set_camera_setup_param — Set generic camera setup model parameters.
The operator set_camera_setup_param can be used to set diverse generic parameters or transformations for the camera setup model CameraSetupModelID. Two types of parameters can be set with this operator:
Coordinate system of the setup and transformation of camera poses:
By setting CameraIdx to 'general' and GenParamName to one of the following values, you can perform the following general pose transformation for all cameras:
When setting GenParamValue to a valid camera index, all camera poses are recomputed relative to the coordinate system of this camera.
When passing a tuple in HALCON pose format in GenParamValue, the current coordinate system is moved into this pose. The pose in GenParamValue represents the location and orientation of the desired coordinate system relative to the current one. All camera poses are recomputed relative to the new coordinate system.
The recomputed camera poses can be inspected with the operator get_camera_setup_param.
By setting CameraIdx to a valid setup camera index (a value between 0 and NumCameras-1) and GenParamName to one of the following values, camera specific parameters can be set with GenParamValue:
A tuple with internal camera parameters.
A tuple with the standard deviations of the internal camera parameters. The length of the tuple must be equal to the length of the internal parameters, which is camera-type dependent. See set_camera_setup_cam_param for further details.
A tuple with the covariance matrix of the internal camera parameters. The length of the tuple must be the square of the tuple length of the internal camera parameters, which depend on the camera type. See set_camera_setup_cam_param for further details.
A tuple representing the pose of the camera in HALCON pose format, relative to camera setup's coordinate system. See the above section for further details.
Note that the camera must already be defined in the model, before any of its parameters can be changed by set_camera_setup_param. If CameraIdx is an index of a undefined camera, the operator returns an error.
All parameters can be read back by get_camera_setup_param.
Handle to the camera setup model.
Unique index of the camera in the setup.
Default value: 0
Suggested values: 0, 1, 2, 'general'
Names of the generic parameters to be set.
List of values: 'coord_transf_pose', 'params', 'params_covariances', 'params_deviations', 'pose', 'reference_camera'
Values of the generic parameters to be set.