Name
set_calib_data_cam_paramT_set_calib_data_cam_paramSetCalibDataCamParamset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam — Set type and initial parameters of a camera in a calibration data model.
The operator set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam defines the type and the
initial parameters for the camera with the index CameraIdxCameraIdxCameraIdxCameraIdxCameraIdxcameraIdx in the
calibration data model CalibDataIDCalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID.
The parameter CameraIdxCameraIdxCameraIdxCameraIdxCameraIdxcameraIdx must be between 0 and NumCameras-1
(NumCameras is specified during model
creation with create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData and can be queried with
get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData).
If a camera with CameraIdxCameraIdxCameraIdxCameraIdxCameraIdxcameraIdx was already defined, its
parameters are overwritten by the current ones (the camera is
'substituted'). In this case, the selection which camera parameters are
marked for optimization is reset and maybe has to be set again.
Note that all NumCameras cameras must be set
to perform calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras. The calibration procedure refines
these initial parameters.
The parameters CameraTypeCameraTypeCameraTypeCameraTypeCameraTypecameraType and CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam need to be
specified in compliance with each other and with respect to the kind of
camera, which has to be specified:
- for projective area-scan sensors with a lens distortion modeled by:
CameraType: 'area_scan_division'"area_scan_division""area_scan_division""area_scan_division""area_scan_division""area_scan_division"
CameraParam: [Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth,
ImageHeight]
- for projective area-scan sensors with a lens distortion modeled by:
CameraType: 'area_scan_polynomial'"area_scan_polynomial""area_scan_polynomial""area_scan_polynomial""area_scan_polynomial""area_scan_polynomial":
CameraParam: [Focus, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy,
ImageWidth, ImageHeight]
- telecentric area-scan sensors with a lens distortion modeled by:
CameraType: 'area_scan_telecentric_division'"area_scan_telecentric_division""area_scan_telecentric_division""area_scan_telecentric_division""area_scan_telecentric_division""area_scan_telecentric_division"
CameraParam: [0, Kappa, Sx, Sy, Cx, Cy, ImageWidth,
ImageHeight]
- for telecentric area-scan sensors with a lens distortion modeled by:
CameraType: 'area_scan_telecentric_polynomial'"area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial":
CameraParam: [0, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth,
ImageHeight]
- for line scan cameras:
CameraType: 'line_scan'"line_scan""line_scan""line_scan""line_scan""line_scan":
CameraParam: [Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth,
ImageHeight, Vx, Vy, Vz]
For further details on the camera types and on the individual camera
parameters in CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam, see camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration
(see the paragraphs "Used 3D camera model" and "Camera
parameters"). The initial parameters of the cameras are selected
and set in the same manner as it is done with the parameter
StartCamParam in camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration (see the
paragraph "How to find suitable initial values for the internal
camera parameters?"). If the standard HALCON calibration plate is used, the
units of the individual parameters are as specified in read_cam_parread_cam_parReadCamParread_cam_parReadCamParReadCamPar.
The type of a camera can be queried later by calling
get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData with the arguments
ItemType='camera'"camera""camera""camera""camera""camera" and DataName='type'"type""type""type""type""type".
The initial camera parameters can be queried by calling
get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData with arguments
ItemType='camera'"camera""camera""camera""camera""camera" and
DataName='init_params'"init_params""init_params""init_params""init_params""init_params".
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.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Handle of a calibration data model.
Camera index.
Default value: 0
Suggested values: 'all'"all""all""all""all""all", 0, 1, 2
Type of the camera.
Default value:
'area_scan_division'
"area_scan_division"
"area_scan_division"
"area_scan_division"
"area_scan_division"
"area_scan_division"
List of values: 'area_scan_division'"area_scan_division""area_scan_division""area_scan_division""area_scan_division""area_scan_division", 'area_scan_polynomial'"area_scan_polynomial""area_scan_polynomial""area_scan_polynomial""area_scan_polynomial""area_scan_polynomial", 'area_scan_telecentric_division'"area_scan_telecentric_division""area_scan_telecentric_division""area_scan_telecentric_division""area_scan_telecentric_division""area_scan_telecentric_division", 'area_scan_telecentric_polynomial'"area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial", 'line_scan'"line_scan""line_scan""line_scan""line_scan""line_scan"
Initial camera internal parameters.
Number of elements: CameraParam == 8 || CameraParam == 11 || CameraParam == 12
create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData,
set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObject
set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObject,
set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPoints,
find_calib_objectfind_calib_objectFindCalibObjectfind_calib_objectFindCalibObjectFindCalibObject
Calibration