonally arranged marks) and returns their coordinates in XXXXxx, YYYYyy and ZZZZzz. The mark center points are 3D coordinates in the calibration plate coordinate system and describe the 3D model of the calibration plate. The calibration plate coordinate system is located in the middle of the surface of the calibration plate for calibration plates with rectangularly arranged marks and at the center of the central mark of the first finder pattern for calibration plates with hexagonally arranged marks. Its z-axis points into the calibration plate, its x-axis to the right, and its y-axis downwards.

The mark center points are typically used as input parameters for the operator camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration.

Execution Information

Parameters

CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr (input_control)  filename.read → HTuplestrHTupleHtuple (string) (string) (HString) (char*)

File name of the calibration plate description.

Default value: 'calplate_320mm.cpd' "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd"

List of values: 'calplate_10mm.cpd'"calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd", 'calplate_1200mm.cpd'"calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd", 'calplate_160mm.cpd'"calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd", 'calplate_20mm.cpd'"calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd", 'calplate_20mm_dark_on_light.cpd'"calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd", 'calplate_320mm.cpd'"calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd", 'calplate_40mm.cpd'"calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd", 'calplate_40mm_dark_on_light.cpd'"calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd", 'calplate_5mm.cpd'"calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd", 'calplate_640mm.cpd'"calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd", 'calplate_80mm.cpd'"calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd", 'calplate_80mm_dark_on_light.cpd'"calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd", 'caltab_100mm.descr'"caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr", 'caltab_10mm.descr'"caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr", 'caltab_200mm.descr'"caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr", 'caltab_2500um.descr'"caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr", 'caltab_30mm.descr'"caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr", 'caltab_650um.descr'"caltab_650um.descr""caltab_650um.descr""caltab_650um.descr""caltab_650um.descr""caltab_650um.descr", 'caltab_6mm.descr'"caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr", 'caltab_800mm.descr'"caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr", 'caltab_big.descr'"caltab_big.descr""caltab_big.descr""caltab_big.descr""caltab_big.descr""caltab_big.descr", 'caltab_small.descr'"caltab_small.descr""caltab_small.descr""caltab_small.descr""caltab_small.descr""caltab_small.descr"

File extension: .cpd, .descr

XXXXxx (output_control)  real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

X coordinates of the mark center points in the coordinate system of the calibration plate.

YYYYyy (output_control)  real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Y coordinates of the mark center points in the coordinate system of the calibration plate.

ZZZZzz (output_control)  real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Z coordinates of the mark center points in the coordinate system of the calibration plate.

Example (HDevelop)

* Read calibration image.
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern.
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses.
StartCamPar := ['area_scan_division', 0.008, 0.0, 0.000011, 0.000011, \
                384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
                    StartPose1)
* Read 3D positions of calibration marks.
caltab_points(CalTabDescr, NX, NY, NZ)
*  Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
                   StartPose1, 'all', CameraParam, FinalPose, Errors)
*  Visualize calibration result.
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)

Example (HDevelop)

* Read calibration image.
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern.
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses.
StartCamPar := ['area_scan_division', 0.008, 0.0, 0.000011, 0.000011, \
                384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
                    StartPose1)
* Read 3D positions of calibration marks.
caltab_points(CalTabDescr, NX, NY, NZ)
*  Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
                   StartPose1, 'all', CameraParam, FinalPose, Errors)
*  Visualize calibration result.
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)

Example (HDevelop)

* Read calibration image.
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern.
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses.
StartCamPar := ['area_scan_division', 0.008, 0.0, 0.000011, 0.000011, \
                384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
                    StartPose1)
* Read 3D positions of calibration marks.
caltab_points(CalTabDescr, NX, NY, NZ)
*  Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
                   StartPose1, 'all', CameraParam, FinalPose, Errors)
*  Visualize calibration result.
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)

Example (HDevelop)

* Read calibration image.
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern.
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses.
StartCamPar := ['area_scan_division', 0.008, 0.0, 0.000011, 0.000011, \
                384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
                    StartPose1)
* Read 3D positions of calibration marks.
caltab_points(CalTabDescr, NX, NY, NZ)
*  Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
                   StartPose1, 'all', CameraParam, FinalPose, Errors)
*  Visualize calibration result.
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)

Example (HDevelop)

* Read calibration image.
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern.
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses.
StartCamPar := ['area_scan_division', 0.008, 0.0, 0.000011, 0.000011, \
                384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
                    StartPose1)
* Read 3D positions of calibration marks.
caltab_points(CalTabDescr, NX, NY, NZ)
*  Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
                   StartPose1, 'all', CameraParam, FinalPose, Errors)
*  Visualize calibration result.
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)

Result

caltab_pointscaltab_pointsCaltabPointsCaltabPointsCaltabPointscaltab_points returns TRUE if all parameter values are correct and the file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr has been read successfully. If necessary, an exception is raised.

Possible Successors

camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration

See also

find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration, disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab, sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab, project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPointproject_3d_point, get_line_of_sightget_line_of_sightGetLineOfSightGetLineOfSightGetLineOfSightget_line_of_sight, gen_caltabgen_caltabGenCaltabGenCaltabGenCaltabgen_caltab

Module

Foundation

ClassesClasses | | Operators
HALCON Operator Reference 21.11.0.0 Copyright © 1996-2021 MVTec Software GmbH
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