set_calib_data_cam_paramT_set_calib_data_cam_paramSetCalibDataCamParamset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam (Operator)

Name

set_calib_data_cam_paramT_set_calib_data_cam_paramSetCalibDataCamParamset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam — Definieren des Typs und der Startwerte für die internen Parameter der Kamera.

Signatur

Beschreibung

Der Operator set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam definiert die Startwerte für die internen Parameter CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam der Kamera mit Index CameraIdxCameraIdxCameraIdxCameraIdxCameraIdxcameraIdx im Kalibrierdatenmodell CalibDataIDCalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID. Dementsprechend muss CameraIdxCameraIdxCameraIdxCameraIdxCameraIdxcameraIdx eine Zahl zwischen 0 und NumCameras-1 sein, wobei NumCameras mit dem Operator create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData bereits beim Erstellen des Modells festgelegt wird. Falls eine Kamera mit dem Index CameraIdxCameraIdxCameraIdxCameraIdxCameraIdxcameraIdx bereits definiert ist, werden die Kameraparameter mit CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam überschrieben. Die Auswahl der zu optimierenden Kameraparameter wird in diesem Fall aufgehoben und muss eventuell neu gesetzt werden. Es ist zu beachten, dass alle NumCameras Kameras definiert werden müssen, bevor die Kamerakalibrierung (calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras) durchgeführt werden kann.

Unten sehen Sie eine Übersicht über alle verfügbaren Kameratypen und deren jeweilige Parameter. In der Liste bezieht sich „projektive Flächenkameras“ auf die Eigenschaft, dass das Objektiv eine perspektivische Projektion auf der Objektseite des Objektivs durchführt, während sich „telezentrische Flächenkameras“ auf die Eigenschaft bezieht, dass das Objektiv eine telezentrische Projektion auf der Objektseite des Objektivs durchführt.

CameraTypeCameraTypeCameraTypeCameraTypeCameraTypecameraType wird nur aus Gründen der Rückwärtskompatibilität als Parameter zur Verfügung gestellt. Sein Wert wird ignoriert, da er auch als erstes Element von CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam übergeben wird.

Flächenkameras mit normalen Objektiven

Projektive Flächenkameras

'area_scan_division'"area_scan_division""area_scan_division""area_scan_division""area_scan_division""area_scan_division"

['area_scan_division', Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_division", Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_division", Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_division", Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_division", Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_division", Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

'area_scan_polynomial'"area_scan_polynomial""area_scan_polynomial""area_scan_polynomial""area_scan_polynomial""area_scan_polynomial"

['area_scan_polynomial', Focus, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_polynomial", Focus, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_polynomial", Focus, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_polynomial", Focus, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_polynomial", Focus, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_polynomial", Focus, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

Telezentrische Flächenkameras

'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_division', Magnification, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_telecentric_division", Magnification, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_telecentric_division", Magnification, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_telecentric_division", Magnification, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_telecentric_division", Magnification, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_telecentric_division", Magnification, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

'area_scan_telecentric_polynomial'"area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial""area_scan_telecentric_polynomial"

['area_scan_telecentric_polynomial', Magnification, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

Flächenkameras mit Tilt-Objektiven

Projektive Flächenkameras

'area_scan_tilt_division'"area_scan_tilt_division""area_scan_tilt_division""area_scan_tilt_division""area_scan_tilt_division""area_scan_tilt_division"

['area_scan_tilt_division', Focus, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_division", Focus, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_division", Focus, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_division", Focus, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_division", Focus, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_division", Focus, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

'area_scan_tilt_polynomial'"area_scan_tilt_polynomial""area_scan_tilt_polynomial""area_scan_tilt_polynomial""area_scan_tilt_polynomial""area_scan_tilt_polynomial"

['area_scan_tilt_polynomial', Focus, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_polynomial", Focus, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_polynomial", Focus, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_polynomial", Focus, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_polynomial", Focus, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_polynomial", Focus, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

'area_scan_tilt_image_side_telecentric_division'"area_scan_tilt_image_side_telecentric_division""area_scan_tilt_image_side_telecentric_division""area_scan_tilt_image_side_telecentric_division""area_scan_tilt_image_side_telecentric_division""area_scan_tilt_image_side_telecentric_division"

['area_scan_tilt_image_side_telecentric_division', Focus, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_image_side_telecentric_division", Focus, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_image_side_telecentric_division", Focus, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_image_side_telecentric_division", Focus, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_image_side_telecentric_division", Focus, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_image_side_telecentric_division", Focus, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

'area_scan_tilt_image_side_telecentric_polynomial'"area_scan_tilt_image_side_telecentric_polynomial""area_scan_tilt_image_side_telecentric_polynomial""area_scan_tilt_image_side_telecentric_polynomial""area_scan_tilt_image_side_telecentric_polynomial""area_scan_tilt_image_side_telecentric_polynomial"

['area_scan_tilt_image_side_telecentric_polynomial', Focus, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_image_side_telecentric_polynomial", Focus, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_image_side_telecentric_polynomial", Focus, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_image_side_telecentric_polynomial", Focus, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_image_side_telecentric_polynomial", Focus, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_image_side_telecentric_polynomial", Focus, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

Telezentrische Flächenkameras

'area_scan_tilt_bilateral_telecentric_division'"area_scan_tilt_bilateral_telecentric_division""area_scan_tilt_bilateral_telecentric_division""area_scan_tilt_bilateral_telecentric_division""area_scan_tilt_bilateral_telecentric_division""area_scan_tilt_bilateral_telecentric_division"

['area_scan_tilt_bilateral_telecentric_division', Magnification, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_bilateral_telecentric_division", Magnification, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_bilateral_telecentric_division", Magnification, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_bilateral_telecentric_division", Magnification, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_bilateral_telecentric_division", Magnification, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_bilateral_telecentric_division", Magnification, Kappa, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

'area_scan_tilt_bilateral_telecentric_polynomial'"area_scan_tilt_bilateral_telecentric_polynomial""area_scan_tilt_bilateral_telecentric_polynomial""area_scan_tilt_bilateral_telecentric_polynomial""area_scan_tilt_bilateral_telecentric_polynomial""area_scan_tilt_bilateral_telecentric_polynomial"

['area_scan_tilt_bilateral_telecentric_polynomial', Magnification, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_bilateral_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_bilateral_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_bilateral_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_bilateral_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_bilateral_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

'area_scan_tilt_object_side_telecentric_division'"area_scan_tilt_object_side_telecentric_division""area_scan_tilt_object_side_telecentric_division""area_scan_tilt_object_side_telecentric_division""area_scan_tilt_object_side_telecentric_division""area_scan_tilt_object_side_telecentric_division"

['area_scan_tilt_object_side_telecentric_division', Magnification, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_object_side_telecentric_division", Magnification, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_object_side_telecentric_division", Magnification, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_object_side_telecentric_division", Magnification, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_object_side_telecentric_division", Magnification, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_object_side_telecentric_division", Magnification, Kappa, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

'area_scan_tilt_object_side_telecentric_polynomial'"area_scan_tilt_object_side_telecentric_polynomial""area_scan_tilt_object_side_telecentric_polynomial""area_scan_tilt_object_side_telecentric_polynomial""area_scan_tilt_object_side_telecentric_polynomial""area_scan_tilt_object_side_telecentric_polynomial"

['area_scan_tilt_object_side_telecentric_polynomial', Magnification, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_object_side_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_object_side_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_object_side_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_object_side_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]["area_scan_tilt_object_side_telecentric_polynomial", Magnification, K1, K2, K3, P1, P2, ImagePlaneDist, Tilt, Rot, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight]

Zeilenkameras

'line_scan'"line_scan""line_scan""line_scan""line_scan""line_scan"

['line_scan', Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz]["line_scan", Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz]["line_scan", Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz]["line_scan", Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz]["line_scan", Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz]["line_scan", Focus, Kappa, Sx, Sy, Cx, Cy, ImageWidth, ImageHeight, Vx, Vy, Vz]

Eine genauere Beschreibung der einzelnen Kameratypen, der Kameraparameter und vorgeschlagener Startwerte ist in der Referenzdokumentation des Operators calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras zu finden.

Der Typ einer Kamera im Kalibriermodell wird im Nachhinein wieder mit dem Operator get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData und Argumenten ItemType='camera'"camera""camera""camera""camera""camera" und GenParamName='type'"type""type""type""type""type" abgefragt. Die Startwerte für die internen Parameter der Kamera werden mit dem Operator get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData und Argumenten ItemType='camera'"camera""camera""camera""camera""camera" und ResultName='init_params'"init_params""init_params""init_params""init_params""init_params" abgefragt.

Parallelisierung

• Multithreading-Typ: reentrant (läuft parallel zu nicht-exklusiven Operatoren).
• Multithreading-Bereich: global (kann von jedem Thread aufgerufen werden).
• Wird ohne Parallelisierung verarbeitet.

Dieser Operator modifiziert den Zustand des folgenden Eingabeparameters:

• CalibDataIDCalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID

Parameter

Vorgänger

create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData, set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObject

Nachfolger

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

Modul

Calibration