set_camera_setup_paramT_set_camera_setup_paramSetCameraSetupParamSetCameraSetupParamset_camera_setup_param (算子)

名称

set_camera_setup_paramT_set_camera_setup_paramSetCameraSetupParamSetCameraSetupParamset_camera_setup_param — 设置通用相机设置模型参数。

签名

描述

算子 set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamSetCameraSetupParamset_camera_setup_param can be used to set diverse generic parameters or transformations for the camera setup model CameraSetupModelIDCameraSetupModelIDCameraSetupModelIDCameraSetupModelIDcameraSetupModelIDcamera_setup_model_id. Two types of parameters can be set with this operator:

Coordinate system of the setup and transformation of camera poses:

By setting CameraIdxCameraIdxCameraIdxCameraIdxcameraIdxcamera_idx to 'general'"general""general""general""general""general" and GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name to one of the following values, you can perform the following general pose transformation for all cameras:

'reference_camera'"reference_camera""reference_camera""reference_camera""reference_camera""reference_camera"：

When setting GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value to a valid camera index, all camera poses are recomputed relative to the coordinate system of this camera.

'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose"：

When passing a tuple in HALCON pose format in GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value, the current coordinate system is moved into this pose. The pose in GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value represents the location and orientation of the desired coordinate system relative to the current one. All camera poses are recomputed relative to the new coordinate system.

The recomputed camera poses can be inspected with the operator get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamGetCameraSetupParamGetCameraSetupParamget_camera_setup_param。

Camera parameters:

By setting CameraIdxCameraIdxCameraIdxCameraIdxcameraIdxcamera_idx to a valid setup camera index (a value between 0 and NumCamerasNumCamerasNumCamerasNumCamerasnumCamerasnum_cameras-1) and GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name to one of the following values, camera specific parameters can be set with GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value:

'params'"params""params""params""params""params"：

A tuple with internal camera parameters.

'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations""params_deviations"：

A tuple with the standard deviations of the internal camera parameters except for CameraType, Width, and Height, thus |params_deviations|=|params|-3. The internal camera paramerers are camera-type dependent. See the description of set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParamSetCalibDataCamParamset_calib_data_cam_param for a list of values and calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras for details on camera types and camera parameters.

'params_covariances'"params_covariances""params_covariances""params_covariances""params_covariances""params_covariances"：

A tuple with the covariance matrix of the internal camera parameters. The tuple must represent a square matrix whose both dimensions are identical to the number of standard deviation values, thus |params_covariances|=|params_deviations|²=(|params|-3)² , see 'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations""params_deviations".

'pose'"pose""pose""pose""pose""pose"：

A tuple representing the pose of the camera in HALCON pose format, relative to camera setup's coordinate system. See the above section for further details.

Note that the camera must already be defined in the model, before any of its parameters can be changed by set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamSetCameraSetupParamset_camera_setup_param. If CameraIdxCameraIdxCameraIdxCameraIdxcameraIdxcamera_idx is an index of a undefined camera, the operator returns an error.

All parameters can be read back by get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamGetCameraSetupParamGetCameraSetupParamget_camera_setup_param。

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

可能的前趋

create_camera_setup_modelcreate_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModelCreateCameraSetupModelcreate_camera_setup_model, read_camera_setup_modelread_camera_setup_modelReadCameraSetupModelReadCameraSetupModelReadCameraSetupModelread_camera_setup_model

模块

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