find_marks_and_poseT_find_marks_and_poseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose (算子)
名称
find_marks_and_poseT_find_marks_and_poseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose — 从图像中提取矩形排列的二维标定标记，并计算外部相机参数的初始值。
签名
find_marks_and_pose(Image, CalPlateRegion : : CalPlateDescr, StartCamParam, StartThresh, DeltaThresh, MinThresh, Alpha, MinContLength, MaxDiamMarks : RCoord, CCoord, StartPose)
Herror T_find_marks_and_pose(const Hobject Image, const Hobject CalPlateRegion, const Htuple CalPlateDescr, const Htuple StartCamParam, const Htuple StartThresh, const Htuple DeltaThresh, const Htuple MinThresh, const Htuple Alpha, const Htuple MinContLength, const Htuple MaxDiamMarks, Htuple* RCoord, Htuple* CCoord, Htuple* StartPose)
void FindMarksAndPose(const HObject& Image, const HObject& CalPlateRegion, const HTuple& CalPlateDescr, const HTuple& StartCamParam, const HTuple& StartThresh, const HTuple& DeltaThresh, const HTuple& MinThresh, const HTuple& Alpha, const HTuple& MinContLength, const HTuple& MaxDiamMarks, HTuple* RCoord, HTuple* CCoord, HTuple* StartPose)
HTuple HImage::FindMarksAndPose(const HRegion& CalPlateRegion, const HString& CalPlateDescr, const HCamPar& StartCamParam, Hlong StartThresh, Hlong DeltaThresh, Hlong MinThresh, double Alpha, double MinContLength, double MaxDiamMarks, HTuple* CCoord, HPose* StartPose) const
HTuple HImage::FindMarksAndPose(const HRegion& CalPlateRegion, const char* CalPlateDescr, const HCamPar& StartCamParam, Hlong StartThresh, Hlong DeltaThresh, Hlong MinThresh, double Alpha, double MinContLength, double MaxDiamMarks, HTuple* CCoord, HPose* StartPose) const
HTuple HImage::FindMarksAndPose(const HRegion& CalPlateRegion, const wchar_t* CalPlateDescr, const HCamPar& StartCamParam, Hlong StartThresh, Hlong DeltaThresh, Hlong MinThresh, double Alpha, double MinContLength, double MaxDiamMarks, HTuple* CCoord, HPose* StartPose) const
(
Windows only)
HTuple HCamPar::FindMarksAndPose(const HImage& Image, const HRegion& CalPlateRegion, const HString& CalPlateDescr, Hlong StartThresh, Hlong DeltaThresh, Hlong MinThresh, double Alpha, double MinContLength, double MaxDiamMarks, HTuple* CCoord, HPose* StartPose) const
HTuple HCamPar::FindMarksAndPose(const HImage& Image, const HRegion& CalPlateRegion, const char* CalPlateDescr, Hlong StartThresh, Hlong DeltaThresh, Hlong MinThresh, double Alpha, double MinContLength, double MaxDiamMarks, HTuple* CCoord, HPose* StartPose) const
HTuple HCamPar::FindMarksAndPose(const HImage& Image, const HRegion& CalPlateRegion, const wchar_t* CalPlateDescr, Hlong StartThresh, Hlong DeltaThresh, Hlong MinThresh, double Alpha, double MinContLength, double MaxDiamMarks, HTuple* CCoord, HPose* StartPose) const
(
Windows only)
HTuple HPose::FindMarksAndPose(const HImage& Image, const HRegion& CalPlateRegion, const HString& CalPlateDescr, const HCamPar& StartCamParam, Hlong StartThresh, Hlong DeltaThresh, Hlong MinThresh, double Alpha, double MinContLength, double MaxDiamMarks, HTuple* CCoord)
HTuple HPose::FindMarksAndPose(const HImage& Image, const HRegion& CalPlateRegion, const char* CalPlateDescr, const HCamPar& StartCamParam, Hlong StartThresh, Hlong DeltaThresh, Hlong MinThresh, double Alpha, double MinContLength, double MaxDiamMarks, HTuple* CCoord)
HTuple HPose::FindMarksAndPose(const HImage& Image, const HRegion& CalPlateRegion, const wchar_t* CalPlateDescr, const HCamPar& StartCamParam, Hlong StartThresh, Hlong DeltaThresh, Hlong MinThresh, double Alpha, double MinContLength, double MaxDiamMarks, HTuple* CCoord)
(
Windows only)
static void HOperatorSet.FindMarksAndPose(HObject image, HObject calPlateRegion, HTuple calPlateDescr, HTuple startCamParam, HTuple startThresh, HTuple deltaThresh, HTuple minThresh, HTuple alpha, HTuple minContLength, HTuple maxDiamMarks, out HTuple RCoord, out HTuple CCoord, out HTuple startPose)
HTuple HImage.FindMarksAndPose(HRegion calPlateRegion, string calPlateDescr, HCamPar startCamParam, int startThresh, int deltaThresh, int minThresh, double alpha, double minContLength, double maxDiamMarks, out HTuple CCoord, out HPose startPose)
HTuple HCamPar.FindMarksAndPose(HImage image, HRegion calPlateRegion, string calPlateDescr, int startThresh, int deltaThresh, int minThresh, double alpha, double minContLength, double maxDiamMarks, out HTuple CCoord, out HPose startPose)
HTuple HPose.FindMarksAndPose(HImage image, HRegion calPlateRegion, string calPlateDescr, HCamPar startCamParam, int startThresh, int deltaThresh, int minThresh, double alpha, double minContLength, double maxDiamMarks, out HTuple CCoord)
def find_marks_and_pose(image: HObject, cal_plate_region: HObject, cal_plate_descr: str, start_cam_param: Sequence[Union[int, float, str]], start_thresh: int, delta_thresh: int, min_thresh: int, alpha: float, min_cont_length: float, max_diam_marks: float) -> Tuple[Sequence[float], Sequence[float], Sequence[Union[float, int]]]
描述
find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose is used to determine the
input data for a subsequent camera calibration using a calibration plate
with rectangularly arranged marks (see
标定 or camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration):
First, the 2D center points
[RCoordRCoordRCoordRCoordRCoordrcoord,CCoordCCoordCCoordCCoordCCoordccoord] of the calibration marks within
the region CalPlateRegionCalPlateRegionCalPlateRegionCalPlateRegioncalPlateRegioncal_plate_region of the input image ImageImageImageImageimageimage
are extracted and ordered. Secondly, a rough estimate for
the external camera parameters (StartPoseStartPoseStartPoseStartPosestartPosestart_pose) is computed,
i.e., the 3D pose (= position and orientation) of the calibration plate
relative to the camera coordinate system (see create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose for more
information about 3D poses).
In the input image ImageImageImageImageimageimage an edge detector is applied
(see edges_imageedges_imageEdgesImageEdgesImageEdgesImageedges_image, mode 'lanser2') to the region
CalPlateRegionCalPlateRegionCalPlateRegionCalPlateRegioncalPlateRegioncal_plate_region,
which can be found by applying the operator find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab。The filter parameter for this edge detection can be tuned via
AlphaAlphaAlphaAlphaalphaalpha. Use a smaller value for AlphaAlphaAlphaAlphaalphaalpha to achieve
a stronger smoothing effect.
In the edge image closed contours are searched for: The number of
closed contours must correspond to the number of calibration marks
as described in the calibration plate description file
CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr and the contours have to be elliptically shaped.
Contours shorter than MinContLengthMinContLengthMinContLengthMinContLengthminContLengthmin_cont_length are discarded,
just as contours enclosing regions with a diameter larger than
MaxDiamMarksMaxDiamMarksMaxDiamMarksMaxDiamMarksmaxDiamMarksmax_diam_marks (e.g., the border of the calibration plate).
For the detection of contours a threshold operator is applied
on the resulting amplitudes of the edge detector.
All points with a high amplitude (i.e., borders of marks)
are selected.
First, the threshold value is set to
StartThreshStartThreshStartThreshStartThreshstartThreshstart_thresh. If the search for the closed contours or the
successive pose estimate fails, this threshold value is successively
decreased by DeltaThreshDeltaThreshDeltaThreshDeltaThreshdeltaThreshdelta_thresh down to a minimum value of
MinThreshMinThreshMinThreshMinThreshminThreshmin_thresh。
Each of the found contours is refined with subpixel accuracy (see
edges_sub_pixedges_sub_pixEdgesSubPixEdgesSubPixEdgesSubPixedges_sub_pix) and
subsequently approximated by an ellipse. The center points of these
ellipses represent a good approximation of the desired 2D image coordinates
[RCoordRCoordRCoordRCoordRCoordrcoord,CCoordCCoordCCoordCCoordCCoordccoord] of the calibration mark center points.
The order of the values within these two tuples must correspond to
the order of the 3D coordinates of the calibration marks in the calibration
plate description file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr, since this fixes the
correspondences between extracted image marks and known model marks
(given by caltab_pointscaltab_pointsCaltabPointsCaltabPointsCaltabPointscaltab_points)! If a
triangular orientation mark is defined in a corner of the plate by the
plate description file (see gen_caltabgen_caltabGenCaltabGenCaltabGenCaltabgen_caltab), the mark will be detected
and the point order is returned in row-major order beginning with the
corner mark in the (barycentric) negative quadrant with respect to the
defined coordinate system of the plate. Else, if no orientation mark is
defined, the order of the center points is in row-major order beginning at
the upper left corner mark in the image.
Based on the ellipse parameters for each calibration mark, a rough
estimate for the external camera parameters is finally computed.
For this purpose the fixed correspondences between extracted image marks
and known model marks are used. The estimate StartPoseStartPoseStartPoseStartPosestartPosestart_pose
describes the pose of the calibration plate in the camera coordinate
system as required by the operator camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration。
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。
参数
ImageImageImageImageimageimage (输入对象) singlechannelimage → objectHImageHObjectHImageHobject (byte / uint2)
输入图像。
CalPlateRegionCalPlateRegionCalPlateRegionCalPlateRegioncalPlateRegioncal_plate_region (输入对象) region → objectHRegionHObjectHRegionHobject
Region of the calibration plate.
CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr (输入控制) filename.read → HTuplestrHTupleHtuple (string) (string) (HString) (char*)
File name of the calibration plate description.
默认值：
'caltab_100.descr'
"caltab_100.descr"
"caltab_100.descr"
"caltab_100.descr"
"caltab_100.descr"
"caltab_100.descr"
值列表：
'caltab_100mm.descr'"caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr""caltab_100mm.descr", 'caltab_10mm.descr'"caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr""caltab_10mm.descr", 'caltab_200mm.descr'"caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr""caltab_200mm.descr", 'caltab_2500um.descr'"caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr""caltab_2500um.descr", 'caltab_30mm.descr'"caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr""caltab_30mm.descr", 'caltab_650um.descr'"caltab_650um.descr""caltab_650um.descr""caltab_650um.descr""caltab_650um.descr""caltab_650um.descr", 'caltab_6mm.descr'"caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr""caltab_6mm.descr", 'caltab_800mm.descr'"caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr""caltab_800mm.descr", 'caltab_big.descr'"caltab_big.descr""caltab_big.descr""caltab_big.descr""caltab_big.descr""caltab_big.descr", 'caltab_small.descr'"caltab_small.descr""caltab_small.descr""caltab_small.descr""caltab_small.descr""caltab_small.descr"
File extension:
.descr
StartCamParamStartCamParamStartCamParamStartCamParamstartCamParamstart_cam_param (输入控制) campar → HCamPar, HTupleSequence[Union[int, float, str]]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Initial values for the internal camera parameters.
StartThreshStartThreshStartThreshStartThreshstartThreshstart_thresh (输入控制) number → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)
Initial threshold value for contour detection.
默认值：
128
建议值：
80, 96, 112, 128, 144, 160
限制：
StartThresh > 0
MinThreshMinThreshMinThreshMinThreshminThreshmin_thresh (输入控制) number → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)
Minimum threshold for contour detection.
默认值：
18
建议值：
8, 10, 12, 14, 16, 18, 20, 22
限制：
MinThresh > 0
AlphaAlphaAlphaAlphaalphaalpha (输入控制) real → HTuplefloatHTupleHtuple (real) (double) (double) (double)
Filter parameter for contour detection, see
edges_imageedges_imageEdgesImageEdgesImageEdgesImageedges_image。
默认值：
0.9
建议值：
0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1
值范围：
0.2
≤
Alpha
Alpha
Alpha
Alpha
alpha
alpha
≤
2.0
限制：
Alpha > 0.0
MinContLengthMinContLengthMinContLengthMinContLengthminContLengthmin_cont_length (输入控制) real → HTuplefloatHTupleHtuple (real) (double) (double) (double)
Minimum length of the contours of the marks.
默认值：
15.0
建议值：
10.0, 15.0, 20.0, 30.0, 40.0, 100.0
限制：
MinContLength > 0.0
MaxDiamMarksMaxDiamMarksMaxDiamMarksMaxDiamMarksmaxDiamMarksmax_diam_marks (输入控制) real → HTuplefloatHTupleHtuple (real) (double) (double) (double)
Maximum expected diameter of the marks.
默认值：
100.0
建议值：
50.0, 100.0, 150.0, 200.0, 300.0
限制：
MaxDiamMarks > 0.0
RCoordRCoordRCoordRCoordRCoordrcoord (输出控制) real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Tuple with row coordinates of the detected marks.
CCoordCCoordCCoordCCoordCCoordccoord (输出控制) real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Tuple with column coordinates of the detected marks.
StartPoseStartPoseStartPoseStartPosestartPosestart_pose (输出控制) pose → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Estimation for the external camera parameters.
元素数量：
7
示例（HDevelop）
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
['area_scan_division', 0.008, 0.0, \
0.000011, 0.000011, 384, 288, 640, 512], \
128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
示例（HDevelop）
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
['area_scan_division', 0.008, 0.0, \
0.000011, 0.000011, 384, 288, 640, 512], \
128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
示例（HDevelop）
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
['area_scan_division', 0.008, 0.0, \
0.000011, 0.000011, 384, 288, 640, 512], \
128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
示例（HDevelop）
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
['area_scan_division', 0.008, 0.0, \
0.000011, 0.000011, 384, 288, 640, 512], \
128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
示例（HDevelop）
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
['area_scan_division', 0.008, 0.0, \
0.000011, 0.000011, 384, 288, 640, 512], \
128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
结果
find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose returns 2 (
H_MSG_TRUE)
if all parameter values are
correct and an estimation for the external camera parameters has been
determined successfully。如有必要，则抛出异常。
可能的前趋
find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab
可能的后继
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration
另见
find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab,
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration,
disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab,
sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab,
read_cam_parread_cam_parReadCamParReadCamParReadCamParread_cam_par,
read_poseread_poseReadPoseReadPoseReadPoseread_pose,
create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose,
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d,
caltab_pointscaltab_pointsCaltabPointsCaltabPointsCaltabPointscaltab_points,
gen_caltabgen_caltabGenCaltabGenCaltabGenCaltabgen_caltab,
edges_sub_pixedges_sub_pixEdgesSubPixEdgesSubPixEdgesSubPixedges_sub_pix,
edges_imageedges_imageEdgesImageEdgesImageEdgesImageedges_image
模块
基础