HALCON 23.05.0.0 / HALCON 算子参考 / 标定 / 标定对象
类类 | | 算子

sim_caltabT_sim_caltabSimCaltabSimCaltabsim_caltab (算子)

名称

sim_caltabT_sim_caltabSimCaltabSimCaltabsim_caltab — 用标定板仿真图像。

签名

sim_caltab( : SimImage : CalPlateDescr, CameraParam, CalPlatePose, GrayBackground, GrayPlate, GrayMarks, ScaleFac : )

Herror T_sim_caltab(Hobject* SimImage, const Htuple CalPlateDescr, const Htuple CameraParam, const Htuple CalPlatePose, const Htuple GrayBackground, const Htuple GrayPlate, const Htuple GrayMarks, const Htuple ScaleFac)

void SimCaltab(HObject* SimImage, const HTuple& CalPlateDescr, const HTuple& CameraParam, const HTuple& CalPlatePose, const HTuple& GrayBackground, const HTuple& GrayPlate, const HTuple& GrayMarks, const HTuple& ScaleFac)

void HImage::SimCaltab(const HString& CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac)

void HImage::SimCaltab(const char* CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac)

void HImage::SimCaltab(const wchar_t* CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac)   ( Windows only)

HImage HCamPar::SimCaltab(const HString& CalPlateDescr, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HCamPar::SimCaltab(const char* CalPlateDescr, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HCamPar::SimCaltab(const wchar_t* CalPlateDescr, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const   ( Windows only)

HImage HPose::SimCaltab(const HString& CalPlateDescr, const HCamPar& CameraParam, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HPose::SimCaltab(const char* CalPlateDescr, const HCamPar& CameraParam, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HPose::SimCaltab(const wchar_t* CalPlateDescr, const HCamPar& CameraParam, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const   ( Windows only)

static void HOperatorSet.SimCaltab(out HObject simImage, HTuple calPlateDescr, HTuple cameraParam, HTuple calPlatePose, HTuple grayBackground, HTuple grayPlate, HTuple grayMarks, HTuple scaleFac)

void HImage.SimCaltab(string calPlateDescr, HCamPar cameraParam, HPose calPlatePose, int grayBackground, int grayPlate, int grayMarks, double scaleFac)

HImage HCamPar.SimCaltab(string calPlateDescr, HPose calPlatePose, int grayBackground, int grayPlate, int grayMarks, double scaleFac)

HImage HPose.SimCaltab(string calPlateDescr, HCamPar cameraParam, int grayBackground, int grayPlate, int grayMarks, double scaleFac)

def sim_caltab(cal_plate_descr: str, camera_param: Sequence[Union[int, float, str]], cal_plate_pose: Sequence[Union[int, float]], gray_background: int, gray_plate: int, gray_marks: int, scale_fac: float) -> HObject

描述

sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab is used to generate a simulated calibration image. The calibration plate description is read from the file CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr and will be projected into the image plane using the given camera parameters, thus internal camera parameters CameraParamCameraParamCameraParamCameraParamcameraParamcamera_param and external camera parameters CalPlatePoseCalPlatePoseCalPlatePoseCalPlatePosecalPlatePosecal_plate_pose (see also project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPointproject_3d_point). Thereby the pose is expected to be in the form , where ccs denotes the camera coordinate system and wcs the world coordinate system (see Transformations / Poses and “Solution Guide III-C - 3D Vision”).

In the simulated image only the calibration plate is shown. The image background is set to the gray value GrayBackgroundGrayBackgroundGrayBackgroundGrayBackgroundgrayBackgroundgray_background, the calibration plate background is set to GrayPlateGrayPlateGrayPlateGrayPlategrayPlategray_plate, and the calibration marks are set to the gray value GrayMarksGrayMarksGrayMarksGrayMarksgrayMarksgray_marks. The parameter ScaleFacScaleFacScaleFacScaleFacscaleFacscale_fac influences the number of supporting points to approximate the elliptic contours of the calibration marks, see also disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab。Increasing the number of supporting points causes a more accurate determination of the mark boundary, but increases the computation time, too. For each pixel of the simulated image which touches a subpixel-boundary of this kind, the gray value is set linearly between GrayMarksGrayMarksGrayMarksGrayMarksgrayMarksgray_marks and GrayPlateGrayPlateGrayPlateGrayPlategrayPlategray_plate dependent on the proportion Inside/Outside.

By applying the operator sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab you can generate synthetic calibration images (with known camera parameters!) to test the quality of the calibration algorithm (see 标定).

执行信息

参数

SimImageSimImageSimImageSimImagesimImagesim_image (输出对象)  image → objectHImageHObjectHImageHobject * (byte)

Simulated calibration image.

CalPlateDescrCalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr (输入控制)  filename.read → HTuplestrHTupleHtuple (string) (string) (HString) (char*)

File name of the calibration plate description.

默认值： 'calplate_320mm.cpd' "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd"

值列表： 'calplate_10mm.cpd'"calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd""calplate_10mm.cpd", 'calplate_1200mm.cpd'"calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd""calplate_1200mm.cpd", 'calplate_160mm.cpd'"calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd""calplate_160mm.cpd", 'calplate_20mm.cpd'"calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd""calplate_20mm.cpd", 'calplate_20mm_dark_on_light.cpd'"calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd""calplate_20mm_dark_on_light.cpd", 'calplate_320mm.cpd'"calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd""calplate_320mm.cpd", 'calplate_40mm.cpd'"calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd""calplate_40mm.cpd", 'calplate_40mm_dark_on_light.cpd'"calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd""calplate_40mm_dark_on_light.cpd", 'calplate_5mm.cpd'"calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd""calplate_5mm.cpd", 'calplate_640mm.cpd'"calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd""calplate_640mm.cpd", 'calplate_80mm.cpd'"calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd""calplate_80mm.cpd", 'calplate_80mm_dark_on_light.cpd'"calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd""calplate_80mm_dark_on_light.cpd", '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: .cpd, .descr

CameraParamCameraParamCameraParamCameraParamcameraParamcamera_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*)

Internal camera parameters.

CalPlatePoseCalPlatePoseCalPlatePoseCalPlatePosecalPlatePosecal_plate_pose (输入控制)  pose → HPose, HTupleSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

External camera parameters (3D pose of the calibration plate in camera coordinates).

元素数量： 7

GrayBackgroundGrayBackgroundGrayBackgroundGrayBackgroundgrayBackgroundgray_background (输入控制)  integer → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Gray value of image background.

默认值： 128

建议值： 0, 32, 64, 96, 128, 160

限制： 0 <= GrayBackground <= 255

GrayPlateGrayPlateGrayPlateGrayPlategrayPlategray_plate (输入控制)  integer → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Gray value of calibration plate.

默认值： 80

建议值： 144, 160, 176, 192, 208, 224, 240

限制： 0 <= GrayPlate <= 255

GrayMarksGrayMarksGrayMarksGrayMarksgrayMarksgray_marks (输入控制)  integer → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Gray value of calibration marks.

默认值： 224

建议值： 16, 32, 48, 64, 80, 96, 112

限制： 0 <= GrayMarks <= 255

ScaleFacScaleFacScaleFacScaleFacscaleFacscale_fac (输入控制)  real → HTuplefloatHTupleHtuple (real) (double) (double) (double)

Scaling factor to reduce oversampling.

默认值： 1.0

建议值： 1.0, 0.5, 0.25, 0.125

建议增量： 0.05

限制： 1.0 >= ScaleFac

示例（HDevelop）

* Read calibration image.
read_image(Image1, 'calib-01')
* Find calibration pattern.
CameraType := 'area_scan_division'
StartCamPar := [CameraType, Focus, Kappa, Sx, Sy, Cx, Cy, \
                ImageWidth, ImageHeight]
create_calib_data ('calibration_object', 1, 1, CalibDataID)
set_calib_data_cam_param (CalibDataID, 0, [], StartCamPar)
set_calib_data_calib_object (CalibDataID, 0, 'calplate.cpd')
find_caltab(Image1, CalPlate1, 'caltab.descr', 3, 112, 5)
* Find calibration marks and initial pose.
find_calib_object (Image1, CalibDataID, 0, 0, 0, [], [])
* Camera calibration.
calibrate_cameras (CalibDataID, Error)
* Simulate calibration image.
get_calib_data (CalibDataID, 'calib_obj_pose', [0, 0], 'pose', FinalPose)
get_calib_data (CalibDataID, 'camera', 0, 'params', CameraParam)
sim_caltab(Image1Sim, 'calplate.cpd', CameraParam, FinalPose, 128, \
           80, 224, 1)

结果

sim_caltabsim_caltabSimCaltabSimCaltabSimCaltabsim_caltab returns 2 ( H_MSG_TRUE) if all parameter values are correct。如有必要，则抛出异常。

可能的前趋

camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose, read_poseread_poseReadPoseReadPoseReadPoseread_pose, read_cam_parread_cam_parReadCamParReadCamParReadCamParread_cam_par, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose

可能的后继

find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab

另见

find_caltabfind_caltabFindCaltabFindCaltabFindCaltabfind_caltab, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration, disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab, create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose, project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPointproject_3d_point, gen_caltabgen_caltabGenCaltabGenCaltabGenCaltabgen_caltab

模块

标定

类类 | | 算子
HALCON 算子参考 23.05.0.0 版权所有 © 1996-2023 MVTec Software GmbH