get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData (Operator)

Name

get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData — Query data stored or computed in a calibration data model.

Signature

Description

With the operator get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData, you can query data of the calibration data model CalibDataIDCalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID. Note that in the following, all 'pose'-related data are given in relation to the coordinate system of the model's reference camera. It can be set or queried by set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData or get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData, respectively.

Model-related data

For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='model'"model""model""model""model""model", you must pass the value 'general'"general""general""general""general""general" in ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx. Depending on the selection in DataNameDataNameDataNameDataNameDataNamedataName, the following model-related data is then returned in DataValueDataValueDataValueDataValueDataValuedataValue:

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

Type of the calibration data model. Currently, the three types 'calibration_object'"calibration_object""calibration_object""calibration_object""calibration_object""calibration_object", 'hand_eye_stationary_cam'"hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam", and 'hand_eye_stationary_cam'"hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam" are supported.

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

Index of the reference camera for the calibration model. All poses stored in the calibration data model are specified in the coordinate system of this reference camera.

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

Number of cameras in the calibration data model (see create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData).

'num_calib_objs'"num_calib_objs""num_calib_objs""num_calib_objs""num_calib_objs""num_calib_objs":

Number of calibration objects in the calibration data model (see create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData).

'camera_setup_model'"camera_setup_model""camera_setup_model""camera_setup_model""camera_setup_model""camera_setup_model":

A handle to a camera setup model containing the poses and the internal parameters for the calibrated cameras from the current calibration setup. Note that the returned data handle needs to be cleared by clear_camera_setup_modelclear_camera_setup_modelClearCameraSetupModelclear_camera_setup_modelClearCameraSetupModelClearCameraSetupModel.

The parameter 'reference_camera'"reference_camera""reference_camera""reference_camera""reference_camera""reference_camera" can be set with set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData. The other parameters are set during model creation or are a result of the calibration process and cannot be modified.

Camera-related data

With ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='camera'"camera""camera""camera""camera""camera", you can query data all cameras or for a specific camera.

With ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx='general'"general""general""general""general""general", the default value of a parameter for all cameras is returned. In contrast, if you pass a valid camera index instead, i.e. a number between 0 and NumCameras-1 (NumCameras is specified during model creation with create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData), only the parameter value of the specified camera is returned.

By selecting the following parameters in DataNameDataNameDataNameDataNameDataNamedataName, you can query which camera parameters are (or have been) optimized during the calibration performed by calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras:

'calib_settings'"calib_settings""calib_settings""calib_settings""calib_settings""calib_settings":

List of the camera parameters that are marked for calibration.

'excluded_settings'"excluded_settings""excluded_settings""excluded_settings""excluded_settings""excluded_settings":

List of camera parameters that are excluded from the calibration.

These parameters can be modified by a corresponding call to set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData.

The following parameters can only be queried for a specific camera, i.e., you must pass a valid camera index in ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx:

'init_params'"init_params""init_params""init_params""init_params""init_params":

Initial internal camera parameters (set with set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam).

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

Optimized internal camera parameters.

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

Standard deviations of the optimized camera parameters, as estimated at the end of the camera calibration.

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

Covariance matrix of the optimized camera parameters, as estimated at the end of the camera calibration.

'params_labels'"params_labels""params_labels""params_labels""params_labels""params_labels":

A convenience list of labels for the entries returned by 'params'"params""params""params""params""params" and 'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations""params_deviations". This list is camera-type specific.

'init_pose'"init_pose""init_pose""init_pose""init_pose""init_pose":

Initial camera pose , relative to the current reference camera. It is computed internally based on observation poses during the calibration process (see calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras).

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

Optimized camera pose, relative to the current reference camera.

'pose_labels'"pose_labels""pose_labels""pose_labels""pose_labels""pose_labels":

A convenience list of labels for the entries returned by 'pose'"pose""pose""pose""pose""pose".

The calibrated camera parameters ( 'params'"params""params""params""params""params" and 'pose'"pose""pose""pose""pose""pose") can be queried only after a successful execution of calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras. The initial internal camera parameters 'init_params'"init_params""init_params""init_params""init_params""init_params" can be queried after a successful call to set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam.

Data related to calibration objects

With ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='calib_obj'"calib_obj""calib_obj""calib_obj""calib_obj""calib_obj" you can query data for a specific calibration object by passing its index in ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx, i.e. a number between 0 and NumCalibObjects-1 (NumCalibObjects is specified during model creation with create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData).

The following parameters can be queried with DataNameDataNameDataNameDataNameDataNamedataName and are returned in DataValueDataValueDataValueDataValueDataValuedataValue:

'num_marks'"num_marks""num_marks""num_marks""num_marks""num_marks":

Number of calibration marks of the calibration object.

'x'"x""x""x""x""x", 'y'"y""y""y""y""y", 'z'"z""z""z""z""z":

Coordinates of the calibration marks relative to the calibration object coordinate system.

These parameters can be modified with set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObject.

Data related to calibration object poses

With ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='calib_obj_pose'"calib_obj_pose""calib_obj_pose""calib_obj_pose""calib_obj_pose""calib_obj_pose" you can query general settings for all calibration object poses, or data for a specific calibration object pose.

With ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx='general'"general""general""general""general""general", the default value of a parameter for all calibration object poses is returned. In contrast, if you pass a valid calibration object index instead, i.e., a tuple containing a valid index pair [CalibObjIdx, CalibObjPoseIdx], only the parameter value of the specified calibration object pose is returned.

By selecting the following parameters in DataNameDataNameDataNameDataNameDataNamedataName, you can query which calibration object pose parameters are (or have been) optimized during the calibration performed by calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras:

'calib_settings'"calib_settings""calib_settings""calib_settings""calib_settings""calib_settings":

List of calibration object pose parameters marked for calibration.

'excluded_settings'"excluded_settings""excluded_settings""excluded_settings""excluded_settings""excluded_settings":

List of calibration object pose parameters excluded from calibration.

These parameters can be set with set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData.

The following parameters can only be queried for a specific calibration object pose, i.e., you must pass a valid index pair [CalibObjIdx, CalibObjPoseIdx] in ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx:

'init_pose'"init_pose""init_pose""init_pose""init_pose""init_pose":

Initial calibration object pose. It is computed internally based on observation poses during the calibration process (see calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras). This pose is relative to the current reference camera.

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

Optimized calibration object pose, relative to current reference camera.

'pose_labels'"pose_labels""pose_labels""pose_labels""pose_labels""pose_labels":

A convenience list of labels for the entries returned by 'pose'"pose""pose""pose""pose""pose".

These parameters cannot be explicitly modified and can only be queried after calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras was executed.

Hand-eye calibration related data

After performing a successful hand-eye calibration using calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEye, the following poses can be queried for a calibration data model of type:

'hand_eye_moving_cam'"hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam":

For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='camera'"camera""camera""camera""camera""camera" and DataNameDataNameDataNameDataNameDataNamedataName='tool_in_cam_pose'"tool_in_cam_pose""tool_in_cam_pose""tool_in_cam_pose""tool_in_cam_pose""tool_in_cam_pose", the pose of the robot tool in the camera coordinate system is returned in DataValueDataValueDataValueDataValueDataValuedataValue. For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='calib_obj'"calib_obj""calib_obj""calib_obj""calib_obj""calib_obj" and DataNameDataNameDataNameDataNameDataNamedataName='obj_in_base_pose'"obj_in_base_pose""obj_in_base_pose""obj_in_base_pose""obj_in_base_pose""obj_in_base_pose", the pose of the calibration object in the robot base coordinate system is returned in DataValueDataValueDataValueDataValueDataValuedataValue.

The 6 standard deviations and the 6×6 covariance matrices of the 6 pose parameters of both poses can be queried with 'tool_in_cam_pose_deviations'"tool_in_cam_pose_deviations""tool_in_cam_pose_deviations""tool_in_cam_pose_deviations""tool_in_cam_pose_deviations""tool_in_cam_pose_deviations", 'tool_in_cam_pose_covariances'"tool_in_cam_pose_covariances""tool_in_cam_pose_covariances""tool_in_cam_pose_covariances""tool_in_cam_pose_covariances""tool_in_cam_pose_covariances", 'obj_in_base_pose_deviations'"obj_in_base_pose_deviations""obj_in_base_pose_deviations""obj_in_base_pose_deviations""obj_in_base_pose_deviations""obj_in_base_pose_deviations", and 'obj_in_base_pose_covariances'"obj_in_base_pose_covariances""obj_in_base_pose_covariances""obj_in_base_pose_covariances""obj_in_base_pose_covariances""obj_in_base_pose_covariances". Like poses, they are specified in the units [m] and [°].

'hand_eye_stationary_cam'"hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam":

For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='camera'"camera""camera""camera""camera""camera" and DataNameDataNameDataNameDataNameDataNamedataName='base_in_cam_pose'"base_in_cam_pose""base_in_cam_pose""base_in_cam_pose""base_in_cam_pose""base_in_cam_pose", the pose of the robot base in the camera coordinate system is returned in DataValueDataValueDataValueDataValueDataValuedataValue. For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='calib_obj'"calib_obj""calib_obj""calib_obj""calib_obj""calib_obj" and DataNameDataNameDataNameDataNameDataNamedataName='obj_in_tool_pose'"obj_in_tool_pose""obj_in_tool_pose""obj_in_tool_pose""obj_in_tool_pose""obj_in_tool_pose", the pose of the calibration object in the tool coordinate system is returned in DataValueDataValueDataValueDataValueDataValuedataValue.

The 6 standard deviations and the 6×6 covariance matrices of the 6 pose parameters of both poses can be queried with 'base_in_cam_pose_deviations'"base_in_cam_pose_deviations""base_in_cam_pose_deviations""base_in_cam_pose_deviations""base_in_cam_pose_deviations""base_in_cam_pose_deviations", 'base_in_cam_pose_covariances'"base_in_cam_pose_covariances""base_in_cam_pose_covariances""base_in_cam_pose_covariances""base_in_cam_pose_covariances""base_in_cam_pose_covariances", 'obj_in_tool_deviations'"obj_in_tool_deviations""obj_in_tool_deviations""obj_in_tool_deviations""obj_in_tool_deviations""obj_in_tool_deviations", and 'obj_in_tool_covariances'"obj_in_tool_covariances""obj_in_tool_covariances""obj_in_tool_covariances""obj_in_tool_covariances""obj_in_tool_covariances". Like poses, they are specified in the units [m] and [°].

For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='tool'"tool""tool""tool""tool""tool" and DataNameDataNameDataNameDataNameDataNamedataName='tool_in_base_pose'"tool_in_base_pose""tool_in_base_pose""tool_in_base_pose""tool_in_base_pose""tool_in_base_pose", the pose of the robot tool in the robot base coordinate system with Index ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx is returned in DataValueDataValueDataValueDataValueDataValuedataValue These poses were previously set using set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData and served as input for the hand-eye calibration algorithm.

Attention

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.

Parallelization

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

Parameters

Example (HDevelop)

* get the camera type of camera 0
get_calib_data (CalibDataID, 'camera', 0, 'type', CameraType)

* get the optimized (calibrated) pose of pose 1 of the
* calibration object 2
get_calib_data (CalibDataID, 'calib_obj_pose', [2,1], 'pose', CalobjPose)

Possible Predecessors

calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras, calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEye, create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData, read_calib_dataread_calib_dataReadCalibDataread_calib_dataReadCalibDataReadCalibData

Module

Calibration