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binocular_calibrationT_binocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration (Operator)

Name

binocular_calibrationT_binocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration — Bestimmung aller Kameraparameter eines binokularen Stereoaufbaus.

Signatur

binocular_calibration( : : NX, NY, NZ, NRow1, NCol1, NRow2, NCol2, StartCamParam1, StartCamParam2, NStartPose1, NStartPose2, EstimateParams : CamParam1, CamParam2, NFinalPose1, NFinalPose2, RelPose, Errors)

Herror T_binocular_calibration(const Htuple NX, const Htuple NY, const Htuple NZ, const Htuple NRow1, const Htuple NCol1, const Htuple NRow2, const Htuple NCol2, const Htuple StartCamParam1, const Htuple StartCamParam2, const Htuple NStartPose1, const Htuple NStartPose2, const Htuple EstimateParams, Htuple* CamParam1, Htuple* CamParam2, Htuple* NFinalPose1, Htuple* NFinalPose2, Htuple* RelPose, Htuple* Errors)

Herror binocular_calibration(const HTuple& NX, const HTuple& NY, const HTuple& NZ, const HTuple& NRow1, const HTuple& NCol1, const HTuple& NRow2, const HTuple& NCol2, const HTuple& StartCamParam1, const HTuple& StartCamParam2, const HTuple& NStartPose1, const HTuple& NStartPose2, const HTuple& EstimateParams, HTuple* CamParam1, HTuple* CamParam2, HTuple* NFinalPose1, HTuple* NFinalPose2, HTuple* RelPose, HTuple* Errors)

void BinocularCalibration(const HTuple& NX, const HTuple& NY, const HTuple& NZ, const HTuple& NRow1, const HTuple& NCol1, const HTuple& NRow2, const HTuple& NCol2, const HTuple& StartCamParam1, const HTuple& StartCamParam2, const HTuple& NStartPose1, const HTuple& NStartPose2, const HTuple& EstimateParams, HTuple* CamParam1, HTuple* CamParam2, HTuple* NFinalPose1, HTuple* NFinalPose2, HTuple* RelPose, HTuple* Errors)

static HTuple HPose::BinocularCalibration(const HTuple& NX, const HTuple& NY, const HTuple& NZ, const HTuple& NRow1, const HTuple& NCol1, const HTuple& NRow2, const HTuple& NCol2, const HTuple& StartCamParam1, const HTuple& StartCamParam2, const HPoseArray& NStartPose1, const HPoseArray& NStartPose2, const HTuple& EstimateParams, HTuple* CamParam2, HPoseArray* NFinalPose1, HPoseArray* NFinalPose2, HPose* RelPose, HTuple* Errors)

HTuple HPose::BinocularCalibration(const HTuple& NX, const HTuple& NY, const HTuple& NZ, const HTuple& NRow1, const HTuple& NCol1, const HTuple& NRow2, const HTuple& NCol2, const HTuple& StartCamParam1, const HTuple& StartCamParam2, const HPose& NStartPose2, const HTuple& EstimateParams, HTuple* CamParam2, HPose* NFinalPose1, HPose* NFinalPose2, HPose* RelPose, double* Errors) const

void HOperatorSetX.BinocularCalibration(
[in] VARIANT NX, [in] VARIANT NY, [in] VARIANT NZ, [in] VARIANT NRow1, [in] VARIANT NCol1, [in] VARIANT NRow2, [in] VARIANT NCol2, [in] VARIANT StartCamParam1, [in] VARIANT StartCamParam2, [in] VARIANT NStartPose1, [in] VARIANT NStartPose2, [in] VARIANT EstimateParams, [out] VARIANT* CamParam1, [out] VARIANT* CamParam2, [out] VARIANT* NFinalPose1, [out] VARIANT* NFinalPose2, [out] VARIANT* RelPose, [out] VARIANT* Errors)

VARIANT HPoseX.BinocularCalibration(
[in] VARIANT NX, [in] VARIANT NY, [in] VARIANT NZ, [in] VARIANT NRow1, [in] VARIANT NCol1, [in] VARIANT NRow2, [in] VARIANT NCol2, [in] VARIANT StartCamParam1, [in] VARIANT StartCamParam2, [in] VARIANT NStartPose1, [in] VARIANT NStartPose2, [in] VARIANT EstimateParams, [out] VARIANT* CamParam2, [out] VARIANT* NFinalPose1, [out] VARIANT* NFinalPose2, [out] VARIANT* RelPose, [out] VARIANT* Errors)

static void HOperatorSet.BinocularCalibration(HTuple NX, HTuple NY, HTuple NZ, HTuple NRow1, HTuple NCol1, HTuple NRow2, HTuple NCol2, HTuple startCamParam1, HTuple startCamParam2, HTuple NStartPose1, HTuple NStartPose2, HTuple estimateParams, out HTuple camParam1, out HTuple camParam2, out HTuple NFinalPose1, out HTuple NFinalPose2, out HTuple relPose, out HTuple errors)

static HTuple HPose.BinocularCalibration(HTuple NX, HTuple NY, HTuple NZ, HTuple NRow1, HTuple NCol1, HTuple NRow2, HTuple NCol2, HTuple startCamParam1, HTuple startCamParam2, HPose[] NStartPose1, HPose[] NStartPose2, HTuple estimateParams, out HTuple camParam2, out HPose[] NFinalPose1, out HPose[] NFinalPose2, out HPose relPose, out HTuple errors)

HTuple HPose.BinocularCalibration(HTuple NX, HTuple NY, HTuple NZ, HTuple NRow1, HTuple NCol1, HTuple NRow2, HTuple NCol2, HTuple startCamParam1, HTuple startCamParam2, HPose NStartPose2, HTuple estimateParams, out HTuple camParam2, out HPose NFinalPose1, out HPose NFinalPose2, out HPose relPose, out double errors)

Beschreibung

Im Allgemeinen bedeutet binokulare Kalibrierung die exakte Bestimmung der Parameter, welche die 3D Rekonstruktion eines 3D Punktes von den korrespondierenden Abbildungen dieses Punktes in einem binokularen Stereo System modellieren. Diese Rekonstruktion wird durch die internen Parameter CamParam1CamParam1CamParam1CamParam1CamParam1camParam1 von Kamera 1 und CamParam2CamParam2CamParam2CamParam2CamParam2camParam2 von Kamera 2 bestimmt, welche das zugrunde liegende projektive Kameramodell beschreiben, und von den externen Parametern RelPoseRelPoseRelPoseRelPoseRelPoserelPose, welche die relative Lage des Kamerasystems 2 im Kamerasystem 1 beschreiben.

Die bekannten 3D Modellpunkte (mit den Koordinaten NXNXNXNXNXNX, NYNYNYNYNYNY, NZNZNZNZNZNZ) werden in die Bildebene der beiden Kameras (Kamera 1 und Kamera 2) projiziert. Die Summe der quadrierten Abstände zwischen diesen Projektionen und den korrespondierenden Bildpunkten (mit den Koordinaten NRow1NRow1NRow1NRow1NRow1NRow1, NCol1NCol1NCol1NCol1NCol1NCol1 für Kamera 1 und NRow2NRow2NRow2NRow2NRow2NRow2, NCol2NCol2NCol2NCol2NCol2NCol2 für Kamera 2) wird daraufhin minimiert. Es muss darauf geachtet werden, dass alle Modellpunkte in beiden Bildern sichtbar sein müssen. Das zugrunde liegende Kameramodell wird in der Beschreibung des camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration Operators erläutert. Das Kameramodell wird durch 8 bis 14 Parameter (für jede Kamera separat) beschrieben (siehe write_cam_parwrite_cam_parWriteCamParwrite_cam_parWriteCamParWriteCamPar). Die initialen Werte dieser internen Parameter werden in StartCamParam1StartCamParam1StartCamParam1StartCamParam1StartCamParam1startCamParam1 für Kamera 1 und StartCamParam2StartCamParam2StartCamParam2StartCamParam2StartCamParam2startCamParam2 für Kamera 2 übergeben. Als Näherungswert kann man diese den Datenblättern der Kameras entnehmen. Zusätzlich werden die initialen Näherungswerte NStartPose1NStartPose1NStartPose1NStartPose1NStartPose1NStartPose1 und NStartPose2NStartPose2NStartPose2NStartPose2NStartPose2NStartPose2 für die einzelnen Lagen des 3D Kalibriermodells bezüglich des jeweiligen Kamerakoordinatensystems (CCS) von Kamera 1 und Kamera 2 benötigt. Diese Lagen kann man durch den Operator find_marks_and_posefind_marks_and_poseFindMarksAndPosefind_marks_and_poseFindMarksAndPoseFindMarksAndPose erhalten. Da der Kalibrieralgorithmus gleichzeitig Korrespondenzen zwischen gemessenen Bild- und bekannten Modellpunkten aus mehreren Bildpaaren behandeln kann, müssen die Lagen (NStartPose1NStartPose1NStartPose1NStartPose1NStartPose1NStartPose1, NStartPose2NStartPose2NStartPose2NStartPose2NStartPose2NStartPose2) und die gemessenen Punkte (NRow1NRow1NRow1NRow1NRow1NRow1, NCol1NCol1NCol1NCol1NCol1NCol1, NRow2NRow2NRow2NRow2NRow2NRow2, NCol2NCol2NCol2NCol2NCol2NCol2) in einer zu den Bildern korrespondierenden Reihenfolge übergeben werden.

Der Eingabeparameter EstimateParamsEstimateParamsEstimateParamsEstimateParamsEstimateParamsestimateParams legt die zu berechnenden Kameraparameter fest. Üblicherweise wird dieser Parameter auf 'all'"all""all""all""all""all" gesetzt, d.h. alle externen (Translationen und Rotationen) und alle internen Kameraparameter werden bestimmt. Falls die internen Parameter schon bestimmt worden sind (z.B. durch einen früheren Aufrufen von binocular_calibrationbinocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration), ist es oftmals interessant, lediglich die 3D-Lage der Kamerasysteme zueinander zu bestimmen (RelPoseRelPoseRelPoseRelPoseRelPoserelPose). In diesem Fall kann in EstimateParamsEstimateParamsEstimateParamsEstimateParamsEstimateParamsestimateParams der Wert 'pose_rel'"pose_rel""pose_rel""pose_rel""pose_rel""pose_rel" übergeben werden. Dies hat denselben Effekt wie EstimateParamsEstimateParamsEstimateParamsEstimateParamsEstimateParamsestimateParams = ['pose1', 'pose2']["pose1", "pose2"]["pose1", "pose2"]["pose1", "pose2"]["pose1", "pose2"]["pose1", "pose2"]. Auch die internen Kameraparameter lassen sich mit den Werten 'cam_param1'"cam_param1""cam_param1""cam_param1""cam_param1""cam_param1" bzw. 'cam_param2'"cam_param2""cam_param2""cam_param2""cam_param2""cam_param2" zusammenfassen. Andernfalls enthält EstimateParamsEstimateParamsEstimateParamsEstimateParamsEstimateParamsestimateParams ein Tuple von Stringwerten, welche die zu schätzenden Kameraparameter festlegen. Wenn das Polynommodell für die Modellierung der Verzeichnungen verwendet wird, ist zu beachten, dass nur die Werte 'k1_i'"k1_i""k1_i""k1_i""k1_i""k1_i", 'k2_i'"k2_i""k2_i""k2_i""k2_i""k2_i" und 'k3_i'"k3_i""k3_i""k3_i""k3_i""k3_i" einzeln in EstimateParamsEstimateParamsEstimateParamsEstimateParamsEstimateParamsestimateParams gesetzt werden können. 'p1'"p1""p1""p1""p1""p1" und 'p2'"p2""p2""p2""p2""p2" kann nur in der Gruppe 'poly_tan_2_i'"poly_tan_2_i""poly_tan_2_i""poly_tan_2_i""poly_tan_2_i""poly_tan_2_i" gesetzt werden (wobei 'i'"i""i""i""i""i" für den Index der Kamera steht). 'poly_i'"poly_i""poly_i""poly_i""poly_i""poly_i" bezeichnet die Gruppe 'k1_i'"k1_i""k1_i""k1_i""k1_i""k1_i", 'k2_i'"k2_i""k2_i""k2_i""k2_i""k2_i", 'k3_i'"k3_i""k3_i""k3_i""k3_i""k3_i" und 'poly_tan_2_i'"poly_tan_2_i""poly_tan_2_i""poly_tan_2_i""poly_tan_2_i""poly_tan_2_i".

Es ist auch möglich, Parameter, die nicht geschätzt werden sollen, über ein vorgesetztes '~' Zeichen im String auszuschließen. Die Werte ['pose1','~transx1']["pose1","~transx1"]["pose1","~transx1"]["pose1","~transx1"]["pose1","~transx1"]["pose1","~transx1"] beispielsweise haben denselben Effekt wie ['alpha1','beta1','gamma1','transy1','transz1']["alpha1","beta1","gamma1","transy1","transz1"]["alpha1","beta1","gamma1","transy1","transz1"]["alpha1","beta1","gamma1","transy1","transz1"]["alpha1","beta1","gamma1","transy1","transz1"]["alpha1","beta1","gamma1","transy1","transz1"]. ['all','~focus1']["all","~focus1"]["all","~focus1"]["all","~focus1"]["all","~focus1"]["all","~focus1"] dagegen schätzt alle internen und externen Parameter bis auf die Brennweite von Kamera1. Das '~' Präfix kann mit Ausnahme von 'all' jedem Parameterwert vorangestellt werden.

Die geschätzeten Kameraparameter werden in CamParam1CamParam1CamParam1CamParam1CamParam1camParam1 für Kamera 1 und CamParam2CamParam2CamParam2CamParam2CamParam2camParam2 für Kamera 2 zurückgegeben. Die externen Parameter werden in RelPoseRelPoseRelPoseRelPoseRelPoserelPose zurückgegeben und legen die 3D Transformation von Punkten von CCS 2 nach CCS 1 fest. Gemäß der Festlegung von Lagen in der Beschreibung des Operators create_posecreate_poseCreatePosecreate_poseCreatePoseCreatePose wird ein Parameter an der letzten Position des obigen Tupels angehängt um den Typ der Lagebeschreibung festzulegen.

Analog zu camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration wird die 3D Transformation des Kalibriermodells zum jeweiligen CCS in NFinalPose1NFinalPose1NFinalPose1NFinalPose1NFinalPose1NFinalPose1 und NFinalPose2NFinalPose2NFinalPose2NFinalPose2NFinalPose2NFinalPose2 zurückgegeben. Diese Transformationen hängen mit RelPoseRelPoseRelPoseRelPoseRelPoserelPose gemäß der folgenden Gleichung zusammen (unter Vernachlässigung der Effekte durch die Ausgleichsrechung der Mehr-Bild-Kalibrierung): 

 HomMat3D_NFinalPose2 = INV(HomMat3D_RelPose) * HomMat3D_NFinalPose1 ,
wobei HomMat3D_* die homogene Transformationsmatrix der entsprechenden Lage beschreibt und INV() eine homogene Matrix invertiert.

Die errechneten mittleren Fehler für jede Kamera, welche in ErrorsErrorsErrorsErrorsErrorserrors zurückgegeben werden, vermitteln einen Eindruck von der Genauigkeit der Kalibrierung. Er beschreibt einen mittleren euklidischen Abstand der mit den ermittelten Parametern ins Bild projezierten Mittelpunkte der Modellmarken von ihren Abbildungen.

Bei der Verwendung von Kameras mit telezentrischen Objektiven müssen zusätzliche Voraussetzungen für den Kalibrieraufbau gelten. Diese können in der Dokumentation von calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras nachgelesen werden.

Parallelisierung

Parameter

NXNXNXNXNXNX (input_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen X-Koordinaten der Kalibriermarken (in Meter).

NYNYNYNYNYNY (input_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen Y-Koordinaten der Kalibriermarken (in Meter).

Parameteranzahl: NY == NX

NZNZNZNZNZNZ (input_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen Z-Koordinaten der Kalibriermarken (in Meter).

Parameteranzahl: NZ == NX

NRow1NRow1NRow1NRow1NRow1NRow1 (input_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen Zeilen-Koordinaten der extrahierten Kalibriermarken von Kamera 1 (in Pixel).

NCol1NCol1NCol1NCol1NCol1NCol1 (input_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen Spalten-Koordinaten der extrahierten Kalibriermarken von Kamera 1 (in Pixel).

Parameteranzahl: NCol1 == NRow1

NRow2NRow2NRow2NRow2NRow2NRow2 (input_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen Zeilen-Koordinaten der extrahierten Kalibriermarken von Kamera 2 (in Pixel).

Parameteranzahl: NRow2 == NRow1

NCol2NCol2NCol2NCol2NCol2NCol2 (input_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen Spalten-Koordinaten der extrahierten Kalibriermarken von Kamera 2 (in Pixel).

Parameteranzahl: NCol2 == NRow1

StartCamParam1StartCamParam1StartCamParam1StartCamParam1StartCamParam1startCamParam1 (input_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Startwerte für die internen Parameter der projektiven Kamera 1.

Parameteranzahl: StartCamParam1 == 8 || StartCamParam1 == 10 || StartCamParam1 == 12 || StartCamParam1 == 14

StartCamParam2StartCamParam2StartCamParam2StartCamParam2StartCamParam2startCamParam2 (input_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Startwerte für die internen Parameter der projektiven Kamera 2.

Parameteranzahl: StartCamParam2 == StartCamParam1

NStartPose1NStartPose1NStartPose1NStartPose1NStartPose1NStartPose1 (input_control)  pose(-array) → HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen Startwerten der externen Parameter von Kamera 1.

Parameteranzahl: NStartPose1 == 7 * NRow1 / NX

NStartPose2NStartPose2NStartPose2NStartPose2NStartPose2NStartPose2 (input_control)  pose(-array) → HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen Startwerten der externen Parameter von Kamera 2.

Parameteranzahl: NStartPose2 == 7 * NRow1 / NX

EstimateParamsEstimateParamsEstimateParamsEstimateParamsEstimateParamsestimateParams (input_control)  string-array → HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

Zu schätzenden Kameraparameter.

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

Werteliste: 'all'"all""all""all""all""all", 'alpha1'"alpha1""alpha1""alpha1""alpha1""alpha1", 'alpha2'"alpha2""alpha2""alpha2""alpha2""alpha2", 'beta1'"beta1""beta1""beta1""beta1""beta1", 'beta2'"beta2""beta2""beta2""beta2""beta2", 'cam_param1'"cam_param1""cam_param1""cam_param1""cam_param1""cam_param1", 'cam_param2'"cam_param2""cam_param2""cam_param2""cam_param2""cam_param2", 'cx1'"cx1""cx1""cx1""cx1""cx1", 'cx2'"cx2""cx2""cx2""cx2""cx2", 'cy1'"cy1""cy1""cy1""cy1""cy1", 'cy2'"cy2""cy2""cy2""cy2""cy2", 'focus1'"focus1""focus1""focus1""focus1""focus1", 'focus2'"focus2""focus2""focus2""focus2""focus2", 'gamma1'"gamma1""gamma1""gamma1""gamma1""gamma1", 'gamma2'"gamma2""gamma2""gamma2""gamma2""gamma2", 'k1_1'"k1_1""k1_1""k1_1""k1_1""k1_1", 'k1_2'"k1_2""k1_2""k1_2""k1_2""k1_2", 'k2_1'"k2_1""k2_1""k2_1""k2_1""k2_1", 'k2_2'"k2_2""k2_2""k2_2""k2_2""k2_2", 'k3_1'"k3_1""k3_1""k3_1""k3_1""k3_1", 'k3_2'"k3_2""k3_2""k3_2""k3_2""k3_2", 'kappa1'"kappa1""kappa1""kappa1""kappa1""kappa1", 'kappa2'"kappa2""kappa2""kappa2""kappa2""kappa2", 'poly_1'"poly_1""poly_1""poly_1""poly_1""poly_1", 'poly_2'"poly_2""poly_2""poly_2""poly_2""poly_2", 'poly_tan_2_1'"poly_tan_2_1""poly_tan_2_1""poly_tan_2_1""poly_tan_2_1""poly_tan_2_1", 'poly_tan_2_2'"poly_tan_2_2""poly_tan_2_2""poly_tan_2_2""poly_tan_2_2""poly_tan_2_2", 'pose1'"pose1""pose1""pose1""pose1""pose1", 'pose2'"pose2""pose2""pose2""pose2""pose2", 'pose_rel'"pose_rel""pose_rel""pose_rel""pose_rel""pose_rel", 'sx1'"sx1""sx1""sx1""sx1""sx1", 'sx2'"sx2""sx2""sx2""sx2""sx2", 'sy1'"sy1""sy1""sy1""sy1""sy1", 'sy2'"sy2""sy2""sy2""sy2""sy2", 'tilt1'"tilt1""tilt1""tilt1""tilt1""tilt1", 'tilt2'"tilt2""tilt2""tilt2""tilt2""tilt2", 'transx1'"transx1""transx1""transx1""transx1""transx1", 'transx2'"transx2""transx2""transx2""transx2""transx2", 'transy1'"transy1""transy1""transy1""transy1""transy1", 'transy2'"transy2""transy2""transy2""transy2""transy2", 'transz1'"transz1""transz1""transz1""transz1""transz1", 'transz2'"transz2""transz2""transz2""transz2""transz2"

CamParam1CamParam1CamParam1CamParam1CamParam1camParam1 (output_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Interne Parameter der projektiven Kamera 1.

Parameteranzahl: CamParam1 == 8 || CamParam1 == 10 || CamParam1 == 12 || CamParam1 == 14

CamParam2CamParam2CamParam2CamParam2CamParam2camParam2 (output_control)  number-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Interne Parameter der projektiven Kamera 2.

Parameteranzahl: CamParam2 == 8 || CamParam2 == 10 || CamParam2 == 12 || CamParam2 == 14

NFinalPose1NFinalPose1NFinalPose1NFinalPose1NFinalPose1NFinalPose1 (output_control)  pose(-array) → HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen externen Parametern von Kamera 1.

Parameteranzahl: NFinalPose1 == 7 * NRow1 / NX

NFinalPose2NFinalPose2NFinalPose2NFinalPose2NFinalPose2NFinalPose2 (output_control)  pose(-array) → HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Geordnetes Tupel mit allen externen Parametern von Kamera 2.

Parameteranzahl: NFinalPose2 == 7 * NRow1 / NX

RelPoseRelPoseRelPoseRelPoseRelPoserelPose (output_control)  pose → HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Lage von Kamera 2 bezüglich Kamera 1.

ErrorsErrorsErrorsErrorsErrorserrors (output_control)  real(-array) → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Durchschnittlicher Fehler in Pixel.

Beispiel (HDevelop)

* open image source
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
                   'default', 'images_l.seq', 'default', 0, -1, AcqHandle1)
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
                   'default', 'images_r.seq', 'default', 1, -1, AcqHandle2)

* initialize the start parameters
create_caltab (0.03, 'caltab_30.descr', 'caltab_30.ps')
caltab_points ('caltab_30.descr', X, Y, Z)
StartCamParam1 := [0.0125, 0, 7.4e-6, 7.4e-6, Width/2.0, Height/2.0, \
                   Width, Height]
StartCamParam2 := StartCamParam1
Rows1 := []
Cols1 := []
StartPoses1 := []
Rows2 := []
Cols2 := []
StartPoses2 := []

* find calibration marks and startposes
for i := 0 to 11 by 1
  grab_image_async (Image1, AcqHandle1, -1)
  grab_image_async (Image2, AcqHandle2, -1)
  find_caltab (Image1, CalPlate1, 'caltab_30.descr', 3, 120, 5)
  find_caltab (Image2, CalPlate2, 'caltab_30.descr', 3, 120, 5)
  find_marks_and_pose (Image1, CalPlate1, 'caltab_30.descr', StartCamParam1,\
                       128, 10, 20, 0.7, 5, 100, RCoord1, CCoord1, \
                       StartPose1)
  Rows1 := [Rows1,RCoord1]
  Cols1 := [Cols1,CCoord1]
  StartPoses1 := [StartPoses1,StartPose1]
  find_marks_and_pose (Image2, CalPlate2, 'caltab_30.descr', StartCamParam2,\
                       128, 10, 20, 0.7, 5, 100, RCoord2, CCoord2, \
                       StartPose2)
  Rows2 := [Rows2,RCoord2]
  Cols2 := [Cols2,CCoord2]
  StartPoses2 := [StartPoses2,StartPose2]
endfor

* calibrate the stereo rig
binocular_calibration (X, Y, Z, Rows1, Cols1, Rows2, Cols2, StartCamParam1,\
                       StartCamParam2, StartPoses1, StartPoses2, 'all', \
                       CamParam1, CamParam2, NFinalPose1, NFinalPose2, \
                       RelPose, Errors)
* archive the results
write_cam_par (CamParam1, 'cam_left-125.dat')
write_cam_par (CamParam2, 'cam_right-125.dat')
write_pose (RelPose, 'rel_pose.dat')

* rectify the stereo images
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose,\
  1,'geometric', 'bilinear', CamParamRect1, CamParamRect2, Cam1PoseRect1, \
  Cam2PoseRect2, RelPoseRect)
map_image (Image1, Map1, ImageMapped1)
map_image (Image2, Map2, ImageMapped2)

Beispiel (HDevelop)

* open image source
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
                   'default', 'images_l.seq', 'default', 0, -1, AcqHandle1)
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
                   'default', 'images_r.seq', 'default', 1, -1, AcqHandle2)

* initialize the start parameters
create_caltab (0.03, 'caltab_30.descr', 'caltab_30.ps')
caltab_points ('caltab_30.descr', X, Y, Z)
StartCamParam1 := [0.0125, 0, 7.4e-6, 7.4e-6, Width/2.0, Height/2.0, \
                   Width, Height]
StartCamParam2 := StartCamParam1
Rows1 := []
Cols1 := []
StartPoses1 := []
Rows2 := []
Cols2 := []
StartPoses2 := []

* find calibration marks and startposes
for i := 0 to 11 by 1
  grab_image_async (Image1, AcqHandle1, -1)
  grab_image_async (Image2, AcqHandle2, -1)
  find_caltab (Image1, CalPlate1, 'caltab_30.descr', 3, 120, 5)
  find_caltab (Image2, CalPlate2, 'caltab_30.descr', 3, 120, 5)
  find_marks_and_pose (Image1, CalPlate1, 'caltab_30.descr', StartCamParam1,\
                       128, 10, 20, 0.7, 5, 100, RCoord1, CCoord1, \
                       StartPose1)
  Rows1 := [Rows1,RCoord1]
  Cols1 := [Cols1,CCoord1]
  StartPoses1 := [StartPoses1,StartPose1]
  find_marks_and_pose (Image2, CalPlate2, 'caltab_30.descr', StartCamParam2,\
                       128, 10, 20, 0.7, 5, 100, RCoord2, CCoord2, \
                       StartPose2)
  Rows2 := [Rows2,RCoord2]
  Cols2 := [Cols2,CCoord2]
  StartPoses2 := [StartPoses2,StartPose2]
endfor

* calibrate the stereo rig
binocular_calibration (X, Y, Z, Rows1, Cols1, Rows2, Cols2, StartCamParam1,\
                       StartCamParam2, StartPoses1, StartPoses2, 'all', \
                       CamParam1, CamParam2, NFinalPose1, NFinalPose2, \
                       RelPose, Errors)
* archive the results
write_cam_par (CamParam1, 'cam_left-125.dat')
write_cam_par (CamParam2, 'cam_right-125.dat')
write_pose (RelPose, 'rel_pose.dat')

* rectify the stereo images
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose,\
  1,'geometric', 'bilinear', CamParamRect1, CamParamRect2, Cam1PoseRect1, \
  Cam2PoseRect2, RelPoseRect)
map_image (Image1, Map1, ImageMapped1)
map_image (Image2, Map2, ImageMapped2)

Beispiel (HDevelop)

* open image source
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
                   'default', 'images_l.seq', 'default', 0, -1, AcqHandle1)
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
                   'default', 'images_r.seq', 'default', 1, -1, AcqHandle2)

* initialize the start parameters
create_caltab (0.03, 'caltab_30.descr', 'caltab_30.ps')
caltab_points ('caltab_30.descr', X, Y, Z)
StartCamParam1 := [0.0125, 0, 7.4e-6, 7.4e-6, Width/2.0, Height/2.0, \
                   Width, Height]
StartCamParam2 := StartCamParam1
Rows1 := []
Cols1 := []
StartPoses1 := []
Rows2 := []
Cols2 := []
StartPoses2 := []

* find calibration marks and startposes
for i := 0 to 11 by 1
  grab_image_async (Image1, AcqHandle1, -1)
  grab_image_async (Image2, AcqHandle2, -1)
  find_caltab (Image1, CalPlate1, 'caltab_30.descr', 3, 120, 5)
  find_caltab (Image2, CalPlate2, 'caltab_30.descr', 3, 120, 5)
  find_marks_and_pose (Image1, CalPlate1, 'caltab_30.descr', StartCamParam1,\
                       128, 10, 20, 0.7, 5, 100, RCoord1, CCoord1, \
                       StartPose1)
  Rows1 := [Rows1,RCoord1]
  Cols1 := [Cols1,CCoord1]
  StartPoses1 := [StartPoses1,StartPose1]
  find_marks_and_pose (Image2, CalPlate2, 'caltab_30.descr', StartCamParam2,\
                       128, 10, 20, 0.7, 5, 100, RCoord2, CCoord2, \
                       StartPose2)
  Rows2 := [Rows2,RCoord2]
  Cols2 := [Cols2,CCoord2]
  StartPoses2 := [StartPoses2,StartPose2]
endfor

* calibrate the stereo rig
binocular_calibration (X, Y, Z, Rows1, Cols1, Rows2, Cols2, StartCamParam1,\
                       StartCamParam2, StartPoses1, StartPoses2, 'all', \
                       CamParam1, CamParam2, NFinalPose1, NFinalPose2, \
                       RelPose, Errors)
* archive the results
write_cam_par (CamParam1, 'cam_left-125.dat')
write_cam_par (CamParam2, 'cam_right-125.dat')
write_pose (RelPose, 'rel_pose.dat')

* rectify the stereo images
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose,\
  1,'geometric', 'bilinear', CamParamRect1, CamParamRect2, Cam1PoseRect1, \
  Cam2PoseRect2, RelPoseRect)
map_image (Image1, Map1, ImageMapped1)
map_image (Image2, Map2, ImageMapped2)

Beispiel (C++ (HALCON 5.0-10.0))

HTuple   AcqHandle1, AcqHandle2;
HTuple   X, Y, Z, StartCamParam1, StartCamParam2;
HTuple   Rows1, Cols1, StartPoses1, Rows2, Cols2, StartPoses2;
HTuple   i, RCoord1, CCoord1, StartPose1, RCoord2, CCoord2;
HTuple   StartPose2, CamParam1, CamParam2, NFinalPose1, NFinalPose2;
HTuple   c1Pc2, Errors, CamParamRect1, CamParamRect2, CamPoseRect1;
HTuple   CamPoseRect2, RelPoseRect;
Hobject  Image1, Image2, CalPlate1, CalPlate2, Map1, Map2, ImageMapped1;
Hobject  ImageMapped2;

// open image source
open_framegrabber("File",1,1,0,0,0,0,"default",-1,"default",-1,"default",
                  "images_l.seq","default",0,-1,&AcqHandle1);
open_framegrabber("File",1,1,0,0,0,0,"default",-1,"default",-1,"default",
                  "images_r.seq","default",0,-1,&AcqHandle2);
// initialize the start parameters
caltab_points("caltab_30mm.descr",&X,&Y,&Z);
StartCamParam1[7] = 640;          // ImageHeight
StartCamParam1[6] = 480;          // ImageWidth
StartCamParam1[5] = 320;          // Cy
StartCamParam1[4] = 240;          // Cx
StartCamParam1[3] = 7.4e-6;       // Sy
StartCamParam1[2] = 7.4e-6;       // Sx
StartCamParam1[1] = 0.0;          // Kappa
StartCamParam1[0] = 0.0125;       // Focus
StartCamParam2 = StartCamParam1;    // identic camera
Rows1 = HTuple();
Cols1 = HTuple();
StartPoses1 = HTuple();
Rows2 = HTuple();
Cols2 = HTuple();
StartPoses2 = HTuple();

// find calibration marks and startposes
for (i=0; i<=11; i+=1)
{
  grab_image_async(&Image1,AcqHandle1,-1);
  grab_image_async(&Image2,AcqHandle2,-1);
  find_caltab(Image1,&CalPlate1,"caltab_30mm.descr",3,120,5);
  find_caltab(Image2,&CalPlate2,"caltab_30mm.descr",3,120,5);
  find_marks_and_pose(Image1,CalPlate1,"caltab_30.descr",StartCamParam1,128,
                      10,20,0.7,5,100,&RCoord1,&CCoord1,&StartPose1);
  Rows1.Append(RCoord1);
  Cols1.Append(CCoord1);
  StartPoses1.Append(StartPose1);
  find_marks_and_pose(Image2,CalPlate2,"caltab_30mm.descr",StartCamParam2,
                      128,10,18,0.7,2,100,&RCoord2,&CCoord2,&StartPose2);
  Rows2.Append(RCoord2);
  Cols2.Append(CCoord2);
  StartPoses2.Append(StartPose2);
}

// find calibration marks and start poses
binocular_calibration(X,Y,Z,Rows1,Cols1,Rows2,Cols2,StartCamParam1,
                      StartCamParam2,StartPoses1,StartPoses2,"all",
                      &CamParam1,&CamParam2,&NFinalPose1,&NFinalPose2,
                      &RelPose,&Errors);
// archive the results
write_cam_par(CamParam1,"cam_left-125.dat");
write_cam_par(CamParam2,"cam_right-125.dat");
write_pose(RelPose,"rel_pose.dat");
// rectify the stereo images
gen_binocular_rectification_map(&Map1,&Map2,CamParam1,CamParam2,RelPose,1,
                                "geometric","bilinear",&CamParamRect1,
                                &CamParamRect2,&CamPoseRect1,
                                &CamPoseRect2,&RelPoseRect);
map_image(Image1,Map1,&ImageMapped1);
map_image(Image2,Map2,&ImageMapped2);

Beispiel (HDevelop)

* open image source
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
                   'default', 'images_l.seq', 'default', 0, -1, AcqHandle1)
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
                   'default', 'images_r.seq', 'default', 1, -1, AcqHandle2)

* initialize the start parameters
create_caltab (0.03, 'caltab_30.descr', 'caltab_30.ps')
caltab_points ('caltab_30.descr', X, Y, Z)
StartCamParam1 := [0.0125, 0, 7.4e-6, 7.4e-6, Width/2.0, Height/2.0, \
                   Width, Height]
StartCamParam2 := StartCamParam1
Rows1 := []
Cols1 := []
StartPoses1 := []
Rows2 := []
Cols2 := []
StartPoses2 := []

* find calibration marks and startposes
for i := 0 to 11 by 1
  grab_image_async (Image1, AcqHandle1, -1)
  grab_image_async (Image2, AcqHandle2, -1)
  find_caltab (Image1, CalPlate1, 'caltab_30.descr', 3, 120, 5)
  find_caltab (Image2, CalPlate2, 'caltab_30.descr', 3, 120, 5)
  find_marks_and_pose (Image1, CalPlate1, 'caltab_30.descr', StartCamParam1,\
                       128, 10, 20, 0.7, 5, 100, RCoord1, CCoord1, \
                       StartPose1)
  Rows1 := [Rows1,RCoord1]
  Cols1 := [Cols1,CCoord1]
  StartPoses1 := [StartPoses1,StartPose1]
  find_marks_and_pose (Image2, CalPlate2, 'caltab_30.descr', StartCamParam2,\
                       128, 10, 20, 0.7, 5, 100, RCoord2, CCoord2, \
                       StartPose2)
  Rows2 := [Rows2,RCoord2]
  Cols2 := [Cols2,CCoord2]
  StartPoses2 := [StartPoses2,StartPose2]
endfor

* calibrate the stereo rig
binocular_calibration (X, Y, Z, Rows1, Cols1, Rows2, Cols2, StartCamParam1,\
                       StartCamParam2, StartPoses1, StartPoses2, 'all', \
                       CamParam1, CamParam2, NFinalPose1, NFinalPose2, \
                       RelPose, Errors)
* archive the results
write_cam_par (CamParam1, 'cam_left-125.dat')
write_cam_par (CamParam2, 'cam_right-125.dat')
write_pose (RelPose, 'rel_pose.dat')

* rectify the stereo images
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose,\
  1,'geometric', 'bilinear', CamParamRect1, CamParamRect2, Cam1PoseRect1, \
  Cam2PoseRect2, RelPoseRect)
map_image (Image1, Map1, ImageMapped1)
map_image (Image2, Map2, ImageMapped2)

Beispiel (HDevelop)

* open image source
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
                   'default', 'images_l.seq', 'default', 0, -1, AcqHandle1)
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
                   'default', 'images_r.seq', 'default', 1, -1, AcqHandle2)

* initialize the start parameters
create_caltab (0.03, 'caltab_30.descr', 'caltab_30.ps')
caltab_points ('caltab_30.descr', X, Y, Z)
StartCamParam1 := [0.0125, 0, 7.4e-6, 7.4e-6, Width/2.0, Height/2.0, \
                   Width, Height]
StartCamParam2 := StartCamParam1
Rows1 := []
Cols1 := []
StartPoses1 := []
Rows2 := []
Cols2 := []
StartPoses2 := []

* find calibration marks and startposes
for i := 0 to 11 by 1
  grab_image_async (Image1, AcqHandle1, -1)
  grab_image_async (Image2, AcqHandle2, -1)
  find_caltab (Image1, CalPlate1, 'caltab_30.descr', 3, 120, 5)
  find_caltab (Image2, CalPlate2, 'caltab_30.descr', 3, 120, 5)
  find_marks_and_pose (Image1, CalPlate1, 'caltab_30.descr', StartCamParam1,\
                       128, 10, 20, 0.7, 5, 100, RCoord1, CCoord1, \
                       StartPose1)
  Rows1 := [Rows1,RCoord1]
  Cols1 := [Cols1,CCoord1]
  StartPoses1 := [StartPoses1,StartPose1]
  find_marks_and_pose (Image2, CalPlate2, 'caltab_30.descr', StartCamParam2,\
                       128, 10, 20, 0.7, 5, 100, RCoord2, CCoord2, \
                       StartPose2)
  Rows2 := [Rows2,RCoord2]
  Cols2 := [Cols2,CCoord2]
  StartPoses2 := [StartPoses2,StartPose2]
endfor

* calibrate the stereo rig
binocular_calibration (X, Y, Z, Rows1, Cols1, Rows2, Cols2, StartCamParam1,\
                       StartCamParam2, StartPoses1, StartPoses2, 'all', \
                       CamParam1, CamParam2, NFinalPose1, NFinalPose2, \
                       RelPose, Errors)
* archive the results
write_cam_par (CamParam1, 'cam_left-125.dat')
write_cam_par (CamParam2, 'cam_right-125.dat')
write_pose (RelPose, 'rel_pose.dat')

* rectify the stereo images
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose,\
  1,'geometric', 'bilinear', CamParamRect1, CamParamRect2, Cam1PoseRect1, \
  Cam2PoseRect2, RelPoseRect)
map_image (Image1, Map1, ImageMapped1)
map_image (Image2, Map2, ImageMapped2)

Ergebnis

Sind die Parameterwerte korrekt und konnten die gesuchten Parameter durch das Bündelausgleichsverfahren bestimmt werden, dann liefert binocular_calibrationbinocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration den Wert 2 (H_MSG_TRUE). Gegebenenfalls wird eine Fehlerbehandlung durchgeführt.

Vorgänger

find_marks_and_posefind_marks_and_poseFindMarksAndPosefind_marks_and_poseFindMarksAndPoseFindMarksAndPose, caltab_pointscaltab_pointsCaltabPointscaltab_pointsCaltabPointsCaltabPoints, read_cam_parread_cam_parReadCamParread_cam_parReadCamParReadCamPar

Nachfolger

write_posewrite_poseWritePosewrite_poseWritePoseWritePose, write_cam_parwrite_cam_parWriteCamParwrite_cam_parWriteCamParWriteCamPar, pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3d, disp_caltabdisp_caltabDispCaltabdisp_caltabDispCaltabDispCaltab, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap

Siehe auch

find_caltabfind_caltabFindCaltabfind_caltabFindCaltabFindCaltab, sim_caltabsim_caltabSimCaltabsim_caltabSimCaltabSimCaltab, read_cam_parread_cam_parReadCamParread_cam_parReadCamParReadCamPar, create_posecreate_poseCreatePosecreate_poseCreatePoseCreatePose, convert_pose_typeconvert_pose_typeConvertPoseTypeconvert_pose_typeConvertPoseTypeConvertPoseType, read_poseread_poseReadPoseread_poseReadPoseReadPose, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose, create_caltabcreate_caltabCreateCaltabcreate_caltabCreateCaltabCreateCaltab, binocular_disparitybinocular_disparityBinocularDisparitybinocular_disparityBinocularDisparityBinocularDisparity, binocular_distancebinocular_distanceBinocularDistancebinocular_distanceBinocularDistanceBinocularDistance

Modul

3D Metrology

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HALCON Operator-Referenz 12.0.2 Copyright © 1996-2016 MVTec Software GmbH