find_calib_objectT_find_calib_objectFindCalibObjectFindCalibObjectfind_calib_object (算子)

名称

find_calib_objectT_find_calib_objectFindCalibObjectFindCalibObjectfind_calib_object — 找到 HALCON 标定板，并在标定数据模型中设置提取的点和轮廓。

签名

描述

find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object searches in ImageImageImageImageimageimage for a HALCON calibration plate corresponding to the description of the calibration object with the index CalibObjIdxCalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdxcalib_obj_idx from the calibration data model CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataIDcalib_data_id. If a calibration plate is found, find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object extracts the centers and the contours of its marks and estimates the pose of the plate relative to the observing camera CameraIdxCameraIdxCameraIdxCameraIdxcameraIdxcamera_idx. All collected observation data is stored in the calibration data model for the calibration object pose CalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxcalibObjPoseIdxcalib_obj_pose_idx. In order to ensure a successful detection of the calibration plate, at least one finder pattern has to be visible in the image. For calibration plates with hexagonally arranged marks this is a special mark hexagon where either four or six marks contain a hole, while for calibration plates with rectangularly arranged marks this is the border of the calibration plate with a triangle in one corner.

Preparation of the input data

Before the operator find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object can be called, a calibration data model has to be defined performing the following steps:

1. Create a calibration data model with the operator create_calib_datacreate_calib_dataCreateCalibDataCreateCalibDataCreateCalibDatacreate_calib_data, specifying the number of cameras in the setup and the number of used calibration objects.

2. Specify the camera type and the initial internal camera parameters for all cameras with the operator set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParamSetCalibDataCamParamset_calib_data_cam_param。Note that only cameras of the same type can be calibrated in a single setup.

3. Specify the description of all calibration objects with the operator set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObjectSetCalibDataCalibObjectset_calib_data_calib_object。Note that for a successful call of find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object a valid description file of the calibration plate is necessary. This description file has to be set beforehand via the operator set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObjectSetCalibDataCalibObjectset_calib_data_calib_object。As a consequence, the usage of a user-defined calibration object can only be made by the operator set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPointsset_calib_data_observ_points。

Collecting observation data

find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object is used to collect observations in a calibration data model. Beyond, it stores additional observation data that cannot be added to the model with set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPointsset_calib_data_observ_points and that is dependent on the used calibration plate. While for calibration plates with rectangularly arranged marks (see gen_caltabgen_caltabGenCaltabGenCaltabGenCaltabgen_caltab) the rim of the calibration plate is added to the observations, calibration plates with hexagonal pattern (see create_caltabcreate_caltabCreateCaltabCreateCaltabCreateCaltabcreate_caltab) store one of their finder pattern. Additionally and irrespective of the used calibration plate, the contour of each mark is added to the calibration model.

Setting additional parameters

Using calibration plates with hexagonally arranged marks, the following additional parameter can be set via GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name and GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value:

'sigma'"sigma""sigma""sigma""sigma""sigma"：

Smoothing factor for the extraction of the mark contours. For increasing values of 'sigma'"sigma""sigma""sigma""sigma""sigma", the filter width and thereby the amount of smoothing increases (see also edges_sub_pixedges_sub_pixEdgesSubPixEdgesSubPixEdgesSubPixedges_sub_pix for the influence of the filter width on the Canny filter).

建议值： 0.5, 0.7, 0.9, 1.0, 1.2, 1.5

Default: 1.0

For calibration plates with rectangularly arranged marks, find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object essentially encapsulates the sequence of three operator calls: find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose and set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPointsset_calib_data_observ_points。For this kind of calibration plates the following parameters can be set using GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name and GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value:

'alpha'"alpha""alpha""alpha""alpha""alpha"：

Smoothing factor for the extraction of the mark contours. For increasing values of 'alpha'"alpha""alpha""alpha""alpha""alpha", the filter width and thereby the amount of smoothing decreases (see also edges_sub_pixedges_sub_pixEdgesSubPixEdgesSubPixEdgesSubPixedges_sub_pix for the influence of the filter width on the Lanser2 filter ).

建议值： 0.5, 0.7, 0.9, 1.0, 1.2, 1.5 Default: 0.9

'gap_tolerance'"gap_tolerance""gap_tolerance""gap_tolerance""gap_tolerance""gap_tolerance"：

Tolerance factor for gaps between the marks. If the marks appear closer to each other than expected, you might set 'gap_tolerance'"gap_tolerance""gap_tolerance""gap_tolerance""gap_tolerance""gap_tolerance" < 1.0 to avoid disturbing patterns outside the calibration plate to be associated with the calibration plate. This can typically happen if the plate is strongly tilted and positioned in front of a background that exposes mark-like patterns. If the distances between single marks vary in a wide range, e.g., if the calibration plate appears with strong perspective distortion in the image, you might set 'gap_tolerance'"gap_tolerance""gap_tolerance""gap_tolerance""gap_tolerance""gap_tolerance" > 1.0 to enforce the marks grouping (see also find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab).

建议值： 0.75, 0.9, 1.0, 1.1, 1.2, 1.5

Default: 1.0

'max_diam_marks'"max_diam_marks""max_diam_marks""max_diam_marks""max_diam_marks""max_diam_marks"：

Maximum expected diameter of the marks (needed internally by find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose). By default, this value is estimated by the preceding internal call to find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab。However, if the estimation is erroneous for no obvious reason or the internal call to find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab fails or is simply skipped (see 'skip_find_caltab'"skip_find_caltab""skip_find_caltab""skip_find_caltab""skip_find_caltab""skip_find_caltab" below), you might have to adjust this value.

建议值： 50.0, 100.0, 150.0, 200.0, 300.0

'skip_find_caltab'"skip_find_caltab""skip_find_caltab""skip_find_caltab""skip_find_caltab""skip_find_caltab"：

Skip the internal call to find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab。If activated, only the domain of ImageImageImageImageimageimage reduces the search area for the internal call of find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose。Thus, a user defined calibration plate region can be incorporated by setting 'skip_find_caltab'"skip_find_caltab""skip_find_caltab""skip_find_caltab""skip_find_caltab""skip_find_caltab"='false'"false""false""false""false""false" and reducing the ImageImageImageImageimageimage domain to the user region.

List of values: 'false'"false""false""false""false""false", 'true'"true""true""true""true""true"

Default: 'false'"false""false""false""false""false"

If using a HALCON calibration plate as calibration object, it is recommended to use find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object instead of set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPointsset_calib_data_observ_points where possible, since the contour information, which it stores in the calibration data model, enables a more precise calibration procedure with calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras。

After a successful call to find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object, the extracted points can be queried by get_calib_data_observ_pointsget_calib_data_observ_pointsGetCalibDataObservPointsGetCalibDataObservPointsGetCalibDataObservPointsget_calib_data_observ_points and the extracted contours can be accessed by get_calib_data_observ_contoursget_calib_data_observ_contoursGetCalibDataObservContoursGetCalibDataObservContoursGetCalibDataObservContoursget_calib_data_observ_contours。

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）。
• 在内部数据级别上自动并行化。

此算子修改后续输入参数的状态：

• CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataIDcalib_data_id

在执行此算子时，若该参数值需在多个线程间使用，则必须对其访问进行同步。

参数

可能的前趋

read_imageread_imageReadImageReadImageReadImageread_image, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose, 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

可能的后继

set_calib_dataset_calib_dataSetCalibDataSetCalibDataSetCalibDataset_calib_data, calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras

替代

find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose, set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPointsset_calib_data_observ_points

模块

标定

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