binocular_calibration T_binocular_calibration BinocularCalibration BinocularCalibration (Operator)
Name
binocular_calibration T_binocular_calibration BinocularCalibration BinocularCalibration
— Bestimmung aller Kameraparameter eines binokularen Stereoaufbaus.
Signatur
binocular_calibration ( : : NX , NY , NZ , NRow1 , NCol1 , NRow2 , NCol2 , StartCamParam1 , StartCamParam2 , NStartPose1 , NStartPose2 , EstimateParams : CamParam1 , CamParam2 , NFinalPose1 , NFinalPose2 , RelPose , Errors )
Herror T_binocular_calibration (const Htuple NX , const Htuple NY , const Htuple NZ , const Htuple NRow1 , const Htuple NCol1 , const Htuple NRow2 , const Htuple NCol2 , const Htuple StartCamParam1 , const Htuple StartCamParam2 , const Htuple NStartPose1 , const Htuple NStartPose2 , const Htuple EstimateParams , Htuple* CamParam1 , Htuple* CamParam2 , Htuple* NFinalPose1 , Htuple* NFinalPose2 , Htuple* RelPose , Htuple* Errors )
void BinocularCalibration (const HTuple& NX , const HTuple& NY , const HTuple& NZ , const HTuple& NRow1 , const HTuple& NCol1 , const HTuple& NRow2 , const HTuple& NCol2 , const HTuple& StartCamParam1 , const HTuple& StartCamParam2 , const HTuple& NStartPose1 , const HTuple& NStartPose2 , const HTuple& EstimateParams , HTuple* CamParam1 , HTuple* CamParam2 , HTuple* NFinalPose1 , HTuple* NFinalPose2 , HTuple* RelPose , HTuple* Errors )
HCamPar HCamPar ::BinocularCalibration (const HTuple& NX , const HTuple& NY , const HTuple& NZ , const HTuple& NRow1 , const HTuple& NCol1 , const HTuple& NRow2 , const HTuple& NCol2 , const HCamPar& StartCamParam2 , const HPoseArray& NStartPose1 , const HPoseArray& NStartPose2 , const HTuple& EstimateParams , HCamPar* CamParam2 , HPoseArray* NFinalPose1 , HPoseArray* NFinalPose2 , HPose* RelPose , HTuple* Errors ) const
HCamPar HCamPar ::BinocularCalibration (const HTuple& NX , const HTuple& NY , const HTuple& NZ , const HTuple& NRow1 , const HTuple& NCol1 , const HTuple& NRow2 , const HTuple& NCol2 , const HCamPar& StartCamParam2 , const HPose& NStartPose1 , const HPose& NStartPose2 , const HTuple& EstimateParams , HCamPar* CamParam2 , HPose* NFinalPose1 , HPose* NFinalPose2 , HPose* RelPose , double* Errors ) const
static HCamPar HPose ::BinocularCalibration (const HTuple& NX , const HTuple& NY , const HTuple& NZ , const HTuple& NRow1 , const HTuple& NCol1 , const HTuple& NRow2 , const HTuple& NCol2 , const HCamPar& StartCamParam1 , const HCamPar& StartCamParam2 , const HPoseArray& NStartPose1 , const HPoseArray& NStartPose2 , const HTuple& EstimateParams , HCamPar* CamParam2 , HPoseArray* NFinalPose1 , HPoseArray* NFinalPose2 , HPose* RelPose , HTuple* Errors )
HCamPar HPose ::BinocularCalibration (const HTuple& NX , const HTuple& NY , const HTuple& NZ , const HTuple& NRow1 , const HTuple& NCol1 , const HTuple& NRow2 , const HTuple& NCol2 , const HCamPar& StartCamParam1 , const HCamPar& StartCamParam2 , const HPose& NStartPose2 , const HTuple& EstimateParams , HCamPar* CamParam2 , HPose* NFinalPose1 , HPose* NFinalPose2 , HPose* RelPose , double* Errors ) const
static void HOperatorSet .BinocularCalibration (HTuple NX , HTuple NY , HTuple NZ , HTuple NRow1 , HTuple NCol1 , HTuple NRow2 , HTuple NCol2 , HTuple startCamParam1 , HTuple startCamParam2 , HTuple NStartPose1 , HTuple NStartPose2 , HTuple estimateParams , out HTuple camParam1 , out HTuple camParam2 , out HTuple NFinalPose1 , out HTuple NFinalPose2 , out HTuple relPose , out HTuple errors )
HCamPar HCamPar .BinocularCalibration (HTuple NX , HTuple NY , HTuple NZ , HTuple NRow1 , HTuple NCol1 , HTuple NRow2 , HTuple NCol2 , HCamPar startCamParam2 , HPose[] NStartPose1 , HPose[] NStartPose2 , HTuple estimateParams , out HCamPar camParam2 , out HPose[] NFinalPose1 , out HPose[] NFinalPose2 , out HPose relPose , out HTuple errors )
HCamPar HCamPar .BinocularCalibration (HTuple NX , HTuple NY , HTuple NZ , HTuple NRow1 , HTuple NCol1 , HTuple NRow2 , HTuple NCol2 , HCamPar startCamParam2 , HPose NStartPose1 , HPose NStartPose2 , HTuple estimateParams , out HCamPar camParam2 , out HPose NFinalPose1 , out HPose NFinalPose2 , out HPose relPose , out double errors )
static HCamPar HPose .BinocularCalibration (HTuple NX , HTuple NY , HTuple NZ , HTuple NRow1 , HTuple NCol1 , HTuple NRow2 , HTuple NCol2 , HCamPar startCamParam1 , HCamPar startCamParam2 , HPose[] NStartPose1 , HPose[] NStartPose2 , HTuple estimateParams , out HCamPar camParam2 , out HPose[] NFinalPose1 , out HPose[] NFinalPose2 , out HPose relPose , out HTuple errors )
HCamPar HPose .BinocularCalibration (HTuple NX , HTuple NY , HTuple NZ , HTuple NRow1 , HTuple NCol1 , HTuple NRow2 , HTuple NCol2 , HCamPar startCamParam1 , HCamPar startCamParam2 , HPose NStartPose2 , HTuple estimateParams , out HCamPar camParam2 , out HPose NFinalPose1 , out HPose NFinalPose2 , out HPose relPose , out double errors )
Beschreibung
Im Allgemeinen bedeutet binokulare Kalibrierung die exakte
Bestimmung der Parameter, welche die 3D Rekonstruktion eines 3D
Punktes von den korrespondierenden Abbildungen dieses Punktes in
einem binokularen Stereo System modellieren. Diese Rekonstruktion
wird durch die internen Parameter CamParam1 CamParam1 CamParam1 CamParam1 camParam1
von Kamera 1
und CamParam2 CamParam2 CamParam2 CamParam2 camParam2
von Kamera 2 bestimmt, welche das zugrunde
liegende Kameramodell beschreiben, und von den externen
Parametern RelPose RelPose RelPose RelPose relPose
, welche die relative Lage des
Kamerasystems 2 im Kamerasystem 1 beschreiben.
Die bekannten 3D Modellpunkte (mit den Koordinaten NX NX NX NX NX
,
NY NY NY NY NY
, NZ NZ NZ NZ NZ
) werden in die Bildebene der beiden Kameras
(Kamera 1 und Kamera 2) projiziert. Die Summe der quadrierten
Abstände zwischen diesen Projektionen und den korrespondierenden
Bildpunkten (mit den Koordinaten NRow1 NRow1 NRow1 NRow1 NRow1
, NCol1 NCol1 NCol1 NCol1 NCol1
für
Kamera 1 und NRow2 NRow2 NRow2 NRow2 NRow2
, NCol2 NCol2 NCol2 NCol2 NCol2
für Kamera 2) wird
daraufhin minimiert. Es muss darauf geachtet werden, dass alle
Modellpunkte in beiden Bildern sichtbar sein müssen. Das zugrunde
liegende Kameramodell wird im Kapitel Kalibrierung
erläutert. Das Kameramodell
wird durch 9 bis 16 Parameter (für jede Kamera separat) beschrieben
(siehe Kalibrierung ). Die initialen Werte dieser
internen Parameter werden in StartCamParam1 StartCamParam1 StartCamParam1 StartCamParam1 startCamParam1
für Kamera 1
und StartCamParam2 StartCamParam2 StartCamParam2 StartCamParam2 startCamParam2
für Kamera 2 übergeben. Als
Näherungswert kann man diese den Datenblättern der Kameras
entnehmen. Zusätzlich werden die initialen Näherungswerte
NStartPose1 NStartPose1 NStartPose1 NStartPose1 NStartPose1
und NStartPose2 NStartPose2 NStartPose2 NStartPose2 NStartPose2
für die einzelnen
3D-Lagen des 3D Kalibriermodells bezüglich des jeweiligen
Kamerakoordinatensystems (ccs ) von Kamera 1 und Kamera 2 benötigt.
Diese 3D-Lagen werden in der Form
erwartet. Dabei steht
wcs für das Weltkoordinatensystem, siehe auch
Transformationen / Posen und
„Solution Guide III-C - 3D Vision“
.
Die 3D-Lagen kann man durch den Operator find_marks_and_pose find_marks_and_pose FindMarksAndPose FindMarksAndPose FindMarksAndPose
erhalten. Da der Kalibrieralgorithmus gleichzeitig Korrespondenzen
zwischen gemessenen Bild- und bekannten Modellpunkten aus mehreren
Bildpaaren behandeln kann, müssen die 3D-Lagen (NStartPose1 NStartPose1 NStartPose1 NStartPose1 NStartPose1
,
NStartPose2 NStartPose2 NStartPose2 NStartPose2 NStartPose2
) und die gemessenen Punkte (NRow1 NRow1 NRow1 NRow1 NRow1
,
NCol1 NCol1 NCol1 NCol1 NCol1
, NRow2 NRow2 NRow2 NRow2 NRow2
, NCol2 NCol2 NCol2 NCol2 NCol2
) in einer zu den
Bildern korrespondierenden Reihenfolge übergeben werden.
Der Eingabeparameter EstimateParams EstimateParams EstimateParams EstimateParams estimateParams
legt die zu
berechnenden Kameraparameter fest. Üblicherweise wird dieser
Parameter auf 'all' "all" "all" "all" "all" gesetzt, d.h. alle externen
(Translationen und Rotationen) und alle internen Kameraparameter
werden bestimmt.
Falls z.B. die internen Parameter schon bestimmt worden
sind (z.B. durch einen früheren Aufrufen von
binocular_calibration binocular_calibration BinocularCalibration BinocularCalibration BinocularCalibration
), ist es oftmals interessant,
lediglich die 3D-Lage der Kamerasysteme zueinander zu bestimmen
(RelPose RelPose RelPose RelPose relPose
). In diesem Fall kann in EstimateParams EstimateParams EstimateParams EstimateParams estimateParams
der Wert 'pose_rel' "pose_rel" "pose_rel" "pose_rel" "pose_rel" übergeben werden.
Auch die internen Kameraparameter lassen sich mit den Werten
'cam_param1' "cam_param1" "cam_param1" "cam_param1" "cam_param1" bzw. 'cam_param2' "cam_param2" "cam_param2" "cam_param2" "cam_param2" zusammenfassen.
Andernfalls enthält EstimateParams EstimateParams EstimateParams EstimateParams estimateParams
ein Tuple von
Stringwerten, welche die zu schätzenden Kameraparameter festlegen.
Wenn das Polynommodell für die Modellierung der Verzeichnungen
verwendet wird, ist zu beachten, dass nur die Werte 'k1_i' "k1_i" "k1_i" "k1_i" "k1_i" ,
'k2_i' "k2_i" "k2_i" "k2_i" "k2_i" und 'k3_i' "k3_i" "k3_i" "k3_i" "k3_i" einzeln
in EstimateParams EstimateParams EstimateParams EstimateParams estimateParams
gesetzt werden können.
'p1' "p1" "p1" "p1" "p1" und 'p2' "p2" "p2" "p2" "p2" kann nur in der Gruppe 'poly_tan_2_i' "poly_tan_2_i" "poly_tan_2_i" "poly_tan_2_i" "poly_tan_2_i"
gesetzt werden (wobei 'i' "i" "i" "i" "i" für den Index der Kamera steht).
'poly_i' "poly_i" "poly_i" "poly_i" "poly_i" bezeichnet die Gruppe 'k1_i' "k1_i" "k1_i" "k1_i" "k1_i" ,
'k2_i' "k2_i" "k2_i" "k2_i" "k2_i" , 'k3_i' "k3_i" "k3_i" "k3_i" "k3_i" und 'poly_tan_2_i' "poly_tan_2_i" "poly_tan_2_i" "poly_tan_2_i" "poly_tan_2_i" .
In der folgenden Liste sind alle möglichen Parameter für
EstimateParams EstimateParams EstimateParams EstimateParams estimateParams
zu finden:
Mögliche Parameter für EstimateParams EstimateParams EstimateParams EstimateParams estimateParams
Ermittelte Parameter
'all' (default)
Alle internen Kameraparameter,
sowie die relative Pose der Kameras und die Posen der Kalibrierobjekte.
'pose'
Relative Pose zwischen beiden Kameras, sowie die Posen
der Kalibrierobjekte.
'pose_rel'
Relative Pose zwischen beiden Kameras.
'alpha_rel', 'beta_rel', 'gamma_rel', 'transx_rel', 'transy_rel',
'transz_rel'
Rotationswinkel und Translation der relativen Pose zwischen beiden
Kameras..
'pose_caltabs'
Posen der Kalibrierobjekte.
'alpha_caltabs', 'beta_caltabs', 'gamma_caltabs', 'transx_caltabs',
'transy_caltabs', 'transz_caltabs'
Rotationswinkel und Translation der Posen
der Kalibrierobjekte.
'cam_param1', 'cam_param2'
Alle internen Kameraparameter von Kamera 1
bzw. Kamera 2.
'focus1', 'magnification1', 'kappa1', 'poly_1', 'k1_1', 'k2_1', 'k3_1',
'poly_tan_2_1', 'image_plane_dist1', 'tilt1', 'cx1', 'cy1', 'sx1',
'sy1',
'focus2', 'magnification2', 'kappa2', 'poly_2', 'k1_2', 'k2_2', 'k3_2',
'poly_tan_2_2', 'image_plane_dist2', 'tilt2', 'cx2', 'cy2', 'sx2',
'sy2'
Einzelne interne Kameraparameter von Kamera 1
bzw. Kamera 2.
Es ist auch möglich, Parameter, die nicht geschätzt werden sollen,
über ein vorgesetztes '~' Zeichen im String
auszuschließen. Die Werte
['pose_rel','~transx_rel'] ["pose_rel","~transx_rel"] ["pose_rel","~transx_rel"] ["pose_rel","~transx_rel"] ["pose_rel","~transx_rel"] beispielsweise haben denselben Effekt wie
['alpha_rel','beta_rel','gamma_rel','transy_rel','transz_rel'] ["alpha_rel","beta_rel","gamma_rel","transy_rel","transz_rel"] ["alpha_rel","beta_rel","gamma_rel","transy_rel","transz_rel"] ["alpha_rel","beta_rel","gamma_rel","transy_rel","transz_rel"] ["alpha_rel","beta_rel","gamma_rel","transy_rel","transz_rel"] .
['all','~focus1'] ["all","~focus1"] ["all","~focus1"] ["all","~focus1"] ["all","~focus1"]
dagegen schätzt alle internen und externen Parameter bis auf die
Brennweite von Kamera1. Das '~' Präfix kann mit
Ausnahme von 'all' jedem Parameterwert vorangestellt werden.
Die geschätzeten Kameraparameter werden in CamParam1 CamParam1 CamParam1 CamParam1 camParam1
für
Kamera 1 und CamParam2 CamParam2 CamParam2 CamParam2 camParam2
für Kamera 2 zurückgegeben.
Die externen Parameter werden analog zu camera_calibration camera_calibration CameraCalibration CameraCalibration CameraCalibration
zurück
gegeben, die Posen der 3D Transformation des Kalibriermodells zum jeweiligen
Kamerakoordinatensystems ccs in NFinalPose1 NFinalPose1 NFinalPose1 NFinalPose1 NFinalPose1
und
NFinalPose2 NFinalPose2 NFinalPose2 NFinalPose2 NFinalPose2
zurückgegeben.
Das heißt, die Posen sind in der Form
mit wcs als Weltkoordinatensystem des 3D Kalibriermodells,
siehe auch Transformationen / Posen und
„Solution Guide III-C - 3D Vision“
.
Die relative Pose
,
RelPose RelPose RelPose RelPose relPose
, legt die Transformation von Punkten von ccs2
nach ccs1 fest. Damit hängen die finalen Transformationen
gemäß der folgenden Gleichung zusammen (unter Vernachlässigung der Effekte
durch die Ausgleichsrechnung der Mehrbild-Kalibrierung):
HomMat3D_NFinalPose2 = INV(HomMat3D_RelPose) * HomMat3D_NFinalPose1 ,
wobei HomMat3D_* die homogene Transformationsmatrix der
entsprechenden Lage beschreibt und INV() eine homogene Matrix
invertiert.
Die errechneten mittleren Fehler für jede Kamera, welche in
Errors Errors Errors Errors errors
zurückgegeben werden, vermitteln einen Eindruck von
der Genauigkeit der Kalibrierung. Er beschreibt einen mittleren
euklidischen Abstand der mit den ermittelten Parametern ins Bild
projezierten Mittelpunkte der Modellmarken von ihren Abbildungen.
Bei der Verwendung von Kameras mit telezentrischen Objektiven müssen
zusätzliche Voraussetzungen für den Kalibrieraufbau gelten. Diese
können im Kapitel Kalibrierung nachgelesen werden.
Achtung
Stereosysteme, die sowohl Kameras mit hyperzentrischen Objektiven
als auch Kameras ohne hyperzentrische Objektive enthalten, werden nicht
unterstützt.
Ausführungsinformationen
Multithreading-Typ: reentrant (läuft parallel zu nicht-exklusiven Operatoren).
Multithreading-Bereich: global (kann von jedem Thread aufgerufen werden).
Wird ohne Parallelisierung verarbeitet.
Parameter
NX NX NX NX NX
(input_control) number-array →
HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen X-Koordinaten
der Kalibriermarken (in Meter).
NY NY NY NY NY
(input_control) number-array →
HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen Y-Koordinaten
der Kalibriermarken (in Meter).
Parameteranzahl: NY == NX
NZ NZ NZ NZ NZ
(input_control) number-array →
HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen Z-Koordinaten
der Kalibriermarken (in Meter).
Parameteranzahl: NZ == NX
NRow1 NRow1 NRow1 NRow1 NRow1
(input_control) number-array →
HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen Zeilen-Koordinaten
der extrahierten Kalibriermarken von Kamera 1
(in Pixel).
NCol1 NCol1 NCol1 NCol1 NCol1
(input_control) number-array →
HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen Spalten-Koordinaten
der extrahierten Kalibriermarken von Kamera 1
(in Pixel).
Parameteranzahl: NCol1 == NRow1
NRow2 NRow2 NRow2 NRow2 NRow2
(input_control) number-array →
HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen Zeilen-Koordinaten
der extrahierten Kalibriermarken von Kamera 2
(in Pixel).
Parameteranzahl: NRow2 == NRow1
NCol2 NCol2 NCol2 NCol2 NCol2
(input_control) number-array →
HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen Spalten-Koordinaten
der extrahierten Kalibriermarken von Kamera 2
(in Pixel).
Parameteranzahl: NCol2 == NRow1
StartCamParam1 StartCamParam1 StartCamParam1 StartCamParam1 startCamParam1
(input_control) campar →
HCamPar , HTuple HTuple Htuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Startwerte für die internen Parameter der Kamera 1.
StartCamParam2 StartCamParam2 StartCamParam2 StartCamParam2 startCamParam2
(input_control) campar →
HCamPar , HTuple HTuple Htuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Startwerte für die internen Parameter der Kamera 2.
NStartPose1 NStartPose1 NStartPose1 NStartPose1 NStartPose1
(input_control) pose(-array) →
HPose , HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen Startwerten der
externen Parameter von Kamera 1.
Parameteranzahl: NStartPose1 == 7 * NRow1 / NX
NStartPose2 NStartPose2 NStartPose2 NStartPose2 NStartPose2
(input_control) pose(-array) →
HPose , HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen Startwerten der
externen Parameter von Kamera 2.
Parameteranzahl: NStartPose2 == 7 * NRow1 / NX
EstimateParams EstimateParams EstimateParams EstimateParams estimateParams
(input_control) string-array →
HTuple HTuple Htuple (string) (string ) (HString ) (char* )
Zu schätzenden Kameraparameter.
Defaultwert:
'all'
"all"
"all"
"all"
"all"
Werteliste: 'all' "all" "all" "all" "all" , 'alpha_caltabs' "alpha_caltabs" "alpha_caltabs" "alpha_caltabs" "alpha_caltabs" , 'alpha_rel' "alpha_rel" "alpha_rel" "alpha_rel" "alpha_rel" , 'beta_caltabs' "beta_caltabs" "beta_caltabs" "beta_caltabs" "beta_caltabs" , 'beta_rel' "beta_rel" "beta_rel" "beta_rel" "beta_rel" , 'cam_param1' "cam_param1" "cam_param1" "cam_param1" "cam_param1" , 'cam_param2' "cam_param2" "cam_param2" "cam_param2" "cam_param2" , 'cx1' "cx1" "cx1" "cx1" "cx1" , 'cx2' "cx2" "cx2" "cx2" "cx2" , 'cy1' "cy1" "cy1" "cy1" "cy1" , 'cy2' "cy2" "cy2" "cy2" "cy2" , 'focus1' "focus1" "focus1" "focus1" "focus1" , 'focus2' "focus2" "focus2" "focus2" "focus2" , 'gamma_caltabs' "gamma_caltabs" "gamma_caltabs" "gamma_caltabs" "gamma_caltabs" , 'gamma_rel' "gamma_rel" "gamma_rel" "gamma_rel" "gamma_rel" , 'image_plane_dist1' "image_plane_dist1" "image_plane_dist1" "image_plane_dist1" "image_plane_dist1" , 'image_plane_dist2' "image_plane_dist2" "image_plane_dist2" "image_plane_dist2" "image_plane_dist2" , 'k1_1' "k1_1" "k1_1" "k1_1" "k1_1" , 'k1_2' "k1_2" "k1_2" "k1_2" "k1_2" , 'k2_1' "k2_1" "k2_1" "k2_1" "k2_1" , 'k2_2' "k2_2" "k2_2" "k2_2" "k2_2" , 'k3_1' "k3_1" "k3_1" "k3_1" "k3_1" , 'k3_2' "k3_2" "k3_2" "k3_2" "k3_2" , 'kappa1' "kappa1" "kappa1" "kappa1" "kappa1" , 'kappa2' "kappa2" "kappa2" "kappa2" "kappa2" , 'magnification1' "magnification1" "magnification1" "magnification1" "magnification1" , 'magnification2' "magnification2" "magnification2" "magnification2" "magnification2" , 'poly_1' "poly_1" "poly_1" "poly_1" "poly_1" , 'poly_2' "poly_2" "poly_2" "poly_2" "poly_2" , 'poly_tan_2_1' "poly_tan_2_1" "poly_tan_2_1" "poly_tan_2_1" "poly_tan_2_1" , 'poly_tan_2_2' "poly_tan_2_2" "poly_tan_2_2" "poly_tan_2_2" "poly_tan_2_2" , 'pose' "pose" "pose" "pose" "pose" , 'pose_caltabs' "pose_caltabs" "pose_caltabs" "pose_caltabs" "pose_caltabs" , 'pose_rel' "pose_rel" "pose_rel" "pose_rel" "pose_rel" , 'sx1' "sx1" "sx1" "sx1" "sx1" , 'sx2' "sx2" "sx2" "sx2" "sx2" , 'sy1' "sy1" "sy1" "sy1" "sy1" , 'sy2' "sy2" "sy2" "sy2" "sy2" , 'tilt1' "tilt1" "tilt1" "tilt1" "tilt1" , 'tilt2' "tilt2" "tilt2" "tilt2" "tilt2" , 'transx_caltabs' "transx_caltabs" "transx_caltabs" "transx_caltabs" "transx_caltabs" , 'transx_rel' "transx_rel" "transx_rel" "transx_rel" "transx_rel" , 'transy_caltabs' "transy_caltabs" "transy_caltabs" "transy_caltabs" "transy_caltabs" , 'transy_rel' "transy_rel" "transy_rel" "transy_rel" "transy_rel" , 'transz_caltabs' "transz_caltabs" "transz_caltabs" "transz_caltabs" "transz_caltabs" , 'transz_rel' "transz_rel" "transz_rel" "transz_rel" "transz_rel"
CamParam1 CamParam1 CamParam1 CamParam1 camParam1
(output_control) campar →
HCamPar , HTuple HTuple Htuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Interne Parameter der Kamera 1.
CamParam2 CamParam2 CamParam2 CamParam2 camParam2
(output_control) campar →
HCamPar , HTuple HTuple Htuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Interne Parameter der Kamera 2.
NFinalPose1 NFinalPose1 NFinalPose1 NFinalPose1 NFinalPose1
(output_control) pose(-array) →
HPose , HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen externen Parametern
von Kamera 1.
Parameteranzahl: NFinalPose1 == 7 * NRow1 / NX
NFinalPose2 NFinalPose2 NFinalPose2 NFinalPose2 NFinalPose2
(output_control) pose(-array) →
HPose , HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Geordnetes Tupel mit allen externen Parametern
von Kamera 2.
Parameteranzahl: NFinalPose2 == 7 * NRow1 / NX
RelPose RelPose RelPose RelPose relPose
(output_control) pose →
HPose , HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Lage von Kamera 2 bezüglich Kamera 1.
Errors Errors Errors Errors errors
(output_control) real(-array) →
HTuple HTuple Htuple (real) (double ) (double ) (double )
Durchschnittlicher Fehler in Pixel.
Beispiel (HDevelop)
* Open image source.
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
'default', 'images_l.seq', 'default', 0, -1, AcqHandle1)
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
'default', 'images_r.seq', 'default', 1, -1, AcqHandle2)
* Initialize the start parameters.
caltab_points ('caltab_30mm.descr', X, Y, Z)
StartCamParam1 := ['area_scan_division', 0.0125, 0, 7.4e-6, 7.4e-6, \
Width/2.0, Height/2.0, Width, Height]
StartCamParam2 := StartCamParam1
Rows1 := []
Cols1 := []
StartPoses1 := []
Rows2 := []
Cols2 := []
StartPoses2 := []
* Find calibration marks and startposes.
for i := 0 to 11 by 1
grab_image_async (Image1, AcqHandle1, -1)
grab_image_async (Image2, AcqHandle2, -1)
find_caltab (Image1, CalPlate1, 'caltab_30mm.descr', 3, 120, 5)
find_caltab (Image2, CalPlate2, 'caltab_30mm.descr', 3, 120, 5)
find_marks_and_pose (Image1, CalPlate1, 'caltab_30mm.descr', \
StartCamParam1, 128, 10, 20, 0.7, 5, 100, \
RCoord1, CCoord1, StartPose1)
Rows1 := [Rows1,RCoord1]
Cols1 := [Cols1,CCoord1]
StartPoses1 := [StartPoses1,StartPose1]
find_marks_and_pose (Image2, CalPlate2, 'caltab_30mm.descr', \
StartCamParam2, 128, 10, 20, 0.7, 5, 100, \
RCoord2, CCoord2, StartPose2)
Rows2 := [Rows2,RCoord2]
Cols2 := [Cols2,CCoord2]
StartPoses2 := [StartPoses2,StartPose2]
endfor
* Calibrate the stereo rig.
binocular_calibration (X, Y, Z, Rows1, Cols1, Rows2, Cols2, StartCamParam1, \
StartCamParam2, StartPoses1, StartPoses2, 'all', \
CamParam1, CamParam2, NFinalPose1, NFinalPose2, \
RelPose, Errors)
* Archive the results.
write_cam_par (CamParam1, 'cam_left-125.dat')
write_cam_par (CamParam2, 'cam_right-125.dat')
write_pose (RelPose, 'rel_pose.dat')
* Rectify the stereo images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
RelPose, 1, 'viewing_direction', 'bilinear', \
CamParamRect1, CamParamRect2, \
CamPoseRect1, CamPoseRect2, \
RelPoseRect)
map_image (Image1, Map1, ImageMapped1)
map_image (Image2, Map2, ImageMapped2)
Beispiel (HDevelop)
* Open image source.
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
'default', 'images_l.seq', 'default', 0, -1, AcqHandle1)
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
'default', 'images_r.seq', 'default', 1, -1, AcqHandle2)
* Initialize the start parameters.
caltab_points ('caltab_30mm.descr', X, Y, Z)
StartCamParam1 := ['area_scan_division', 0.0125, 0, 7.4e-6, 7.4e-6, \
Width/2.0, Height/2.0, Width, Height]
StartCamParam2 := StartCamParam1
Rows1 := []
Cols1 := []
StartPoses1 := []
Rows2 := []
Cols2 := []
StartPoses2 := []
* Find calibration marks and startposes.
for i := 0 to 11 by 1
grab_image_async (Image1, AcqHandle1, -1)
grab_image_async (Image2, AcqHandle2, -1)
find_caltab (Image1, CalPlate1, 'caltab_30mm.descr', 3, 120, 5)
find_caltab (Image2, CalPlate2, 'caltab_30mm.descr', 3, 120, 5)
find_marks_and_pose (Image1, CalPlate1, 'caltab_30mm.descr', \
StartCamParam1, 128, 10, 20, 0.7, 5, 100, \
RCoord1, CCoord1, StartPose1)
Rows1 := [Rows1,RCoord1]
Cols1 := [Cols1,CCoord1]
StartPoses1 := [StartPoses1,StartPose1]
find_marks_and_pose (Image2, CalPlate2, 'caltab_30mm.descr', \
StartCamParam2, 128, 10, 20, 0.7, 5, 100, \
RCoord2, CCoord2, StartPose2)
Rows2 := [Rows2,RCoord2]
Cols2 := [Cols2,CCoord2]
StartPoses2 := [StartPoses2,StartPose2]
endfor
* Calibrate the stereo rig.
binocular_calibration (X, Y, Z, Rows1, Cols1, Rows2, Cols2, StartCamParam1, \
StartCamParam2, StartPoses1, StartPoses2, 'all', \
CamParam1, CamParam2, NFinalPose1, NFinalPose2, \
RelPose, Errors)
* Archive the results.
write_cam_par (CamParam1, 'cam_left-125.dat')
write_cam_par (CamParam2, 'cam_right-125.dat')
write_pose (RelPose, 'rel_pose.dat')
* Rectify the stereo images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
RelPose, 1, 'viewing_direction', 'bilinear', \
CamParamRect1, CamParamRect2, \
CamPoseRect1, CamPoseRect2, \
RelPoseRect)
map_image (Image1, Map1, ImageMapped1)
map_image (Image2, Map2, ImageMapped2)
Beispiel (HDevelop)
* Open image source.
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
'default', 'images_l.seq', 'default', 0, -1, AcqHandle1)
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
'default', 'images_r.seq', 'default', 1, -1, AcqHandle2)
* Initialize the start parameters.
caltab_points ('caltab_30mm.descr', X, Y, Z)
StartCamParam1 := ['area_scan_division', 0.0125, 0, 7.4e-6, 7.4e-6, \
Width/2.0, Height/2.0, Width, Height]
StartCamParam2 := StartCamParam1
Rows1 := []
Cols1 := []
StartPoses1 := []
Rows2 := []
Cols2 := []
StartPoses2 := []
* Find calibration marks and startposes.
for i := 0 to 11 by 1
grab_image_async (Image1, AcqHandle1, -1)
grab_image_async (Image2, AcqHandle2, -1)
find_caltab (Image1, CalPlate1, 'caltab_30mm.descr', 3, 120, 5)
find_caltab (Image2, CalPlate2, 'caltab_30mm.descr', 3, 120, 5)
find_marks_and_pose (Image1, CalPlate1, 'caltab_30mm.descr', \
StartCamParam1, 128, 10, 20, 0.7, 5, 100, \
RCoord1, CCoord1, StartPose1)
Rows1 := [Rows1,RCoord1]
Cols1 := [Cols1,CCoord1]
StartPoses1 := [StartPoses1,StartPose1]
find_marks_and_pose (Image2, CalPlate2, 'caltab_30mm.descr', \
StartCamParam2, 128, 10, 20, 0.7, 5, 100, \
RCoord2, CCoord2, StartPose2)
Rows2 := [Rows2,RCoord2]
Cols2 := [Cols2,CCoord2]
StartPoses2 := [StartPoses2,StartPose2]
endfor
* Calibrate the stereo rig.
binocular_calibration (X, Y, Z, Rows1, Cols1, Rows2, Cols2, StartCamParam1, \
StartCamParam2, StartPoses1, StartPoses2, 'all', \
CamParam1, CamParam2, NFinalPose1, NFinalPose2, \
RelPose, Errors)
* Archive the results.
write_cam_par (CamParam1, 'cam_left-125.dat')
write_cam_par (CamParam2, 'cam_right-125.dat')
write_pose (RelPose, 'rel_pose.dat')
* Rectify the stereo images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
RelPose, 1, 'viewing_direction', 'bilinear', \
CamParamRect1, CamParamRect2, \
CamPoseRect1, CamPoseRect2, \
RelPoseRect)
map_image (Image1, Map1, ImageMapped1)
map_image (Image2, Map2, ImageMapped2)
Beispiel (HDevelop)
* Open image source.
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
'default', 'images_l.seq', 'default', 0, -1, AcqHandle1)
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
'default', 'images_r.seq', 'default', 1, -1, AcqHandle2)
* Initialize the start parameters.
caltab_points ('caltab_30mm.descr', X, Y, Z)
StartCamParam1 := ['area_scan_division', 0.0125, 0, 7.4e-6, 7.4e-6, \
Width/2.0, Height/2.0, Width, Height]
StartCamParam2 := StartCamParam1
Rows1 := []
Cols1 := []
StartPoses1 := []
Rows2 := []
Cols2 := []
StartPoses2 := []
* Find calibration marks and startposes.
for i := 0 to 11 by 1
grab_image_async (Image1, AcqHandle1, -1)
grab_image_async (Image2, AcqHandle2, -1)
find_caltab (Image1, CalPlate1, 'caltab_30mm.descr', 3, 120, 5)
find_caltab (Image2, CalPlate2, 'caltab_30mm.descr', 3, 120, 5)
find_marks_and_pose (Image1, CalPlate1, 'caltab_30mm.descr', \
StartCamParam1, 128, 10, 20, 0.7, 5, 100, \
RCoord1, CCoord1, StartPose1)
Rows1 := [Rows1,RCoord1]
Cols1 := [Cols1,CCoord1]
StartPoses1 := [StartPoses1,StartPose1]
find_marks_and_pose (Image2, CalPlate2, 'caltab_30mm.descr', \
StartCamParam2, 128, 10, 20, 0.7, 5, 100, \
RCoord2, CCoord2, StartPose2)
Rows2 := [Rows2,RCoord2]
Cols2 := [Cols2,CCoord2]
StartPoses2 := [StartPoses2,StartPose2]
endfor
* Calibrate the stereo rig.
binocular_calibration (X, Y, Z, Rows1, Cols1, Rows2, Cols2, StartCamParam1, \
StartCamParam2, StartPoses1, StartPoses2, 'all', \
CamParam1, CamParam2, NFinalPose1, NFinalPose2, \
RelPose, Errors)
* Archive the results.
write_cam_par (CamParam1, 'cam_left-125.dat')
write_cam_par (CamParam2, 'cam_right-125.dat')
write_pose (RelPose, 'rel_pose.dat')
* Rectify the stereo images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
RelPose, 1, 'viewing_direction', 'bilinear', \
CamParamRect1, CamParamRect2, \
CamPoseRect1, CamPoseRect2, \
RelPoseRect)
map_image (Image1, Map1, ImageMapped1)
map_image (Image2, Map2, ImageMapped2)
Beispiel (HDevelop)
* Open image source.
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
'default', 'images_l.seq', 'default', 0, -1, AcqHandle1)
open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, \
'default', 'images_r.seq', 'default', 1, -1, AcqHandle2)
* Initialize the start parameters.
caltab_points ('caltab_30mm.descr', X, Y, Z)
StartCamParam1 := ['area_scan_division', 0.0125, 0, 7.4e-6, 7.4e-6, \
Width/2.0, Height/2.0, Width, Height]
StartCamParam2 := StartCamParam1
Rows1 := []
Cols1 := []
StartPoses1 := []
Rows2 := []
Cols2 := []
StartPoses2 := []
* Find calibration marks and startposes.
for i := 0 to 11 by 1
grab_image_async (Image1, AcqHandle1, -1)
grab_image_async (Image2, AcqHandle2, -1)
find_caltab (Image1, CalPlate1, 'caltab_30mm.descr', 3, 120, 5)
find_caltab (Image2, CalPlate2, 'caltab_30mm.descr', 3, 120, 5)
find_marks_and_pose (Image1, CalPlate1, 'caltab_30mm.descr', \
StartCamParam1, 128, 10, 20, 0.7, 5, 100, \
RCoord1, CCoord1, StartPose1)
Rows1 := [Rows1,RCoord1]
Cols1 := [Cols1,CCoord1]
StartPoses1 := [StartPoses1,StartPose1]
find_marks_and_pose (Image2, CalPlate2, 'caltab_30mm.descr', \
StartCamParam2, 128, 10, 20, 0.7, 5, 100, \
RCoord2, CCoord2, StartPose2)
Rows2 := [Rows2,RCoord2]
Cols2 := [Cols2,CCoord2]
StartPoses2 := [StartPoses2,StartPose2]
endfor
* Calibrate the stereo rig.
binocular_calibration (X, Y, Z, Rows1, Cols1, Rows2, Cols2, StartCamParam1, \
StartCamParam2, StartPoses1, StartPoses2, 'all', \
CamParam1, CamParam2, NFinalPose1, NFinalPose2, \
RelPose, Errors)
* Archive the results.
write_cam_par (CamParam1, 'cam_left-125.dat')
write_cam_par (CamParam2, 'cam_right-125.dat')
write_pose (RelPose, 'rel_pose.dat')
* Rectify the stereo images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
RelPose, 1, 'viewing_direction', 'bilinear', \
CamParamRect1, CamParamRect2, \
CamPoseRect1, CamPoseRect2, \
RelPoseRect)
map_image (Image1, Map1, ImageMapped1)
map_image (Image2, Map2, ImageMapped2)
Ergebnis
Sind die Parameterwerte korrekt und konnten die gesuchten Parameter
durch das Bündelausgleichsverfahren bestimmt werden, dann liefert
binocular_calibration binocular_calibration BinocularCalibration BinocularCalibration BinocularCalibration
den Wert 2 (H_MSG_TRUE). Gegebenenfalls wird
eine Fehlerbehandlung durchgeführt.
Vorgänger
find_marks_and_pose find_marks_and_pose FindMarksAndPose FindMarksAndPose FindMarksAndPose
,
caltab_points caltab_points CaltabPoints CaltabPoints CaltabPoints
,
read_cam_par read_cam_par ReadCamPar ReadCamPar ReadCamPar
Nachfolger
write_pose write_pose WritePose WritePose WritePose
,
write_cam_par write_cam_par WriteCamPar WriteCamPar WriteCamPar
,
pose_to_hom_mat3d pose_to_hom_mat3d PoseToHomMat3d PoseToHomMat3d PoseToHomMat3d
,
disp_caltab disp_caltab DispCaltab DispCaltab DispCaltab
,
gen_binocular_rectification_map gen_binocular_rectification_map GenBinocularRectificationMap GenBinocularRectificationMap GenBinocularRectificationMap
Siehe auch
find_caltab find_caltab FindCaltab FindCaltab FindCaltab
,
sim_caltab sim_caltab SimCaltab SimCaltab SimCaltab
,
read_cam_par read_cam_par ReadCamPar ReadCamPar ReadCamPar
,
create_pose create_pose CreatePose CreatePose CreatePose
,
convert_pose_type convert_pose_type ConvertPoseType ConvertPoseType ConvertPoseType
,
read_pose read_pose ReadPose ReadPose ReadPose
,
hom_mat3d_to_pose hom_mat3d_to_pose HomMat3dToPose HomMat3dToPose HomMat3dToPose
,
create_caltab create_caltab CreateCaltab CreateCaltab CreateCaltab
,
binocular_disparity binocular_disparity BinocularDisparity BinocularDisparity BinocularDisparity
,
binocular_distance binocular_distance BinocularDistance BinocularDistance BinocularDistance
Modul
3D Metrology