caltab_pointsT_caltab_pointsCaltabPointsCaltabPointscaltab_points (算子)
名称
caltab_pointsT_caltab_pointsCaltabPointsCaltabPointscaltab_points — 从标定板描述文件中读取标记中心点。
签名
Herror T_caltab_points(const Htuple CalPlateDescr, Htuple* X, Htuple* Y, Htuple* Z)
void CaltabPoints(const HTuple& CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)
static void HMisc::CaltabPoints(const HString& CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)
static void HMisc::CaltabPoints(const char* CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)
static void HMisc::CaltabPoints(const wchar_t* CalPlateDescr, HTuple* X, HTuple* Y, HTuple* Z)
(
Windows only)
def caltab_points(cal_plate_descr: str) -> Tuple[Sequence[float], Sequence[float], Sequence[float]]
描述
caltab_pointscaltab_pointsCaltabPointsCaltabPointsCaltabPointscaltab_points reads the mark center points from the calibration plate
description file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr (see gen_caltabgen_caltabGenCaltabGenCaltabGenCaltabgen_caltab for
calibration plates with rectangularly arranged marks and create_caltabcreate_caltabCreateCaltabCreateCaltabCreateCaltabcreate_caltab
for calibration plates with hexagonally arranged marks) and
returns their coordinates in XXXXxx, YYYYyy and ZZZZzz. The mark
center points are 3D coordinates in the calibration plate coordinate system
and describe the 3D model of the calibration plate. The calibration plate
coordinate system is located in the middle of the surface of the calibration
plate for calibration plates with rectangularly arranged marks and at the
center of the central mark of the first finder pattern for calibration plates
with hexagonally arranged marks. Its z-axis points into the calibration
plate, its x-axis to the right, and its y-axis downwards.
The mark center points are typically used as input parameters for the
operator camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration。
执行信息
- 多线程类型：可重入（与非独占算子并行运行）。
- 多线程作用域：全局（可从任何线程调用）。
- 未采用并行化处理。
参数
CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr (输入控制) filename.read → HTuplestrHTupleHtuple (string) (string) (HString) (char*)
File name of the calibration plate description.
默认值：
'calplate_320mm.cpd'
"calplate_320mm.cpd"
"calplate_320mm.cpd"
"calplate_320mm.cpd"
"calplate_320mm.cpd"
"calplate_320mm.cpd"
值列表：
'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
XXXXxx (输出控制) real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
X coordinates of the mark center points in the
coordinate system of the calibration plate.
YYYYyy (输出控制) real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Y coordinates of the mark center points in the
coordinate system of the calibration plate.
ZZZZzz (输出控制) real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Z coordinates of the mark center points in the
coordinate system of the calibration plate.
示例（HDevelop）
* Read calibration image.
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern.
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses.
StartCamPar := ['area_scan_division', 0.008, 0.0, 0.000011, 0.000011, \
384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
StartPose1)
* Read 3D positions of calibration marks.
caltab_points(CalTabDescr, NX, NY, NZ)
* Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
StartPose1, 'all', CameraParam, FinalPose, Errors)
* Visualize calibration result.
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)
示例（HDevelop）
* Read calibration image.
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern.
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses.
StartCamPar := ['area_scan_division', 0.008, 0.0, 0.000011, 0.000011, \
384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
StartPose1)
* Read 3D positions of calibration marks.
caltab_points(CalTabDescr, NX, NY, NZ)
* Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
StartPose1, 'all', CameraParam, FinalPose, Errors)
* Visualize calibration result.
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)
示例（HDevelop）
* Read calibration image.
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern.
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses.
StartCamPar := ['area_scan_division', 0.008, 0.0, 0.000011, 0.000011, \
384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
StartPose1)
* Read 3D positions of calibration marks.
caltab_points(CalTabDescr, NX, NY, NZ)
* Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
StartPose1, 'all', CameraParam, FinalPose, Errors)
* Visualize calibration result.
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)
示例（HDevelop）
* Read calibration image.
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern.
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses.
StartCamPar := ['area_scan_division', 0.008, 0.0, 0.000011, 0.000011, \
384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
StartPose1)
* Read 3D positions of calibration marks.
caltab_points(CalTabDescr, NX, NY, NZ)
* Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
StartPose1, 'all', CameraParam, FinalPose, Errors)
* Visualize calibration result.
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)
示例（HDevelop）
* Read calibration image.
read_image(Image, 'calib/calib-3d-coord-03')
CalTabDescr := 'caltab_100mm.descr'
* Find calibration pattern.
find_caltab(Image, CalPlate1, CalTabDescr, 3, 112, 5)
* Find calibration marks and start poses.
StartCamPar := ['area_scan_division', 0.008, 0.0, 0.000011, 0.000011, \
384, 288, 768, 576]
find_marks_and_pose(Image,CalPlate1,CalTabDescr, StartCamPar, \
128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1, \
StartPose1)
* Read 3D positions of calibration marks.
caltab_points(CalTabDescr, NX, NY, NZ)
* Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar, \
StartPose1, 'all', CameraParam, FinalPose, Errors)
* Visualize calibration result.
dev_display(Image)
disp_caltab(WindowHandle, CalTabDescr, CameraParam, FinalPose, 1.0)
结果
caltab_pointscaltab_pointsCaltabPointsCaltabPointsCaltabPointscaltab_points returns 2 (
H_MSG_TRUE)
if all parameter values are
correct and the file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr has been read
successfully。如有必要，则抛出异常。
可能的后继
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration
另见
find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab,
find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose,
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration,
disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab,
sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab,
project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPointproject_3d_point,
get_line_of_sightget_line_of_sightGetLineOfSightGetLineOfSightGetLineOfSightget_line_of_sight,
gen_caltabgen_caltabGenCaltabGenCaltabGenCaltabgen_caltab
模块
基础