Operator Reference

HALCON Operator Reference / Calibration / Multi-View
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get_camera_setup_paramT_get_camera_setup_paramGetCameraSetupParamGetCameraSetupParamget_camera_setup_param (Operator)

get_camera_setup_paramT_get_camera_setup_paramGetCameraSetupParamGetCameraSetupParamget_camera_setup_param — Get generic camera setup model parameters.

Signature

get_camera_setup_param( : : CameraSetupModelID, CameraIdx, GenParamName : GenParamValue)

Herror T_get_camera_setup_param(const Htuple CameraSetupModelID, const Htuple CameraIdx, const Htuple GenParamName, Htuple* GenParamValue)

void GetCameraSetupParam(const HTuple& CameraSetupModelID, const HTuple& CameraIdx, const HTuple& GenParamName, HTuple* GenParamValue)

HTuple HCameraSetupModel::GetCameraSetupParam(const HTuple& CameraIdx, const HString& GenParamName) const

HTuple HCameraSetupModel::GetCameraSetupParam(Hlong CameraIdx, const HString& GenParamName) const

HTuple HCameraSetupModel::GetCameraSetupParam(Hlong CameraIdx, const char* GenParamName) const

HTuple HCameraSetupModel::GetCameraSetupParam(Hlong CameraIdx, const wchar_t* GenParamName) const   ( Windows only)

static void HOperatorSet.GetCameraSetupParam(HTuple cameraSetupModelID, HTuple cameraIdx, HTuple genParamName, out HTuple genParamValue)

HTuple HCameraSetupModel.GetCameraSetupParam(HTuple cameraIdx, string genParamName)

HTuple HCameraSetupModel.GetCameraSetupParam(int cameraIdx, string genParamName)

def get_camera_setup_param(camera_setup_model_id: HHandle, camera_idx: MaybeSequence[Union[int, str]], gen_param_name: str) -> Sequence[Union[float, int, str]]

def get_camera_setup_param_s(camera_setup_model_id: HHandle, camera_idx: MaybeSequence[Union[int, str]], gen_param_name: str) -> Union[float, int, str]

Description

The operator get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamGetCameraSetupParamget_camera_setup_param can be used to inspect diverse generic parameters of the camera setup model CameraSetupModelIDCameraSetupModelIDCameraSetupModelIDcameraSetupModelIDcamera_setup_model_id. Two types of parameters can be queried with this operator:

General parameters:

By setting CameraIdxCameraIdxCameraIdxcameraIdxcamera_idx to 'general'"general""general""general""general" and GenParamNameGenParamNameGenParamNamegenParamNamegen_param_name to one of the following values, general camera setup parameters are returned in GenParamValueGenParamValueGenParamValuegenParamValuegen_param_value:

'num_cameras'"num_cameras""num_cameras""num_cameras""num_cameras":

Number of cameras described in the model. The number of cameras is fixed with the creation of the camera setup model and cannot be changed after that (see create_camera_setup_modelcreate_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModelcreate_camera_setup_model).

'camera_calib_error'"camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error":

The root mean square error (RMSE) of the back projection of the optimization of the camera system. This error is identical with the error returned by calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerascalibrate_cameras.

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

Returns the index of the camera that has been defined as reference camera within the system. If no reference camera has been specified using set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamset_camera_setup_param, the index 0 is returned. If the coordinate system has been moved by setting a pose with the parameter 'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose" in set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamset_camera_setup_param, the origin of the coordinate system is not located in any of the available cameras. Therefore, the index -1 is returned.

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

Returns the pose in which the coordinate system of the setup has been moved. Please note that after setting a reference camera with set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamset_camera_setup_param, the pose of this camera is returned. Adjusting this coordinate system subsequently using the parameter 'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose" in set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamset_camera_setup_param yields a pose that corresponds to the location and orientation of the desired coordinate system relative to the current one.

Camera parameters:

By setting CameraIdxCameraIdxCameraIdxcameraIdxcamera_idx to a valid setup camera index (a value between 0 and NumCamerasNumCamerasNumCamerasnumCamerasnum_cameras-1) and GenParamNameGenParamNameGenParamNamegenParamNamegen_param_name to one of the following values, camera-specific parameters are returned in GenParamValueGenParamValueGenParamValuegenParamValuegen_param_value:

'type'"type""type""type""type":

Camera type (see set_camera_setup_cam_paramset_camera_setup_cam_paramSetCameraSetupCamParamSetCameraSetupCamParamset_camera_setup_cam_param).

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

A tuple with internal camera parameters. The length of the tuple depends on the camera type.

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

A tuple representing the standard deviations of the internal camera parameters. The length of the tuple depends on the camera type.

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

A tuple representing the covariance matrix if the internal camera parameters. The length of the tuple depends on the camera type.

'pose'"pose""pose""pose""pose":

Camera pose relative to the setup's coordinate system (see create_camera_setup_modelcreate_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModelcreate_camera_setup_model for more details).

Note that the camera needs to be set first by set_camera_setup_cam_paramset_camera_setup_cam_paramSetCameraSetupCamParamSetCameraSetupCamParamset_camera_setup_cam_param, before any of its parameters can be inspected by get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamGetCameraSetupParamget_camera_setup_param. If CameraIdxCameraIdxCameraIdxcameraIdxcamera_idx is an index of an undefined camera, the operator returns an error.

For more information about the calibration process of your camera setup see the chapter Calibration.

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

CameraSetupModelIDCameraSetupModelIDCameraSetupModelIDcameraSetupModelIDcamera_setup_model_id (input_control)  camera_setup_model → HCameraSetupModel, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle to the camera setup model.

CameraIdxCameraIdxCameraIdxcameraIdxcamera_idx (input_control)  integer(-array) → HTupleMaybeSequence[Union[int, str]]HTupleHtuple (integer / string) (int / long / string) (Hlong / HString) (Hlong / char*)

Index of the camera in the setup.

Default: 0

Suggested values: 0, 1, 2, 'general'"general""general""general""general"

GenParamNameGenParamNameGenParamNamegenParamNamegen_param_name (input_control)  attribute.name → HTuplestrHTupleHtuple (string) (string) (HString) (char*)

Names of the generic parameters to be queried.

List of values: 'camera_calib_error'"camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error", 'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose", 'num_cameras'"num_cameras""num_cameras""num_cameras""num_cameras", 'params'"params""params""params""params", 'params_covariances'"params_covariances""params_covariances""params_covariances""params_covariances", 'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations", 'pose'"pose""pose""pose""pose", 'reference_camera'"reference_camera""reference_camera""reference_camera""reference_camera", 'type'"type""type""type""type"

GenParamValueGenParamValueGenParamValuegenParamValuegen_param_value (output_control)  attribute.value(-array) → HTupleSequence[Union[float, int, str]]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)

Values of the generic parameters to be queried.

Module

Calibration

ClassesClasses | | Operators