get_calib_data_observ_contoursT_get_calib_data_observ_contoursGetCalibDataObservContoursGetCalibDataObservContoursget_calib_data_observ_contours (算子)

名称

get_calib_data_observ_contoursT_get_calib_data_observ_contoursGetCalibDataObservContoursGetCalibDataObservContoursget_calib_data_observ_contours — 从标定数据模型中获取基于轮廓的观测数据。

签名

描述

算子 get_calib_data_observ_contoursget_calib_data_observ_contoursGetCalibDataObservContoursGetCalibDataObservContoursGetCalibDataObservContoursget_calib_data_observ_contours reads contour-based observation data from a calibration data model CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataIDcalib_data_id and returns it in ContoursContoursContoursContourscontourscontours. These contours result from a preceding call of find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object。The parameters CameraIdxCameraIdxCameraIdxCameraIdxcameraIdxcamera_idx, CalibObjIdxCalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdxcalib_obj_idx, and CalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxcalibObjPoseIdxcalib_obj_pose_idx are indices of the observing camera, calibration plate, and calibration object pose. Together, they specify an observation from the calibration model. Note that if an observation exists, but it was stored in the calibration model CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataIDcalib_data_id by set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPointsset_calib_data_observ_points, no contour-based results can be returned.

By setting ContourNameContourNameContourNameContourNamecontourNamecontour_name to one of the following values, you can select the specific type of the contour results:

'marks'"marks""marks""marks""marks""marks"：

The contours of the calibration plate marks

'marks_with_hole'"marks_with_hole""marks_with_hole""marks_with_hole""marks_with_hole""marks_with_hole"：

The contours of the calibration plate marks which contain a hole.

'caltab'"caltab""caltab""caltab""caltab""caltab"：

The contour of the calibration plate finder pattern.

'last_caltab'"last_caltab""last_caltab""last_caltab""last_caltab""last_caltab"：

The contour of the calibration plate finder pattern, which has been extracted by the last successful preceding call to find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object。Note that the observation of the successful call to find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectFindCalibObjectfind_calib_object is used and consequently the values in CameraIdxCameraIdxCameraIdxCameraIdxcameraIdxcamera_idx, CalibObjIdxCalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdxcalib_obj_idx, and CalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxcalibObjPoseIdxcalib_obj_pose_idx are ignored.

The mentioned finder pattern depends on the calibration plate:

• Calibration plates with hexagonally arranged marks: Special mark hexagon (i.e., a mark and its six neighbors) where either four or six marks contain a hole, see create_caltabcreate_caltabCreateCaltabCreateCaltabCreateCaltabcreate_caltab。

• Calibration plates with rectangularly arranged marks: The border of the calibration plate with a triangle in one corner.

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

模块

标定