Operator Reference

HALCON Operator Reference / Calibration / Calibration Object
ClassesClasses | | Operators

disp_caltabT_disp_caltabDispCaltabDispCaltabdisp_caltab (Operator)

disp_caltabT_disp_caltabDispCaltabDispCaltabdisp_caltab — Project and visualize the 3D model of the calibration plate in the image.

Signature

Herror T_disp_caltab(const Htuple WindowHandle, const Htuple CalPlateDescr, const Htuple CameraParam, const Htuple CalPlatePose, const Htuple ScaleFac)

void DispCaltab(const HTuple& WindowHandle, const HTuple& CalPlateDescr, const HTuple& CameraParam, const HTuple& CalPlatePose, const HTuple& ScaleFac)

void HWindow::DispCaltab(const HString& CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, double ScaleFac) const

void HWindow::DispCaltab(const char* CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, double ScaleFac) const

void HWindow::DispCaltab(const wchar_t* CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, double ScaleFac) const   ( Windows only)

void HCamPar::DispCaltab(const HWindow& WindowHandle, const HString& CalPlateDescr, const HPose& CalPlatePose, double ScaleFac) const

void HCamPar::DispCaltab(const HWindow& WindowHandle, const char* CalPlateDescr, const HPose& CalPlatePose, double ScaleFac) const

void HCamPar::DispCaltab(const HWindow& WindowHandle, const wchar_t* CalPlateDescr, const HPose& CalPlatePose, double ScaleFac) const   ( Windows only)

def disp_caltab(window_handle: HHandle, cal_plate_descr: str, camera_param: Sequence[Union[int, float, str]], cal_plate_pose: Sequence[Union[int, float]], scale_fac: float) -> None

Description

disp_caltabdisp_caltabDispCaltabDispCaltabdisp_caltab is used to visualize the calibration marks and the connecting lines between the marks of the used calibration plate (CalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr) in the window specified by WindowHandleWindowHandleWindowHandlewindowHandlewindow_handle. Additionally, the x- and y-axes of the plate's coordinate system are printed on the plate's surface. For this, the 3D model of the calibration plate is projected into the image plane using the internal (CameraParamCameraParamCameraParamcameraParamcamera_param) and external camera parameters (CalPlatePoseCalPlatePoseCalPlatePosecalPlatePosecal_plate_pose). Thereby the pose is 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”), thus the pose of the calibration plate in camera coordinates. The underlying camera model is described in Calibration.

Typically, disp_caltabdisp_caltabDispCaltabDispCaltabdisp_caltab is used to verify the result of the camera calibration (see Calibration or camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationcamera_calibration) by superimposing it onto the original image. The current line width can be set by set_line_widthset_line_widthSetLineWidthSetLineWidthset_line_width, the current color can be set by set_colorset_colorSetColorSetColorset_color. Additionally, the font type of the labels of the coordinate axes can be set by set_fontset_fontSetFontSetFontset_font.

The parameter ScaleFacScaleFacScaleFacscaleFacscale_fac influences the number of supporting points to approximate the elliptic contours of the calibration marks. You should increase the number of supporting points, if the image part in the output window is displayed with magnification (see set_partset_partSetPartSetPartset_part).

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

WindowHandleWindowHandleWindowHandlewindowHandlewindow_handle (input_control)  window → HWindow, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Window in which the calibration plate should be visualized.

CalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr (input_control)  filename.read → HTuplestrHTupleHtuple (string) (string) (HString) (char*)

File name of the calibration plate description.

Default: 'calplate_320.cpd' "calplate_320.cpd" "calplate_320.cpd" "calplate_320.cpd" "calplate_320.cpd"

List of values: '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_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_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_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_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_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", '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_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_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_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_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"

File extension: .cpd, .descr

CameraParamCameraParamCameraParamcameraParamcamera_param (input_control)  campar → HCamPar, HTupleSequence[Union[int, float, str]]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)

Internal camera parameters.

CalPlatePoseCalPlatePoseCalPlatePosecalPlatePosecal_plate_pose (input_control)  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).

Number of elements: 7

ScaleFacScaleFacScaleFacscaleFacscale_fac (input_control)  real → HTuplefloatHTupleHtuple (real) (double) (double) (double)

Scaling factor for the visualization.

Default: 1.0

Suggested values: 0.5, 1.0, 2.0, 3.0

Recommended increment: 0.05

Restriction: 0.0 < ScaleFac

Example (HDevelop)

* Read image of calibration plate.
read_image (Image, 'calib/calib_single_camera_01')
get_image_size (Image, Width, Height)
* Create and setup the calibration model.
create_calib_data ('calibration_object', 1, 1, CalibDataID)
CalPlateDescr := 'calplate_80mm.cpd'
set_calib_data_calib_object (CalibDataID, 0, CalPlateDescr)
CamParam := ['area_scan_division', 0.008, -1500, 3.7e-6, 3.7e-6, \
             640, 470, 1292, 964]
set_calib_data_cam_param (CalibDataID, 0, [], CamParam)
* Localize calibration plate in the image.
find_calib_object (Image, CalibDataID, 0, 0, 0, [], [])
get_calib_data_observ_pose (CalibDataID, 0, 0, 0, StartPose)
* Display calibration plate.
disp_caltab (WindowHandle, CalPlateDescr, CamParam, StartPose, 1)

Result

disp_caltabdisp_caltabDispCaltabDispCaltabdisp_caltab returns 2 ( H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised.

Possible Predecessors

camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationcamera_calibration, read_cam_parread_cam_parReadCamParReadCamParread_cam_par, read_poseread_poseReadPoseReadPoseread_pose

See also

find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationcamera_calibration, sim_caltabsim_caltabSimCaltabSimCaltabsim_caltab, write_cam_parwrite_cam_parWriteCamParWriteCamParwrite_cam_par, read_cam_parread_cam_parReadCamParReadCamParread_cam_par, create_posecreate_poseCreatePoseCreatePosecreate_pose, write_posewrite_poseWritePoseWritePosewrite_pose, read_poseread_poseReadPoseReadPoseread_pose, project_3d_pointproject_3d_pointProject3dPointProject3dPointproject_3d_point, get_line_of_sightget_line_of_sightGetLineOfSightGetLineOfSightget_line_of_sight

Module

Foundation

ClassesClasses | | Operators