find_caltabfind_caltabFindCaltabFindCaltabfind_caltab (算子)

名称

find_caltabfind_caltabFindCaltabFindCaltabfind_caltab — 在图像中用矩形排列的标记分割标准标定板的区域。

签名

描述

find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab is used to determine the region of a plane calibration plate with circular marks in the input image ImageImageImageImageimageimage. The region must correspond to a standard calibration plate with rectangularly arranged marks described in the file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr. The successfully segmented region is returned in CalPlateCalPlateCalPlateCalPlatecalPlatecal_plate. The operator provides two algorithms. By setting appropriate integer values in SizeGaussSizeGaussSizeGaussSizeGausssizeGausssize_gauss, MarkThreshMarkThreshMarkThreshMarkThreshmarkThreshmark_thresh, and MinDiamMarksMinDiamMarksMinDiamMarksMinDiamMarksminDiamMarksmin_diam_marks, respectively, you invoke the standard algorithm. If you pass a tuple of parameter names in SizeGaussSizeGaussSizeGaussSizeGausssizeGausssize_gauss and a corresponding tuple of parameter values in MarkThreshMarkThreshMarkThreshMarkThreshmarkThreshmark_thresh, or just two empty tuples, respectively, you invoke the advanced algorithm instead. In this case the value passed in MinDiamMarksMinDiamMarksMinDiamMarksMinDiamMarksminDiamMarksmin_diam_marks is ignored.

Standard algorithm

First, the input image is smoothed (see gauss_imagegauss_imageGaussImageGaussImageGaussImagegauss_image); the size of the used filter mask is given by SizeGaussSizeGaussSizeGaussSizeGausssizeGausssize_gauss. Afterwards, a threshold operator (see thresholdthresholdThresholdThresholdThresholdthreshold) with a minimum gray value MarkThreshMarkThreshMarkThreshMarkThreshmarkThreshmark_thresh is applied. Among the extracted connected regions the most convex region with an almost correct number of holes (corresponding to the dark marks of the calibration plate) is selected. Holes with a diameter smaller than the expected size of the marks MinDiamMarksMinDiamMarksMinDiamMarksMinDiamMarksminDiamMarksmin_diam_marks are eliminated to reduce the impact of noise. The number of marks is read from the calibration plate description file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr. The complete explanation of this file can be found within the description of gen_caltabgen_caltabGenCaltabGenCaltabGenCaltabgen_caltab。

Advanced algorithm

First, an image pyramid based on ImageImageImageImageimageimage is built. Starting from the highest pyramid level, round regions are segmented with a dynamic threshold. Then, they are associated in groups based on their mutual proximity and it is evaluated whether they can represent marks of a potential calibration plate. The search is terminated once the expected number of marks has been identified in one group. The surrounding lighter area is returned in CalPlateCalPlateCalPlateCalPlatecalPlatecal_plate。

The image pyramid makes the search independent from the size of the image and the marks. The dynamic threshold makes the algorithm immune to bad or irregular illumination. Therefore, in general, no parameter is required. Yet, you can adjust some auxiliary parameters of the advanced algorithm by passing a list of parameter names (strings) to SizeGaussSizeGaussSizeGaussSizeGausssizeGausssize_gauss and a list of corresponding parameter values to MarkThreshMarkThreshMarkThreshMarkThreshmarkThreshmark_thresh. Currently the following parameter is supported:

'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 deviate significantly, 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 grouping for the more distant marks.

建议值： 0.75, 0.9, 1.0 1.1, 1.2, 1.5

Default: 1.0

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）。
• 在元组级别上自动并行化。

参数

* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image, CalPlate, 'caltab_100mm.descr', 3, 112, 5)

* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image, CalPlate, 'caltab_100mm.descr', 3, 112, 5)

* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image, CalPlate, 'caltab_100mm.descr', 3, 112, 5)

* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image, CalPlate, 'caltab_100mm.descr', 3, 112, 5)

* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image, CalPlate, 'caltab_100mm.descr', 3, 112, 5)

结果

find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab returns 2 ( H_MSG_TRUE) if all parameter values are correct and an image region is found. The behavior in case of empty input (no image given) can be set via set_system(::'no_object_result',<Result>:)set_system("no_object_result",<Result>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>)set_system("no_object_result",<Result>) and the behavior in case of an empty result region via set_system(::'store_empty_region',<'true'/'false'>:)set_system("store_empty_region",<"true"/"false">)SetSystem("store_empty_region",<"true"/"false">)SetSystem("store_empty_region",<"true"/"false">)SetSystem("store_empty_region",<"true"/"false">)set_system("store_empty_region",<"true"/"false">)。如有必要，则抛出异常。

可能的前趋

read_imageread_imageReadImageReadImageReadImageread_image

可能的后继

find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose

另见

find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration, disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab, sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab, caltab_pointscaltab_pointsCaltabPointsCaltabPointsCaltabPointscaltab_points, gen_caltabgen_caltabGenCaltabGenCaltabGenCaltabgen_caltab

模块

基础