HALCON Website / HALCON Operator-Referenz / Kalibrierung / Kalibrierkörper
KlassenKlassenKlassenKlassen | | | | Operatoren

caltab_pointsT_caltab_pointsCaltabPointscaltab_pointsCaltabPointsCaltabPoints (Operator)

Name

caltab_pointsT_caltab_pointsCaltabPointscaltab_pointsCaltabPointsCaltabPoints — Lesen der Markenmittelpunkte aus einer Kalibrierkörperbeschreibungsdatei.

Signatur

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)

Beschreibung

caltab_pointscaltab_pointsCaltabPointscaltab_pointsCaltabPointsCaltabPoints liest die Markenmittelpunkte aus der Kalibrierkörperbeschreibungsdatei CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescr (siehe gen_caltabgen_caltabGenCaltabgen_caltabGenCaltabGenCaltab für Kalibrierplatten mit rechteckiger Markenanordnung und create_caltabcreate_caltabCreateCaltabcreate_caltabCreateCaltabCreateCaltab für Kalibrierplatten mit hexagonaler Markenanordnung) und liefert ihre Koordinaten in XXXXXx, YYYYYy und ZZZZZz zurück. Die Markenmittelpunkte liegen als 3D-Koordinaten im Kalibrierkörperkoordinatensystem vor und stellen damit das 3D-Modell des Kalibrierkörpers dar. Das Kalibrierkörperkoordinatensystem ist für Kalibrierplatten mit rechteckiger Markenanordnung im Mittelpunkt der Kalibrierkörperoberfläche platziert. Für Kalibrierplatten mit hexagonaler Markenanordnung befindet sich der Ursprung in der Mitte der zentralen Marke des ersten Suchmusters. Die z-Achse zeigt in den Kalibrierkörper hinein, die x-Achse nach rechts und die y-Achse nach unten.

Die von caltab_pointscaltab_pointsCaltabPointscaltab_pointsCaltabPointsCaltabPoints ausgegebenen Markenmittelpunkte dienen typischerweise als Eingabe-Parameter für den Operator camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration. Dieser Operator projiziert die Modellpunkte in das Bild, minimiert die Distanz zwischen den projizierten Modellpunkten und den im Bild beobachteten 2D-Koordinaten (vgl. find_marks_and_posefind_marks_and_poseFindMarksAndPosefind_marks_and_poseFindMarksAndPoseFindMarksAndPose) und ermittelt so die genauen Werte für die gesuchten internen und externen Kameraparameter.

Parallelisierung

Parameter

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

Dateiname der Kalibrierkörperbeschreibungsdatei.

Defaultwert: 'calplate_320mm.cpd' "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd"

Werteliste: 'calplate_10mm.cpd'"calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd", 'calplate_1200mm.cpd'"calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd", 'calplate_160mm.cpd'"calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd", 'calplate_20mm.cpd'"calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd", 'calplate_20mm_dark_on_light.cpd'"calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd", 'calplate_320mm.cpd'"calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd", 'calplate_40mm.cpd'"calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd", 'calplate_40mm_dark_on_light.cpd'"calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd", 'calplate_5mm.cpd'"calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd", 'calplate_640mm.cpd'"calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd", 'calplate_80mm.cpd'"calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd", 'calplate_80mm_dark_on_light.cpd'"calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd", 'caltab_100mm.descr'"caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr", 'caltab_10mm.descr'"caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr", 'caltab_200mm.descr'"caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr", 'caltab_2500um.descr'"caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr", 'caltab_30mm.descr'"caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr", 'caltab_650um.descr'"caltab_650um.descr""caltab_650um.descr""caltab_650um.descr""caltab_650um.descr""caltab_650um.descr", 'caltab_6mm.descr'"caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr", 'caltab_800mm.descr'"caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr", 'caltab_big.descr'"caltab_big.descr""caltab_big.descr""caltab_big.descr""caltab_big.descr""caltab_big.descr", 'caltab_small.descr'"caltab_small.descr""caltab_small.descr""caltab_small.descr""caltab_small.descr""caltab_small.descr"

Dateiendung: .cpd, .descr

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

X-Koordinaten der Markenmittelpunkte im Koordinatensystem des Kalibrierkörpers.

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

Y-Koordinaten der Markenmittelpunkte im Koordinatensystem des Kalibrierkörpers.

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

Z-Koordinaten der Markenmittelpunkte im Koordinatensystem des Kalibrierkörpers.

Beispiel (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 := ['area_scan_division', 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)

Beispiel (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 := ['area_scan_division', 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)

Beispiel (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 := ['area_scan_division', 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)

Beispiel (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[8] = 576;                  // ImageHeight
StartCamPar[7] = 768;                  // ImageWidth
StartCamPar[6] = 288;                  // Cy
StartCamPar[5] = 384;                  // Cx
StartCamPar[4] = 0.000011;             // Sy
StartCamPar[3] = 0.000011;             // Sx
StartCamPar[2] = 0.0;                  // Kappa
StartCamPar[1] = 0.008;                // Focus
StartCamPar[0] = "area_scan_division"; // CameraType
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);

Beispiel (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 := ['area_scan_division', 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)

Beispiel (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 := ['area_scan_division', 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)

Ergebnis

Sind die Parameterwerte korrekt und konnte die Datei CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescr erfolgreich gelesen werden, dann liefert caltab_pointscaltab_pointsCaltabPointscaltab_pointsCaltabPointsCaltabPoints den Wert 2 (H_MSG_TRUE). Gegebenenfalls wird eine Fehlerbehandlung durchgeführt.

Nachfolger

camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration

Siehe auch

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

Modul

Foundation

KlassenKlassenKlassenKlassen | | | | Operatoren
HALCON Operator-Referenz 13.0.4 Copyright © 1996-2019 MVTec Software GmbH