create_camera_setup_model — 为标定的相机设置创建模型。
create_camera_setup_model( : : NumCameras : CameraSetupModelID)
算子 create_camera_setup_model creates a new camera
setup model and returns a handle to it in CameraSetupModelID.
The camera setup comprises a fixed number of cameras, which is
specified by NumCameras and cannot be changed once the model
was created. For each camera, the setup stores its internal parameters,
covariances of the internal parameters (optional) and a pose of the
camera.
Using set_camera_setup_param, you can change the coordinate
system in which the cameras are represented: You can either select
a camera and convert all camera poses to be relative to this camera
or you can apply a general coordinate transformation, which moves
the setup's coordinate system into an arbitrary pose. Changing the coordinate
system of the camera setup is particularly useful in cases, where, e.g.,
you want to represent the cameras in the coordinate system of an
object being observed by the cameras. This concept is further
demonstrated in the example below.
The internal parameters and pose of a camera are set or modified by
set_camera_setup_cam_param。Further camera parameters and
general setup parameters can be set by set_camera_setup_param as
well. All parameters can be read back by get_camera_setup_param。
A camera setup model can be saved into a file by
write_camera_setup_model and read back by
read_camera_setup_model。
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。
NumCameras (输入控制) integer → (integer)
Number of cameras in the setup.
默认值： 2
建议值： 1, 2, 3, 4
限制：
NumCameras >= 1
CameraSetupModelID (输出控制) camera_setup_model → (handle)
Handle to the camera setup model.
* Create camera setup of three cameras.
create_camera_setup_model (3, CameraSetupModelID)
gen_cam_par_area_scan_division (0.006, 0, 8.3e-6, 8.3e-6,\
512, 384, 1024, 768, StartCamPar)
* Camera 0 is located in the origin.
set_camera_setup_cam_param (CameraSetupModelID, 0, [], StartCamPar,\
[0, 0, 0, 0, 0, 0, 0])
* Camera 1 is shifted 0.07 m in positive x-direction relative to
* camera 0.
set_camera_setup_cam_param (CameraSetupModelID, 1, [], StartCamPar,\
[0.07, 0, 0, 0, 0, 0, 0])
* Camera 2 is shifted 0.1 m in negative y-direction relative to
* camera 0.
set_camera_setup_cam_param (CameraSetupModelID, 2, [], StartCamPar,\
[0.0, -0.1, 0, 0, 0, 0, 0])
* There is an object, which is 0.5 away from the origin in
* z-direction, and is facing the origin.
ObjectPose := [0, 0, 0.5, 180, 0, 0, 0]
* Place the setup's origin in the object.
set_camera_setup_param (CameraSetupModelID, 'general', 'coord_transf_pose',\
ObjectPose)
* Now the camera poses are given relative to the object.
get_camera_setup_param (CameraSetupModelID, 0, 'pose', CamPose0)
* CamPose0 is equivalent to [0.0, 0.0, 0.5, 180.0, 0.0, 0.0, 0]
get_camera_setup_param (CameraSetupModelID, 1, 'pose', CamPose1)
* CamPose1 is equivalent to [0.07, 0.0, 0.5, 180.0, 0.0, 0.0, 0]
get_camera_setup_param (CameraSetupModelID, 2, 'pose', CamPose2)
* CamPose2 is equivalent to [0.0, 0.1, 0.5, 180.0, 0.0, 0.0, 0]
标定