create_calib_dataT_create_calib_dataCreateCalibDataCreateCalibDatacreate_calib_data (算子)

名称

create_calib_dataT_create_calib_dataCreateCalibDataCreateCalibDatacreate_calib_data — 创建 HALCON 标定数据模型。

签名

描述

算子 create_calib_datacreate_calib_dataCreateCalibDataCreateCalibDataCreateCalibDatacreate_calib_data creates a generic calibration data model that stores

• the description of a camera calibration setup,

• settings for the calibration process,

• the calibration data, and

• the results of the camera calibration or the hand-eye calibration.

In the parameter CalibSetupCalibSetupCalibSetupCalibSetupcalibSetupcalib_setup, you specify the calibration setup type. Currently, five types are supported. A model of the type 'calibration_object'"calibration_object""calibration_object""calibration_object""calibration_object""calibration_object" is used to calibrate the internal camera parameters and the camera poses of one or more cameras based on the metric information extracted from observations of calibration objects.

A model of type 'hand_eye_moving_cam'"hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam", 'hand_eye_stationary_cam'"hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam", 'hand_eye_scara_moving_cam'"hand_eye_scara_moving_cam""hand_eye_scara_moving_cam""hand_eye_scara_moving_cam""hand_eye_scara_moving_cam""hand_eye_scara_moving_cam", or 'hand_eye_scara_stationary_cam'"hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam" is used to perform a hand-eye calibration based on observations of a calibration object and corresponding poses of a robot tool in the robot base coordinate system. The latter four model types on the one hand distinguish whether the camera or the calibration object is moved by the robot and on the other hand distinguish whether an articulated robot or a SCARA robot is calibrated. The arm of an articulated robot has three rotary joints typically covering 6 degrees of freedom (3 translations and 3 rotations). SCARA robots have two parallel rotary joints and one parallel prismatic joint covering only 4 degrees of freedom (3 translations and 1 rotation). Loosely speaking, an articulated robot is able to tilt its end effector while a SCARA robot is not.

NumCamerasNumCamerasNumCamerasNumCamerasnumCamerasnum_cameras specifies the number of cameras that are calibrated simultaneously in the setup. NumCalibObjectsNumCalibObjectsNumCalibObjectsNumCalibObjectsnumCalibObjectsnum_calib_objects specifies the number of calibration objects observed by the cameras. Please note that for camera calibrations with line scan cameras with perspective lenses only a single calibration object is allowed (NumCalibObjectsNumCalibObjectsNumCalibObjectsNumCalibObjectsnumCalibObjectsnum_calib_objects=1). For hand-eye calibrations, only two setups are currently supported: either one area scan projective camera and one calibration object (NumCamerasNumCamerasNumCamerasNumCamerasnumCamerasnum_cameras=1, NumCalibObjectsNumCalibObjectsNumCalibObjectsNumCalibObjectsnumCalibObjectsnum_calib_objects=1) or a general sensor with no calibration object (NumCamerasNumCamerasNumCamerasNumCamerasnumCamerasnum_cameras=0, NumCalibObjectsNumCalibObjectsNumCalibObjectsNumCalibObjectsnumCalibObjectsnum_calib_objects=0). Attention: The four hand-eye calibration models do not support telecentric cameras.

CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataIDcalib_data_id returns a handle of the new calibration data model. You pass this handle to other operators to collect the description of the camera setup, the calibration settings, and the calibration data. For camera calibrations, you pass it to calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras, which performs the actual camera calibration and stores the calibration results in the calibration data model. For a detailed description of the preparation process, please refer to the chapter 标定. For hand-eye calibrations, you pass it to calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEyeCalibrateHandEyecalibrate_hand_eye, which performs the actual hand-eye calibration and stores the calibration results in the calibration data model. For a detailed description of the preparation process, please refer to the operator calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEyeCalibrateHandEyecalibrate_hand_eye。

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。

此算子返回一个句柄。请注意，即使该句柄被用作特定算子的输入参数，这些算子仍可能改变此句柄类型的实例状态。

参数

可能的后继

set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParamSetCalibDataCamParamset_calib_data_cam_param, set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObjectSetCalibDataCalibObjectset_calib_data_calib_object

模块

标定