set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData (Operator)

Name

set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData — Set data in a calibration data model.

Signature

Description

With the operator set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData, you can set data in the calibration data model CalibDataIDCalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID. Depending on the value of ItemTypeItemTypeItemTypeItemTypeItemTypeitemType, the affected item is either the model, a camera, a calibration object pose, or the hand-eye calibration data set. The parameter ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx lets you select whether the new value should be set for all items of a type or only for an individual one. The parameters to set are passed in DataNameDataNameDataNameDataNameDataNamedataName, their values in DataValueDataValueDataValueDataValueDataValuedataValue.

Model-related data

For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='model'"model""model""model""model""model", only the value 'general'"general""general""general""general""general" is allowed for ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx. Depending on the selection in DataNameDataNameDataNameDataNameDataNamedataName, you can set the following model-related parameters to the value passed in DataValueDataValueDataValueDataValueDataValuedataValue:

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

Set the reference camera for the calibration model to the passed camera index. All poses stored in the calibration data model are specified in the coordinate system of the reference camera (see get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData).

'optimization_method'"optimization_method""optimization_method""optimization_method""optimization_method""optimization_method":

Set the optimization method to be used in the hand-eye calibration process. If DataValueDataValueDataValueDataValueDataValuedataValue='linear'"linear""linear""linear""linear""linear" is set, a linear method is used for the hand-eye calibration. If DataValueDataValueDataValueDataValueDataValuedataValue='nonlinear'"nonlinear""nonlinear""nonlinear""nonlinear""nonlinear" is set, a nonlinear method is used for the hand-eye calibration (see calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEye for more details).

Camera-related data

With ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='camera'"camera""camera""camera""camera""camera", you can set calibration settings data either for all cameras or for a specific camera.

With ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx='general'"general""general""general""general""general", the new settings are applied to all cameras in the model. 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 specified camera is affected by the changes.

By selecting the following parameters in DataNameDataNameDataNameDataNameDataNamedataName, you can specify which camera parameters shall be optimized during the calibration performed by calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras:

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

The camera parameters listed in DataValueDataValueDataValueDataValueDataValuedataValue are marked for optimization for the affected camera(s).

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

The camera parameters listed in DataValueDataValueDataValueDataValueDataValuedataValue are excluded from the optimization for the affected camera(s).

The following camera parameters can be passed in DataValueDataValueDataValueDataValueDataValuedataValue:

Internal camera parameters

'focus'"focus""focus""focus""focus""focus":

Focal length.

'kappa'"kappa""kappa""kappa""kappa""kappa":

Divisional radial distortion coefficient kappa (for cameras of type 'area_scan_division' and 'area_scan_telecentric_division' only).

'k1'"k1""k1""k1""k1""k1",'k2'"k2""k2""k2""k2""k2",'k3'"k3""k3""k3""k3""k3":

Polynomial radial distortion parameters (for cameras of type 'area_scan_polynomial', 'area_scan_telecentric_polynomial' only).

'poly_rad_2'"poly_rad_2""poly_rad_2""poly_rad_2""poly_rad_2""poly_rad_2",'poly_rad_4'"poly_rad_4""poly_rad_4""poly_rad_4""poly_rad_4""poly_rad_4", 'poly_rad_6'"poly_rad_6""poly_rad_6""poly_rad_6""poly_rad_6""poly_rad_6":

Polynomial radial distortion coefficients as in binocular_calibrationbinocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration (for cameras of type 'area_scan_polynomial' or 'area_scan_telecentric_polynomial' only).

'poly_tan_2'"poly_tan_2""poly_tan_2""poly_tan_2""poly_tan_2""poly_tan_2":

An alias parameter for all polynomial tangential distortion parameters, i.e. p1 and p2 (for cameras of type 'area_scan_polynomial', 'area_scan_telecentric_polynomial' only).

'poly'"poly""poly""poly""poly""poly":

An alias parameter for all polynomial distortion parameters, i.e. k1, k2, k3, p1 and p2 (for cameras of type 'area_scan_polynomial', 'area_scan_telecentric_polynomial' only).

'cx'"cx""cx""cx""cx""cx",'cy'"cy""cy""cy""cy""cy":

Coordinates of the camera's principal point.

'principal_point'"principal_point""principal_point""principal_point""principal_point""principal_point":

An alias parameter for 'cx'"cx""cx""cx""cx""cx" and 'cy'"cy""cy""cy""cy""cy".

'sx'"sx""sx""sx""sx""sx",'sy'"sy""sy""sy""sy""sy":

Sensor cell dimensions.

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

All internal camera parameters.

External camera parameters

'alpha'"alpha""alpha""alpha""alpha""alpha",'beta'"beta""beta""beta""beta""beta",'gamma'"gamma""gamma""gamma""gamma""gamma":

Rotation part of the camera pose.

'transx'"transx""transx""transx""transx""transx",'transy'"transy""transy""transy""transy""transy",'transz'"transz""transz""transz""transz""transz":

Translation part of the camera pose.

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

All external camera parameters.

Further camera parameters

'vx'"vx""vx""vx""vx""vx",'vy'"vy""vy""vy""vy""vy",'vz'"vz""vz""vz""vz""vz":

Motion vector parameters (for cameras of type 'line_scan' only).

'all'"all""all""all""all""all":

All camera parameters.

By default, all parameters are marked for calibration. As an exception, the camera pose is excluded from the optimization for calibration setups with only one camera (NumCameras=1). This setting makes the calibration process equivalent to the one performed by camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration.

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 set calibration settings data either for all calibration object poses, or for a specific pose.

With ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx='general'"general""general""general""general""general" the new settings are applied to all calibration object poses in the model. If you pass a valid calibration object pose index instead, i.e. a tuple containing a valid index pair [CalibObjIdx, CalibObjPoseIdx], you specify a calibration object pose, which is affected by the changes.

By selecting the following parameters in DataNameDataNameDataNameDataNameDataNamedataName, you can specify which calibration object pose parameters shall be optimized during the calibration performed by calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras:

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

The calibration object pose settings listed in DataValueDataValueDataValueDataValueDataValuedataValue are marked for optimization for the affected pose(s).

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

The calibration object pose settings listed in DataValueDataValueDataValueDataValueDataValuedataValue are excluded from the optimization for the affected pose(s).

The following calibration pose parameters can be passed in DataValueDataValueDataValueDataValueDataValuedataValue:

'alpha'"alpha""alpha""alpha""alpha""alpha",'beta'"beta""beta""beta""beta""beta",'gamma'"gamma""gamma""gamma""gamma""gamma":

Rotation part of the calibration object pose.

'transx'"transx""transx""transx""transx""transx",'transy'"transy""transy""transy""transy""transy",'transz'"transz""transz""transz""transz""transz":

Translation part of the calibration object pose.

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

All calibration object pose parameters.

'all'"all""all""all""all""all":

All calibration objects optimization parameters, i.e., the same as 'pose'"pose""pose""pose""pose""pose".

By default all parameters are marked for calibration.

The current settings for any model item can be queried with the operator get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData.

Hand-eye calibration related data

With ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='tool'"tool""tool""tool""tool""tool", you can set the pose of the robot tool (in robot base coordinates), which was used to obtain the observation of the pose of the calibration object with the same index ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx (corresponds to the parameter CalibObjPoseIdx of any of the operators find_calib_objectfind_calib_objectFindCalibObjectfind_calib_objectFindCalibObjectFindCalibObject, set_calib_data_observ_poseset_calib_data_observ_poseSetCalibDataObservPoseset_calib_data_observ_poseSetCalibDataObservPoseSetCalibDataObservPose, or set_calib_data_observ_poseset_calib_data_observ_poseSetCalibDataObservPoseset_calib_data_observ_poseSetCalibDataObservPoseSetCalibDataObservPose). By selecting 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", you can specify the pose in DataValueDataValueDataValueDataValueDataValuedataValue.

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)

* Here, the cell size is known exactly, thus it is excluded from
* the optimization.
set_calib_data (CalibDataID, 'camera', 'general', 'excluded_settings', \
                ['sx','sy'])

Possible Predecessors

set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPoints, find_calib_objectfind_calib_objectFindCalibObjectfind_calib_objectFindCalibObjectFindCalibObject

Possible Successors

calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras, calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEye

Module

Calibration