Name
get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamget_camera_setup_paramGetCameraSetupParamGetCameraSetupParam — Get generic camera setup model parameters.
The operator get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamget_camera_setup_paramGetCameraSetupParamGetCameraSetupParam can be used to inspect diverse
generic parameters of the camera setup model CameraSetupModelIDCameraSetupModelIDCameraSetupModelIDCameraSetupModelIDCameraSetupModelIDcameraSetupModelID.
Two types of parameters can be queried with this operator:
General parameters:
By setting CameraIdxCameraIdxCameraIdxCameraIdxCameraIdxcameraIdx to 'general'"general""general""general""general""general" and GenParamNameGenParamNameGenParamNameGenParamNameGenParamNamegenParamName
to one of the following values, general camera setup parameters are
returned in GenParamValueGenParamValueGenParamValueGenParamValueGenParamValuegenParamValue:
- 'num_cameras'"num_cameras""num_cameras""num_cameras""num_cameras""num_cameras":
Number of cameras described in the model. The number of cameras is fixed
with the creation of the camera setup model and cannot be changed after
that (see create_camera_setup_modelcreate_camera_setup_modelCreateCameraSetupModelcreate_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModel).
- 'camera_calib_error'"camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error":
The root mean square error (RMSE) of the back projection of the
optimization of the camera system. This error
is identical with the error returned by calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras.
- 'reference_camera'"reference_camera""reference_camera""reference_camera""reference_camera""reference_camera":
Returns the index of the camera that has been defined as reference
camera within the system. If no reference camera has been specified
using set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamset_camera_setup_paramSetCameraSetupParamSetCameraSetupParam, the index 0 is returned.
If the coordinate system has been moved by setting a pose with the
parameter 'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose" in set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamset_camera_setup_paramSetCameraSetupParamSetCameraSetupParam,
the origin of the coordinate system is not located in any of the
available cameras. Therefore, the index -1 is returned.
- 'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose":
Returns the pose in which the coordinate system of the setup has been
moved. Please note that after setting a reference camera with
set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamset_camera_setup_paramSetCameraSetupParamSetCameraSetupParam, the pose of this camera is returned.
Adjusting this coordinate system subsequently using the parameter
'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose" in set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamset_camera_setup_paramSetCameraSetupParamSetCameraSetupParam yields a
pose that corresponds to the location and orientation of the desired
coordinate system relative to the current one.
Camera parameters:
By setting CameraIdxCameraIdxCameraIdxCameraIdxCameraIdxcameraIdx to a valid setup camera index (a value between
0 and NumCameras-1) and GenParamNameGenParamNameGenParamNameGenParamNameGenParamNamegenParamName
to one of the following values, camera-specific parameters are returned
in GenParamValueGenParamValueGenParamValueGenParamValueGenParamValuegenParamValue:
- 'type'"type""type""type""type""type":
Camera type (see set_camera_setup_cam_paramset_camera_setup_cam_paramSetCameraSetupCamParamset_camera_setup_cam_paramSetCameraSetupCamParamSetCameraSetupCamParam).
- 'params'"params""params""params""params""params":
A tuple with internal camera parameters. The length of the tuple
depends on the camera type.
- 'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations""params_deviations":
A tuple representing the standard deviations of the internal camera
parameters. The length of the tuple depends on the camera type.
- 'params_covariances'"params_covariances""params_covariances""params_covariances""params_covariances""params_covariances":
A tuple representing the covariance matrix if the internal camera
parameters. The length of the tuple depends on the camera type.
- 'pose'"pose""pose""pose""pose""pose":
Camera pose relative to the setup's coordinate system (see
create_camera_setup_modelcreate_camera_setup_modelCreateCameraSetupModelcreate_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModel for more details).
Note that the camera needs to be set first by
set_camera_setup_cam_paramset_camera_setup_cam_paramSetCameraSetupCamParamset_camera_setup_cam_paramSetCameraSetupCamParamSetCameraSetupCamParam, before any of its parameters can be
inspected by get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamget_camera_setup_paramGetCameraSetupParamGetCameraSetupParam. If CameraIdxCameraIdxCameraIdxCameraIdxCameraIdxcameraIdx is an
index of an undefined camera, the operator returns an error.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Handle to the camera setup model.
Index of the camera in the setup.
Default value: 0
Suggested values: 0, 1, 2, 'general'"general""general""general""general""general"
Names of the generic parameters to be queried.
List of values: 'camera_calib_error'"camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error", 'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose", 'num_cameras'"num_cameras""num_cameras""num_cameras""num_cameras""num_cameras", 'params'"params""params""params""params""params", 'params_covariances'"params_covariances""params_covariances""params_covariances""params_covariances""params_covariances", 'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations""params_deviations", 'pose'"pose""pose""pose""pose""pose", 'reference_camera'"reference_camera""reference_camera""reference_camera""reference_camera""reference_camera", 'type'"type""type""type""type""type"
Values of the generic parameters to be queried.
Calibration