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caltab_pointsT_caltab_pointsCaltabPointscaltab_pointsCaltabPointsCaltabPoints (Operator)

Name

caltab_pointsT_caltab_pointsCaltabPointscaltab_pointsCaltabPointsCaltabPoints — Read the mark center points from the calibration plate description file.

Signature

caltab_points( : : CalPlateDescr : X, Y, Z)

Herror T_caltab_points(const Htuple CalPlateDescr, Htuple* X, Htuple* Y, Htuple* Z)

Herror caltab_points(const HTuple& CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)

void CaltabPoints(const HTuple& CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)

static void HMisc::CaltabPoints(const HString& CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)

static void HMisc::CaltabPoints(const char* CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)

void HOperatorSetX.CaltabPoints(
[in] VARIANT CalPlateDescr, [out] VARIANT* X, [out] VARIANT* Y, [out] VARIANT* Z)

VARIANT HMiscX.CaltabPoints(
[in] BSTR CalPlateDescr, [out] VARIANT* Y, [out] VARIANT* Z)

static void HOperatorSet.CaltabPoints(HTuple calPlateDescr, out HTuple x, out HTuple y, out HTuple z)

static void HMisc.CaltabPoints(string calPlateDescr, out HTuple x, out HTuple y, out HTuple z)

Description

caltab_pointscaltab_pointsCaltabPointscaltab_pointsCaltabPointsCaltabPoints reads the mark center points from the calibration plate description file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescr (see gen_caltabgen_caltabGenCaltabgen_caltabGenCaltabGenCaltab for calibration plates with rectangularly arranged marks and create_caltabcreate_caltabCreateCaltabcreate_caltabCreateCaltabCreateCaltab for calibration plates with hexagonally arranged marks) and returns their coordinates in XXXXXx, YYYYYy and ZZZZZz. The mark center points are 3D coordinates in the calibration plate coordinate system and describe the 3D model of the calibration plate. The calibration plate coordinate system is located in the middle of the surface of the calibration plate for calibration plates with rectangularly arranged marks and at the center of the central mark of the first finder pattern for calibration plates with hexagonally arranged marks. Its z-axis points into the calibration plate, its x-axis to the right, and its y-axis downwards.

The mark center points are typically used as input parameters for the operator camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration.

Parallelization

Parameters

CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescr (input_control)  filename.read → HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

File name of the calibration plate description.

Default value: 'calplate.cpd' "calplate.cpd" "calplate.cpd" "calplate.cpd" "calplate.cpd" "calplate.cpd"

List of values: 'calplate.cpd'"calplate.cpd""calplate.cpd""calplate.cpd""calplate.cpd""calplate.cpd", 'calplate_20mm.cpd'"calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd", 'calplate_40mm.cpd'"calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd", 'calplate_80mm.cpd'"calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd", 'caltab.descr'"caltab.descr""caltab.descr""caltab.descr""caltab.descr""caltab.descr", 'caltab_160mm.cpd'"caltab_160mm.cpd""caltab_160mm.cpd""caltab_160mm.cpd""caltab_160mm.cpd""caltab_160mm.cpd"

File extension: .cpd, .descr

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

X coordinates of the mark center points in the coordinate system of the calibration plate.

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

Y coordinates of the mark center points in the coordinate system of the calibration plate.

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

Z coordinates of the mark center points in the coordinate system of the calibration plate.

Example (HDevelop)

* Read calibration image
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses
StartCamPar := [0.008, 0.0, 0.000011, 0.000011, 384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
                    StartPose1)
* Read 3D positions of calibration marks
caltab_points(CalTabDescr, NX, NY, NZ)
*  Calibrate camera
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
                   StartPose1, 'all', CameraParam, FinalPose, Errors)
*  Visualize calibration result
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)

Example (HDevelop)

* Read calibration image
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses
StartCamPar := [0.008, 0.0, 0.000011, 0.000011, 384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
                    StartPose1)
* Read 3D positions of calibration marks
caltab_points(CalTabDescr, NX, NY, NZ)
*  Calibrate camera
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
                   StartPose1, 'all', CameraParam, FinalPose, Errors)
*  Visualize calibration result
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)

Example (HDevelop)

* Read calibration image
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses
StartCamPar := [0.008, 0.0, 0.000011, 0.000011, 384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
                    StartPose1)
* Read 3D positions of calibration marks
caltab_points(CalTabDescr, NX, NY, NZ)
*  Calibrate camera
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
                   StartPose1, 'all', CameraParam, FinalPose, Errors)
*  Visualize calibration result
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)

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

HTuple StartCamPar, NX, NY, NZ;
HTuple RCoord, CCoord, StartPose;
HTuple StartPose, CameraParam, FinalPose, Errors;
// Read calibration image
HImage Image("calib/calib-3d-coord-03");
// Find calibration pattern
HRegion CalPlate1 = Image.FindCaltab("caltab_100mm.descr", 3, 112, 5);
// Find calibration marks and start pose
StartCamPar[7] = 576;          // ImageHeight
StartCamPar[6] = 768;          // ImageWidth
StartCamPar[5] = 288;          // Cy
StartCamPar[4] = 384;          // Cx
StartCamPar[3] = 0.000011;     // Sy
StartCamPar[2] = 0.000011;     // Sx
StartCamPar[1] = 0.0;          // Kappa
StartCamPar[0] = 0.008;        // Focus
RCoord = Image.FindMarksAndPose(CalPlate, "caltab_100mm.descr", StartCamPar,
                                  128, 10, &CCoord, &StartPose);
// Read 3D positions of calibration marks
caltab_points("caltab_100mm.descr", &NX, &NY, &NZ);
// Calibrate camera
camera_calibration(NX, NY, NZ, RCoord, CCoord, StartCamPar, StartPose,
                   11, &CameraParam, &FinalPose, &Errors);
// Visualize calibration result
disp_image(Image, WindowHandle);
disp_caltab(WindowHandle, "caltab_100mm.descr, CameraParam, FinalPose, 1.0);

Example (HDevelop)

* Read calibration image
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses
StartCamPar := [0.008, 0.0, 0.000011, 0.000011, 384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
                    StartPose1)
* Read 3D positions of calibration marks
caltab_points(CalTabDescr, NX, NY, NZ)
*  Calibrate camera
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
                   StartPose1, 'all', CameraParam, FinalPose, Errors)
*  Visualize calibration result
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)

Example (HDevelop)

* Read calibration image
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses
StartCamPar := [0.008, 0.0, 0.000011, 0.000011, 384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
                    StartPose1)
* Read 3D positions of calibration marks
caltab_points(CalTabDescr, NX, NY, NZ)
*  Calibrate camera
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
                   StartPose1, 'all', CameraParam, FinalPose, Errors)
*  Visualize calibration result
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)

Result

caltab_pointscaltab_pointsCaltabPointscaltab_pointsCaltabPointsCaltabPoints returns 2 (H_MSG_TRUE) if all parameter values are correct and the file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescr has been read successfully. If necessary, an exception is raised.

Possible Successors

camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration

See also

find_caltabfind_caltabFindCaltabfind_caltabFindCaltabFindCaltab, find_marks_and_posefind_marks_and_poseFindMarksAndPosefind_marks_and_poseFindMarksAndPoseFindMarksAndPose, camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration, disp_caltabdisp_caltabDispCaltabdisp_caltabDispCaltabDispCaltab, sim_caltabsim_caltabSimCaltabsim_caltabSimCaltabSimCaltab, project_3d_pointproject_3d_pointProject3dPointproject_3d_pointProject3dPointProject3dPoint, get_line_of_sightget_line_of_sightGetLineOfSightget_line_of_sightGetLineOfSightGetLineOfSight, gen_caltabgen_caltabGenCaltabgen_caltabGenCaltabGenCaltab

Module

Foundation

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