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sim_caltabT_sim_caltabSimCaltabsim_caltabSimCaltabSimCaltab (Operator)

Name

sim_caltabT_sim_caltabSimCaltabsim_caltabSimCaltabSimCaltab — Simulate an image with calibration plate.

Signature

sim_caltab( : SimImage : CalPlateDescr, CameraParam, CalPlatePose, GrayBackground, GrayPlate, GrayMarks, ScaleFac : )

Herror T_sim_caltab(Hobject* SimImage, const Htuple CalPlateDescr, const Htuple CameraParam, const Htuple CalPlatePose, const Htuple GrayBackground, const Htuple GrayPlate, const Htuple GrayMarks, const Htuple ScaleFac)

Herror sim_caltab(Hobject* SimImage, const HTuple& CalPlateDescr, const HTuple& CameraParam, const HTuple& CalPlatePose, const HTuple& GrayBackground, const HTuple& GrayPlate, const HTuple& GrayMarks, const HTuple& ScaleFac)

HImage HImage::SimCaltab(const HTuple& CalPlateDescr, const HTuple& CameraParam, const HTuple& CalPlatePose, const HTuple& GrayBackground, const HTuple& GrayPlate, const HTuple& GrayMarks, const HTuple& ScaleFac)

void SimCaltab(HObject* SimImage, const HTuple& CalPlateDescr, const HTuple& CameraParam, const HTuple& CalPlatePose, const HTuple& GrayBackground, const HTuple& GrayPlate, const HTuple& GrayMarks, const HTuple& ScaleFac)

void HImage::SimCaltab(const HString& CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac)

void HImage::SimCaltab(const char* CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac)

HImage HCamPar::SimCaltab(const HString& CalPlateDescr, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HCamPar::SimCaltab(const char* CalPlateDescr, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HPose::SimCaltab(const HString& CalPlateDescr, const HCamPar& CameraParam, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HPose::SimCaltab(const char* CalPlateDescr, const HCamPar& CameraParam, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

void HOperatorSetX.SimCaltab(
[out] IHUntypedObjectX** SimImage, [in] VARIANT CalPlateDescr, [in] VARIANT CameraParam, [in] VARIANT CalPlatePose, [in] VARIANT GrayBackground, [in] VARIANT GrayPlate, [in] VARIANT GrayMarks, [in] VARIANT ScaleFac)

void HImageX.SimCaltab(
[in] BSTR CalPlateDescr, [in] VARIANT CameraParam, [in] VARIANT CalPlatePose, [in] Hlong GrayBackground, [in] Hlong GrayPlate, [in] Hlong GrayMarks, [in] double ScaleFac)

IHImageX* HCamParX.SimCaltab(
[in] BSTR CalPlateDescr, [in] VARIANT CameraParam, [in] VARIANT CalPlatePose, [in] Hlong GrayBackground, [in] Hlong GrayPlate, [in] Hlong GrayMarks, [in] double ScaleFac)

IHImageX* HPoseX.SimCaltab(
[in] BSTR CalPlateDescr, [in] VARIANT CameraParam, [in] VARIANT CalPlatePose, [in] Hlong GrayBackground, [in] Hlong GrayPlate, [in] Hlong GrayMarks, [in] double ScaleFac)

static void HOperatorSet.SimCaltab(out HObject simImage, HTuple calPlateDescr, HTuple cameraParam, HTuple calPlatePose, HTuple grayBackground, HTuple grayPlate, HTuple grayMarks, HTuple scaleFac)

void HImage.SimCaltab(string calPlateDescr, HCamPar cameraParam, HPose calPlatePose, int grayBackground, int grayPlate, int grayMarks, double scaleFac)

HImage HCamPar.SimCaltab(string calPlateDescr, HPose calPlatePose, int grayBackground, int grayPlate, int grayMarks, double scaleFac)

HImage HPose.SimCaltab(string calPlateDescr, HCamPar cameraParam, int grayBackground, int grayPlate, int grayMarks, double scaleFac)

Description

sim_caltabsim_caltabSimCaltabsim_caltabSimCaltabSimCaltab is used to generate a simulated calibration image. The calibration plate description is read from the file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescr and will be projected into the image plane using the given camera parameters (internal camera parameters CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam and external camera parameters CalPlatePoseCalPlatePoseCalPlatePoseCalPlatePoseCalPlatePosecalPlatePose), see also project_3d_pointproject_3d_pointProject3dPointproject_3d_pointProject3dPointProject3dPoint.

In the simulated image only the calibration plate is shown. The image background is set to the gray value GrayBackgroundGrayBackgroundGrayBackgroundGrayBackgroundGrayBackgroundgrayBackground, the calibration plate background is set to GrayPlateGrayPlateGrayPlateGrayPlateGrayPlategrayPlate, and the calibration marks are set to the gray value GrayMarksGrayMarksGrayMarksGrayMarksGrayMarksgrayMarks. The parameter ScaleFacScaleFacScaleFacScaleFacScaleFacscaleFac influences the number of supporting points to approximate the elliptic contours of the calibration marks, see also disp_caltabdisp_caltabDispCaltabdisp_caltabDispCaltabDispCaltab. Increasing the number of supporting points causes a more accurate determination of the mark boundary, but increases the computation time, too. For each pixel of the simulated image which touches a subpixel-boundary of this kind, the gray value is set linearly between GrayMarksGrayMarksGrayMarksGrayMarksGrayMarksgrayMarks and GrayPlateGrayPlateGrayPlateGrayPlateGrayPlategrayPlate dependent on the proportion Inside/Outside.

By applying the operator sim_caltabsim_caltabSimCaltabsim_caltabSimCaltabSimCaltab you can generate synthetic calibration images (with known camera parameters!) to test the quality of the calibration algorithm (see calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras, or camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration).

Parallelization

Parameters

SimImageSimImageSimImageSimImageSimImagesimImage (output_object)  image → objectHImageHImageHImageHImageXHobject * (byte)

Simulated calibration image.

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

File name of the calibration plate description.

Default value: 'calplate_320mm.cpd' "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd"

List of values: '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"

File extension: .cpd, .descr

CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam (input_control)  campar → HCamPar, HTupleHTupleHTupleHCamParX, VARIANTHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*) (double / Hlong / BSTR) (double / Hlong / char*)

Internal camera parameters.

CalPlatePoseCalPlatePoseCalPlatePoseCalPlatePoseCalPlatePosecalPlatePose (input_control)  pose → HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

External camera parameters (3D pose of the calibration plate in camera coordinates).

Number of elements: 7

GrayBackgroundGrayBackgroundGrayBackgroundGrayBackgroundGrayBackgroundgrayBackground (input_control)  integer → HTupleHTupleHTupleVARIANTHtuple (integer) (int / long) (Hlong) (Hlong) (Hlong) (Hlong)

Gray value of image background.

Default value: 128

Suggested values: 0, 32, 64, 96, 128, 160

Restriction: 0 <= GrayBackground <= 255

GrayPlateGrayPlateGrayPlateGrayPlateGrayPlategrayPlate (input_control)  integer → HTupleHTupleHTupleVARIANTHtuple (integer) (int / long) (Hlong) (Hlong) (Hlong) (Hlong)

Gray value of calibration plate.

Default value: 80

Suggested values: 144, 160, 176, 192, 208, 224, 240

Restriction: 0 <= GrayPlate <= 255

GrayMarksGrayMarksGrayMarksGrayMarksGrayMarksgrayMarks (input_control)  integer → HTupleHTupleHTupleVARIANTHtuple (integer) (int / long) (Hlong) (Hlong) (Hlong) (Hlong)

Gray value of calibration marks.

Default value: 224

Suggested values: 16, 32, 48, 64, 80, 96, 112

Restriction: 0 <= GrayMarks <= 255

ScaleFacScaleFacScaleFacScaleFacScaleFacscaleFac (input_control)  real → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Scaling factor to reduce oversampling.

Default value: 1.0

Suggested values: 1.0, 0.5, 0.25, 0.125

Recommended increment: 0.05

Restriction: 1.0 >= ScaleFac

Example (HDevelop)

* Read calibration image.
read_image(Image1, 'calib-01')
* Find calibration pattern.
CameraType := 'area_scan_division'
StartCamPar := [CameraType, Focus, Kappa, Sx, Sy, Cx, Cy, \
                ImageWidth, ImageHeight]
create_calib_data ('calibration_object', 1, 1, CalibDataID)
set_calib_data_cam_param (CalibDataID, 0, [], StartCamPar)
set_calib_data_calib_object (CalibDataID, 0, 'calplate.cpd')
find_caltab(Image1, CalPlate1, 'caltab.descr', 3, 112, 5)
* Find calibration marks and initial pose.
find_calib_object (Image1, CalibDataID, 0, 0, 0, [], [])
* Camera calibration.
calibrate_cameras (CalibDataID, Error)
* Simulate calibration image.
get_calib_data (CalibDataID, 'calib_obj_pose', [0, 0], 'pose', FinalPose)
get_calib_data (CalibDataID, 'camera', 0, 'params', CameraParam)
sim_caltab(Image1Sim, 'calplate.cpd', CameraParam, FinalPose, 128, \
           80, 224, 1)

Result

sim_caltabsim_caltabSimCaltabsim_caltabSimCaltabSimCaltab returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised.

Possible Predecessors

camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration, find_marks_and_posefind_marks_and_poseFindMarksAndPosefind_marks_and_poseFindMarksAndPoseFindMarksAndPose, read_poseread_poseReadPoseread_poseReadPoseReadPose, read_cam_parread_cam_parReadCamParread_cam_parReadCamParReadCamPar, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose

Possible Successors

find_caltabfind_caltabFindCaltabfind_caltabFindCaltabFindCaltab

See also

find_caltabfind_caltabFindCaltabfind_caltabFindCaltabFindCaltab, find_marks_and_posefind_marks_and_poseFindMarksAndPosefind_marks_and_poseFindMarksAndPoseFindMarksAndPose, camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration, disp_caltabdisp_caltabDispCaltabdisp_caltabDispCaltabDispCaltab, create_posecreate_poseCreatePosecreate_poseCreatePoseCreatePose, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose, project_3d_pointproject_3d_pointProject3dPointproject_3d_pointProject3dPointProject3dPoint, gen_caltabgen_caltabGenCaltabgen_caltabGenCaltabGenCaltab

Module

Calibration

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HALCON Operator Reference 13.0.4 Copyright © 1996-2019 MVTec Software GmbH