query_calib_data_observ_indices — Query information about the relations between cameras, calibration objects, and calibration object poses.
A calibration data model (CalibDataID) contains a collection of observations, which are added to the model by set_calib_data_observ_points. Each observation is associated to an observing camera, an observed calibration object, and a calibration object pose. With the operator query_calib_data_observ_indices, you can query observation indices associated to a camera or an calibration object, depending on the parameter ItemType.
For ItemType='camera', you must pass a valid camera index in ItemIdx. Then, Index1 returns a list of calibration object indices and Index2 returns a list of pose indices. Each pair [Index1[I],Index2[I]] represents calibration object pose that are 'observed' by camera ItemIdx.
For ItemType='calib_obj', you must specify a valid calibration object index in ItemIdx. Then, Index1 returns a list of camera indices and Index2 returns a list of corresponding calibration object pose indices. Each pair [Index1[I],Index2[I]] denotes that camera Index1[I] is observing the Index2[I]th pose of calibration object ItemIdx.
This operator is particularly suitable for accessing observation data of a calibration data model whose configuration is unknown at the moment of its usage (e.g., if it was just read from a file). As a special case, this operator can be used to get the precise list of poses of one calibration object (see the example).
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.
Handle of a calibration data model.
Kind of referred object.
Default value: 'camera'
List of values: 'calib_obj', 'camera'
Camera index or calibration object index (depending on the selected ItemType).
Default value: 0
Suggested values: 0, 1, 2
List of calibration object indices or list of camera indices (depending on ItemType).
Calibration object numbers.
* read a calibration model from a file read_calib_data ('calib_data.ccd',CalibDataID) * get calibration object indices assigned to calibration object 0 query_calib_data_observ_indices (CalibDataID, 'calib_obj', 0, _, \ CalibObjPoseIndices) * CalibObjPoseIndices contains the list of pose indices of calibration * object 0. In order to be stored in the model, each calibration object * needs to be observed by at least one camera in the setup (a calibration * object pose that is not observed by any camera cannot be stored in * the model). Typically, a calibration object pose can be observed by more * than one camera. Hence, some calibration object pose indices might appear * repeatedly in CalibObjPoseIndices. We use tuple_sort and tuple_uniq to * extract a unique list of calibration object pose indices for calibration * object 0. tuple_sort (CalibObjPoseIndices, CalibObjPoseIndices) tuple_uniq (CalibObjPoseIndices, CalibObjPoseIndices) * get poses of calibration objects observed by camera 2 calibrate_cameras (CalibDataID, Error) query_calib_data_observ_indices (CalibDataID, 'camera', 2, CalibObjIndices,\ CalibObjPoseIndices) for I := 0 to |CalibObjIndices|-1 by 1 get_calib_data (CalibDataID, 'calib_obj_pose', \ [CalibObjIndices[I], CalibObjPoseIndices[I]], \ 'pose', CalobjPose) endfor