create_calib_data — Create a HALCON calibration data model.
The operator create_calib_data creates a generic calibration data model that stores
the description of a camera calibration setup,
settings for the calibration process,
the calibration data, and
the results of the camera calibration or the hand-eye calibration.
In the parameter CalibSetup, you specify the calibration setup type. Currently, three types are supported. A model of the type 'calibration_object' is used to calibrate the internal camera parameters and the camera poses of one or more cameras based on the metric information extracted from observations of calibration objects. A model of type 'hand_eye_moving_cam' or 'hand_eye_stationary_cam' is used to perform a hand-eye calibration based on observations of a calibration object and corresponding poses of a robot tool in the robot base coordinate system. NumCameras specifies the number of cameras that are calibrated simultaneously in the setup. NumCalibObjects specifies the number calibration objects observed by the cameras. Please note that for camera calibrations with line-scan cameras only a single calibration object is allowed (NumCalibObjects=1). For hand-eye calibrations, only two setups are currently supported: either one area-scan projective camera and one calibration object (NumCameras=1, NumCalibObjects=1) or a general sensor with no calibration object (NumCameras=0, NumCalibObjects=0).
CalibDataID returns a handle of the new calibration data model. You pass this handle to other operators to collect the description of the camera setup, the calibration settings, and the calibration data. For camera calibrations, you pass it to calibrate_cameras, which performs the actual camera calibration and stores the calibration results in the calibration data model. For a detailed description of the preparation process, please refer to the operator calibrate_cameras. For hand-eye calibrations, you pass it to calibrate_hand_eye, which performs the actual hand-eye calibration and stores the calibration results in the calibration data model. For a detailed description of the preparation process, please refer to the operator calibrate_hand_eye.
A camera calibration data model CalibDataID cannot be shared between two or more user's threads. Different camera calibration data models can be used independently and safely in different threads.
Type of the calibration setup.
Default value: 'calibration_object'
List of values: 'calibration_object', 'hand_eye_moving_cam', 'hand_eye_stationary_cam'
Number of cameras in the calibration setup.
Default value: 1
Restriction: NumCameras >= 0
Number of calibration objects.
Default value: 1
Restriction: NumCalibObjects >= 0
Handle of the created calibration data model.