create_camera_setup_modelT_create_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModelcreate_camera_setup_model创建相机设置模型（算子）

名称

create_camera_setup_modelT_create_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModelcreate_camera_setup_model — 为标定的相机设置创建模型。

签名

create_camera_setup_model( : : NumCameras : CameraSetupModelID)

描述

算子 create_camera_setup_modelcreate_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModelCreateCameraSetupModelcreate_camera_setup_model 创建一个新的相机设置模型，并将该模型的句柄存储在 CameraSetupModelIDCameraSetupModelIDCameraSetupModelIDCameraSetupModelIDcameraSetupModelIDcamera_setup_model_id 中。相机设置包含固定数量的相机，该数量由 NumCamerasNumCamerasNumCamerasNumCamerasnumCamerasnum_cameras 指定，且模型创建后不可更改。对于每个相机，设置存储其内部参数、内部参数的协方差（可选）以及相机的姿态。

通过调用 set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamSetCameraSetupParamset_camera_setup_param，可改变相机所处的坐标系：既可选定某台相机并将所有相机姿态转换为相对于该相机的姿态，也可应用全局坐标变换，将整个相机设置的坐标系移动至任意姿态。改变相机设置的坐标系在特定场景下尤为实用，例如当您需要将相机置于被观察对象的坐标系中进行呈现时。下例将进一步阐释该概念。

相机的内部参数和姿态可通过 set_camera_setup_cam_paramset_camera_setup_cam_paramSetCameraSetupCamParamSetCameraSetupCamParamSetCameraSetupCamParamset_camera_setup_cam_param 进行设置或修改。其他相机参数及通用设置参数也可通过 set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamSetCameraSetupParamset_camera_setup_param 进行配置。所有参数均可通过 get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamGetCameraSetupParamGetCameraSetupParamget_camera_setup_param 读取。

相机设置模型可通过 write_camera_setup_modelwrite_camera_setup_modelWriteCameraSetupModelWriteCameraSetupModelWriteCameraSetupModelwrite_camera_setup_model 保存至文件，并通过 read_camera_setup_modelread_camera_setup_modelReadCameraSetupModelReadCameraSetupModelReadCameraSetupModelread_camera_setup_model 读取。

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

NumCamerasNumCamerasNumCamerasNumCamerasnumCamerasnum_cameras (输入控制) integer → (integer)

设置中的相机数量。

默认值： 2

建议值： 1, 2, 3, 4

限制： NumCameras >= 1

CameraSetupModelIDCameraSetupModelIDCameraSetupModelIDCameraSetupModelIDcameraSetupModelIDcamera_setup_model_id (输出控制) camera_setup_model → (handle)

相机设置模型的句柄。

示例（HDevelop）

* 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]

可能的后继

set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamSetCameraSetupParamset_camera_setup_param

模块

标定

算子