set_calib_data — Set data in a calibration data model.
set_calib_data( : : CalibDataID, ItemType, ItemIdx, DataName, DataValue : )
With the operator set_calib_data, you can set data in the
calibration data model CalibDataID.
Note that an overview on how the calibration data model is filled
with data during the processes of camera calibration and hand-eye
calibration is provided by the description of
get_calib_data.
The calibration data model can contain various kinds of data. How to set specific data in the calibration data model is described for different categories of data:
Model-related data (ItemType 'model')
Camera-related data (ItemType 'camera')
Data related to calibration object poses (ItemType
'calib_obj_pose')
Hand-eye calibration related data (ItemType
'tool')
The parameter ItemIdx lets you select whether the new
value should be set for all items of a type or only for an
individual one. The parameters to set are passed in
DataName, their values in DataValue.
To get detailed information about the calibration process of your camera setup see the chapter reference Calibration.
ItemType='model':ItemIdx must be set to 'general'.
Depending on
the selection in DataName, you can set the following
model-related parameters to the value passed in DataValue:
Set the reference camera for the calibration model to the passed
camera index. All poses stored in the calibration data model
are specified in the coordinate system of the reference camera
(see get_calib_data).
For stereo setups with telecentric line scan cameras, a string with a Boolean value (i.e., 'true' or 'false') that determines whether the cameras have a common motion vector.
Set the optimization method to be used in the hand-eye
calibration process. If DataValue='linear' is
set, a linear method is used for the hand-eye calibration. If
DataValue='nonlinear' is set, a nonlinear method
is used for the hand-eye calibration (see
calibrate_hand_eye for more details).
ItemType='camera':ItemIdx determines, if data is set for all cameras in
general or for a specific camera. With
ItemIdx='general', the new settings are applied
to all cameras in the model. If you pass a valid camera index
instead, i.e., a number between 0 and NumCameras-1
(NumCameras is specified during model creation with
create_calib_data), only the specified camera is affected
by the changes.
By selecting the following parameters in DataName, you can
specify which camera parameters shall be optimized during
the calibration performed by calibrate_cameras:
The camera parameters listed in DataValue are marked
for optimization for the affected camera(s) (additionally to the
camera parameters that were already marked for
optimization). Note that by default, all parameters are marked
for the optimization. That is, 'calib_settings' is
mainly suited to add previously excluded parameters again.
The camera parameters listed in DataValue are excluded
from the optimization for the affected camera(s).
The following camera parameters can be passed in DataValue:
Internal camera parameters
Focal length of the lens (only for perspective cameras, i.e., cameras of type 'area_scan_division', 'area_scan_polynomial', 'area_scan_tilt_division', 'area_scan_tilt_polynomial', 'area_scan_tilt_image_side_telecentric_division', 'area_scan_tilt_image_side_telecentric_polynomial', 'area_scan_hypercentric_division', 'area_scan_hypercentric_polynomial', 'line_scan_division', and 'line_scan_polynomial').
Magnification of the lens (only for telecentric cameras, i.e., cameras of type 'area_scan_telecentric_division', 'area_scan_telecentric_polynomial', 'area_scan_tilt_bilateral_telecentric_division', 'area_scan_tilt_bilateral_telecentric_polynomial', 'area_scan_tilt_object_side_telecentric_division', 'area_scan_tilt_object_side_telecentric_polynomial', 'line_scan_telecentric_division', and 'line_scan_telecentric_polynomial').
Divisional distortion coefficient kappa (only for cameras of type 'area_scan_division', 'area_scan_telecentric_division', 'area_scan_tilt_division', 'area_scan_tilt_bilateral_telecentric_division', 'area_scan_tilt_object_side_telecentric_division', 'area_scan_hypercentric_division', 'line_scan_division', and 'line_scan_telecentric_division').
Polynomial radial distortion parameters (only for cameras of type 'area_scan_polynomial', 'area_scan_telecentric_polynomial', 'area_scan_tilt_polynomial', 'area_scan_tilt_bilateral_telecentric_polynomial', 'area_scan_tilt_object_side_telecentric_polynomial', 'area_scan_hypercentric_polynomial', 'line_scan_polynomial', and 'line_scan_telecentric_polynomial').
An alias parameter for all polynomial tangential distortion parameters, i.e., p1 and p2 (only for cameras of type 'area_scan_polynomial', 'area_scan_telecentric_polynomial', 'area_scan_tilt_polynomial', 'area_scan_tilt_bilateral_telecentric_polynomial', 'area_scan_tilt_object_side_telecentric_polynomial', 'area_scan_hypercentric_polynomial', 'line_scan_polynomial', and 'line_scan_telecentric_polynomial').
An alias parameter for all polynomial distortion parameters, i.e., k1, k2, k3, p1 and p2 (only for cameras of type 'area_scan_polynomial', 'area_scan_telecentric_polynomial', 'area_scan_tilt_polynomial', 'area_scan_tilt_bilateral_telecentric_polynomial', 'area_scan_tilt_object_side_telecentric_polynomial', 'area_scan_hypercentric_polynomial', 'line_scan_polynomial', and 'line_scan_telecentric_polynomial').
The distance of the tilted image plane from the perspective projection center (only for cameras with tilt lenses that perform a perspective projection on the image side of the lens, i.e., cameras of type 'area_scan_tilt_division', 'area_scan_tilt_polynomial', 'area_scan_tilt_object_side_telecentric_division', and 'area_scan_tilt_object_side_telecentric_polynomial').
Tilt and rotation of the tilt lens (only for cameras with tilt lenses, i.e., cameras of type 'area_scan_tilt_division', 'area_scan_tilt_polynomial', 'area_scan_tilt_bilateral_telecentric_division', 'area_scan_tilt_bilateral_telecentric_polynomial', 'area_scan_tilt_object_side_telecentric_division', and 'area_scan_tilt_object_side_telecentric_polynomial').
Coordinates of the camera's principal point.
An alias parameter for 'cx' and 'cy'.
Sensor element dimensions.
All internal camera parameters.
External camera parameters
Rotation part of the camera pose.
Translation part of the camera pose.
All external camera parameters.
Further camera parameters
Motion vector parameters (for cameras of type 'line_scan_division', 'line_scan_polynomial', 'line_scan_telecentric_division', and 'line_scan_telecentric_polynomial' only). Note that for stereo setups with telecentric line scan cameras with a common motion vector (i.e., 'common_motion_vector' = 'true', which is the default), the motion vector optimization parameters of the reference camera determine which parameters of the common motion vector are optimized. For this kind of setup, it is recommended not to exclude any motion vector parameters from the optimization.
All camera parameters.
By default, all parameters are marked for calibration. As an
exception, the camera pose is excluded from the optimization for
calibration setups with only one camera
(NumCameras=1). This setting makes the calibration process
equivalent to the one performed by camera_calibration.
ItemType='calib_obj_pose':ItemIdx determines, if data is set for all calibration
object poses in general or for a specific calibration object
pose. With ItemIdx='general' the new settings
are applied to all calibration object poses in the model. If you
pass a valid calibration object pose index instead, i.e., a tuple
containing a valid index pair [CalibObjIdx,
CalibObjPoseIdx], you specify a calibration object pose, which
is affected by the changes.
By selecting the following parameters in DataName, you can
specify which calibration object pose parameters shall be
optimized during the calibration performed by
calibrate_cameras:
The calibration object pose settings listed in
DataValue are marked for optimization for the affected
pose(s). Note that by default, all calibration pose parameters
are marked for the optimization. That is,
'calib_settings' is mainly suited to add previously
excluded parameters again.
The calibration object pose settings listed in
DataValue are excluded from the optimization for the
affected pose(s).
The following calibration pose parameters can be passed in
DataValue:
Rotation part of the calibration object pose.
Translation part of the calibration object pose.
All calibration object pose parameters.
All calibration objects optimization parameters, i.e., the same as 'pose'.
By default all parameters are marked for calibration.
The current settings for any model item can be queried with the
operator get_calib_data.
ItemType='tool':ItemIdx must be set to a valid calibration object pose index.
By selecting the following parameter in DataName, you can
set the pose of the robot tool:
Set the pose of the robot tool (in robot base coordinates),
which was used to obtain the observation of the pose of the
calibration object with the same index ItemIdx
(corresponds to the parameter CalibObjPoseIdx of any of
the operators find_calib_object,
set_calib_data_observ_pose, or
set_calib_data_observ_points).
This operator modifies the state of the following input parameter:
During execution of this operator, access to the value of this parameter must be synchronized if it is used across multiple threads.
CalibDataID (input_control, state is modified) calib_data → (handle)
Handle of a calibration data model.
ItemType (input_control) string → (string)
Type of calibration data item.
Default value: 'model'
List of values: 'calib_obj_pose', 'camera', 'model', 'tool'
ItemIdx (input_control) number(-array) → (integer / string)
Index of the affected item
(depending on the selected ItemType).
Default value: 'general'
Suggested values: 0, 1, 2, 'general'
DataName (input_control) attribute.name → (string)
Parameter(s) to set.
Default value: 'reference_camera'
List of values: 'calib_settings', 'common_motion_vector', 'excluded_settings', 'optimization_method', 'reference_camera', 'tool_in_base_pose'
DataValue (input_control) attribute.value(-array) → (string / integer)
New value(s).
Default value: 0
Suggested values: 0, 1, 2, 'all', 'pose', 'params', 'alpha', 'beta', 'gamma', 'transx', 'transy', 'transz', 'focus', 'magnification', 'kappa', 'poly', 'poly_tan_2', 'k1', 'k2', 'k3', 'image_plane_dist', 'tilt', 'principal_point', 'cx', 'cy', 'sx', 'sy', 'vx', 'vy', 'vz', 'true', 'false', 'linear', 'nonlinear'
* Here, the cell size is known exactly, thus it is excluded from
* the optimization.
set_calib_data (CalibDataID, 'camera', 'general', 'excluded_settings', \
['sx','sy'])
set_calib_data_observ_points,
find_calib_object
calibrate_cameras,
calibrate_hand_eye
Calibration