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 NumCamerasNumCamerasNumCamerasNumCamerasnumCamerasnum_cameras-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 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