find_marks_and_pose — Extract rectangularly arranged 2D calibration marks from the image and calculate initial values for the external camera parameters.
find_marks_and_pose is used to determine the input data for a subsequent camera calibration using a calibration plate with rectangularly arranged marks (see calibrate_cameras or camera_calibration): First, the 2D center points [RCoord,CCoord] of the calibration marks within the region CalPlateRegion of the input image Image are extracted and ordered. Secondly, a rough estimate for the external camera parameters (StartPose) is computed, i.e., the 3D pose (= position and orientation) of the calibration plate relative to the camera coordinate system (see create_pose for more information about 3D poses).
In the input image Image an edge detector is applied (see edges_image, mode 'lanser2') to the region CalPlateRegion, which can be found by applying the operator find_caltab. The filter parameter for this edge detection can be tuned via Alpha. Use a smaller value for Alpha to achieve a stronger smoothing effect. In the edge image closed contours are searched for: The number of closed contours must correspond to the number of calibration marks as described in the calibration plate description file CalPlateDescr and the contours have to be elliptically shaped. Contours shorter than MinContLength are discarded, just as contours enclosing regions with a diameter larger than MaxDiamMarks (e.g., the border of the calibration plate).
For the detection of contours a threshold operator is applied on the resulting amplitudes of the edge detector. All points with a high amplitude (i.e., borders of marks) are selected.
First, the threshold value is set to StartThresh. If the search for the closed contours or the successive pose estimate fails, this threshold value is successively decreased by DeltaThresh down to a minimum value of MinThresh.
Each of the found contours is refined with subpixel accuracy (see edges_sub_pix) and subsequently approximated by an ellipse. The center points of these ellipses represent a good approximation of the desired 2D image coordinates [RCoord,CCoord] of the calibration mark center points. The order of the values within these two tuples must correspond to the order of the 3D coordinates of the calibration marks in the calibration plate description file CalPlateDescr, since this fixes the correspondences between extracted image marks and known model marks (given by caltab_points)! If a triangular orientation mark is defined in a corner of the plate by the plate description file (see gen_caltab), the mark will be detected and the point order is returned in row-major order beginning with the corner mark in the (barycentric) negative quadrant with respect to the defined coordinate system of the plate. Else, if no orientation mark is defined, the order of the center points is in row-major order beginning at the upper left corner mark in the image.
Based on the ellipse parameters for each calibration mark, a rough estimate for the external camera parameters is finally computed. For this purpose the fixed correspondences between extracted image marks and known model marks are used. The estimate StartPose describes the pose of the calibration plate in the camera coordinate system as required by the operator camera_calibration.
Region of the calibration plate.
File name of the calibration plate description.
Default value: 'caltab.descr'
List of values: 'caltab.descr', 'caltab_100mm.descr', 'caltab_10mm.descr', 'caltab_200mm.descr', 'caltab_30mm.descr'
File extension: .descr
Initial values for the internal camera parameters.
Number of elements: StartCamParam == 8 || StartCamParam == 10 || StartCamParam == 11 || StartCamParam == 12 || StartCamParam == 14
Initial threshold value for contour detection.
Default value: 128
List of values: 80, 96, 112, 128, 144, 160
Restriction: StartThresh > 0
Loop value for successive reduction of StartThresh.
Default value: 10
List of values: 6, 8, 10, 12, 14, 16, 18, 20, 22
Restriction: DeltaThresh > 0
Minimum threshold for contour detection.
Default value: 18
List of values: 8, 10, 12, 14, 16, 18, 20, 22
Restriction: MinThresh > 0
Filter parameter for contour detection, see edges_image.
Default value: 0.9
Suggested values: 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1
Typical range of values: 0.2 ≤ Alpha ≤ 2.0
Restriction: Alpha > 0.0
Minimum length of the contours of the marks.
Default value: 15.0
Suggested values: 10.0, 15.0, 20.0, 30.0, 40.0, 100.0
Restriction: MinContLength > 0.0
Maximum expected diameter of the marks.
Default value: 100.0
Suggested values: 50.0, 100.0, 150.0, 200.0, 300.0
Restriction: MaxDiamMarks > 0.0
Tuple with row coordinates of the detected marks.
Tuple with column coordinates of the detected marks.
Estimation for the external camera parameters.
Number of elements: 7
* read calibration image read_image(Image, 'calib-01') * find calibration pattern find_caltab(Image,CalPlate, 'caltab.descr', 3, 112, 5) * find calibration marks and start pose find_marks_and_pose(Image, CalPlate, 'caltab.descr' , \ [0.008, 0.0, 0.000011, 0.000011, 384, 288, 768, 576], \ 128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
find_marks_and_pose returns 2 (H_MSG_TRUE) if all parameter values are correct and an estimation for the external camera parameters has been determined successfully. If necessary, an exception is raised.
find_caltab, camera_calibration, disp_caltab, sim_caltab, read_cam_par, read_pose, create_pose, pose_to_hom_mat3d, caltab_points, gen_caltab, edges_sub_pix, edges_image