Operator Reference

HALCON Operator Reference / Calibration / Hand-Eye
ClassesClasses | | Operators

get_calib_data_observ_poseT_get_calib_data_observ_poseGetCalibDataObservPoseGetCalibDataObservPoseget_calib_data_observ_pose (Operator)

get_calib_data_observ_poseT_get_calib_data_observ_poseGetCalibDataObservPoseGetCalibDataObservPoseget_calib_data_observ_pose — Get observed calibration object poses from a calibration data model.

Signature

get_calib_data_observ_pose( : : CalibDataID, CameraIdx, CalibObjIdx, CalibObjPoseIdx : ObjInCameraPose)

Herror T_get_calib_data_observ_pose(const Htuple CalibDataID, const Htuple CameraIdx, const Htuple CalibObjIdx, const Htuple CalibObjPoseIdx, Htuple* ObjInCameraPose)

void GetCalibDataObservPose(const HTuple& CalibDataID, const HTuple& CameraIdx, const HTuple& CalibObjIdx, const HTuple& CalibObjPoseIdx, HTuple* ObjInCameraPose)

HPose HCalibData::GetCalibDataObservPose(Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx) const

static void HOperatorSet.GetCalibDataObservPose(HTuple calibDataID, HTuple cameraIdx, HTuple calibObjIdx, HTuple calibObjPoseIdx, out HTuple objInCameraPose)

HPose HCalibData.GetCalibDataObservPose(int cameraIdx, int calibObjIdx, int calibObjPoseIdx)

def get_calib_data_observ_pose(calib_data_id: HHandle, camera_idx: int, calib_obj_idx: int, calib_obj_pose_idx: int) -> Sequence[Union[float, int]]

Description

The operator get_calib_data_observ_poseget_calib_data_observ_poseGetCalibDataObservPoseGetCalibDataObservPoseget_calib_data_observ_pose reads the poses of the calibration object given in the camera coordinate system from a calibration data model CalibDataIDCalibDataIDCalibDataIDcalibDataIDcalib_data_id. The observation data was previously stored by set_calib_data_observ_poseset_calib_data_observ_poseSetCalibDataObservPoseSetCalibDataObservPoseset_calib_data_observ_pose, find_calib_objectfind_calib_objectFindCalibObjectFindCalibObjectfind_calib_object, or set_calib_data_observ_pointsset_calib_data_observ_pointsSetCalibDataObservPointsSetCalibDataObservPointsset_calib_data_observ_points.

Note that if the model CalibDataIDCalibDataIDCalibDataIDcalibDataIDcalib_data_id uses a general sensor and no calibration object (i.e., the model was created by create_calib_datacreate_calib_dataCreateCalibDataCreateCalibDatacreate_calib_data with NumCamerasNumCamerasNumCamerasnumCamerasnum_cameras=0 and NumCalibObjectsNumCalibObjectsNumCalibObjectsnumCalibObjectsnum_calib_objects=0), then both CameraIdxCameraIdxCameraIdxcameraIdxcamera_idx and CalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdxcalib_obj_idx must be set to 0.

Execution Information

  • Multithreading type: reentrant (runs in parallel with non-exclusive operators).
  • Multithreading scope: global (may be called from any thread).
  • Processed without parallelization.

Parameters

CalibDataIDCalibDataIDCalibDataIDcalibDataIDcalib_data_id (input_control)  calib_data → HCalibData, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of a calibration data model.

CameraIdxCameraIdxCameraIdxcameraIdxcamera_idx (input_control)  number → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Index of the observing camera.

Default: 0

CalibObjIdxCalibObjIdxCalibObjIdxcalibObjIdxcalib_obj_idx (input_control)  number → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Index of the observed calibration object.

Default: 0

CalibObjPoseIdxCalibObjPoseIdxCalibObjPoseIdxcalibObjPoseIdxcalib_obj_pose_idx (input_control)  number → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Index of the observed calibration object pose.

Default: 0

ObjInCameraPoseObjInCameraPoseObjInCameraPoseobjInCameraPoseobj_in_camera_pose (output_control)  pose → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Stored observed calibration object pose relative to the observing camera.

Number of elements: 7

Module

Calibration

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