query_calib_data_observ_indicesT_query_calib_data_observ_indicesQueryCalibDataObservIndicesQueryCalibDataObservIndicesquery_calib_data_observ_indices (算子)

名称

query_calib_data_observ_indicesT_query_calib_data_observ_indicesQueryCalibDataObservIndicesQueryCalibDataObservIndicesquery_calib_data_observ_indices — 查询有关相机、标定对象和标定对象姿态之间关系的信息。

签名

描述

A calibration data model (CalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataIDcalib_data_id) contains a collection of observations, which are added to the model by set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsSetCalibDataObservPointsset_calib_data_observ_points。Each observation is associated to an observing camera, an observed calibration object, and a calibration object pose. With the operator query_calib_data_observ_indicesquery_calib_data_observ_indicesQueryCalibDataObservIndicesQueryCalibDataObservIndicesQueryCalibDataObservIndicesquery_calib_data_observ_indices, you can query observation indices associated to a camera or an calibration object, depending on the parameter ItemTypeItemTypeItemTypeItemTypeitemTypeitem_type。

For ItemTypeItemTypeItemTypeItemTypeitemTypeitem_type='camera'"camera""camera""camera""camera""camera", you must pass a valid camera index in ItemIdxItemIdxItemIdxItemIdxitemIdxitem_idx. Then, Index1Index1Index1Index1index1index_1 returns a list of calibration object indices and Index2Index2Index2Index2index2index_2 returns a list of pose indices. Each pair [Index1[I],Index2[I]] represents calibration object pose that are 'observed' by camera ItemIdxItemIdxItemIdxItemIdxitemIdxitem_idx。

For ItemTypeItemTypeItemTypeItemTypeitemTypeitem_type='calib_obj'"calib_obj""calib_obj""calib_obj""calib_obj""calib_obj", you must specify a valid calibration object index in ItemIdxItemIdxItemIdxItemIdxitemIdxitem_idx. Then, Index1Index1Index1Index1index1index_1 returns a list of camera indices and Index2Index2Index2Index2index2index_2 returns a list of corresponding calibration object pose indices. Each pair [Index1[I],Index2[I]] denotes that camera Index1[I] is observing the Index2[I]th pose of calibration object ItemIdxItemIdxItemIdxItemIdxitemIdxitem_idx。

This operator is particularly suitable for accessing observation data of a calibration data model whose configuration is unknown at the moment of its usage (e.g., if it was just read from a file). As a special case, this operator can be used to get the precise list of poses of one calibration object (see the example).

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

示例（HDevelop）

* Read a calibration model from a file.
read_calib_data ('calib_data.ccd',CalibDataID)

* Get calibration object indices assigned to calibration object 0.
query_calib_data_observ_indices (CalibDataID, 'calib_obj', 0, _, \
                                 CalibObjPoseIndices)
* CalibObjPoseIndices contains the list of pose indices of calibration
* object 0. In order to be stored in the model, each calibration object
* needs to be observed by at least one camera in the setup (a calibration
* object pose that is not observed by any camera cannot be stored in
* the model). Typically, a calibration object pose can be observed by more
* than one camera. Hence, some calibration object pose indices might appear
* repeatedly in CalibObjPoseIndices. We use tuple_sort and tuple_uniq to
* extract a unique list of calibration object pose indices for calibration
* object 0.
tuple_sort (CalibObjPoseIndices, CalibObjPoseIndices)
tuple_uniq (CalibObjPoseIndices, CalibObjPoseIndices)

* Get poses of calibration objects observed by camera 2.
calibrate_cameras (CalibDataID, Error)
query_calib_data_observ_indices (CalibDataID, 'camera', 2, CalibObjIndices,\
                                 CalibObjPoseIndices)
for I := 0 to |CalibObjIndices|-1 by 1
  get_calib_data (CalibDataID, 'calib_obj_pose', \
                  [CalibObjIndices[I], CalibObjPoseIndices[I]], \
                  'pose', CalibObjPose)
endfor

模块

标定