Operator Reference
set_calib_data (Operator)
set_calib_data — Set data in a calibration data model.
Signature
set_calib_data( : : CalibDataID, ItemType, ItemIdx, DataName, DataValue : )
Description
With the operator set_calib_data, you can set data in the
calibration data model CalibDataID.
Note that an overview on how the calibration data model is filled
with data during the processes of camera calibration and hand-eye
calibration is provided by the description of
get_calib_data.
The calibration data model can contain various kinds of data. How to set specific data in the calibration data model is described for different categories of data:
-
Model-related data (
ItemType'model') -
Camera-related data (
ItemType'camera') -
Data related to calibration object poses (
ItemType'calib_obj_pose') -
Hand-eye calibration related data (
ItemType'tool')
The parameter ItemIdx lets you select whether the new
value should be set for all items of a type or only for an
individual one. The parameters to set are passed in
DataName, their values in DataValue.
To get detailed information about the calibration process of your camera setup see the chapter Calibration.
Model-related data
ItemType='model':-
ItemIdxmust be set to 'general'.Depending on the selection in
DataName, you can set the following model-related parameters to the value passed inDataValue:- 'reference_camera':
Set the reference camera for the calibration model to the passed camera index. All poses stored in the calibration data model are specified in the coordinate system of the reference camera (see
get_calib_data).- 'common_motion_vector':
For stereo setups with telecentric line scan cameras, a string with a Boolean value (i.e., 'true' or 'false') that determines whether the cameras have a common motion vector.
- 'optimization_method':
Set the optimization method to be used in the hand-eye calibration process. If
DataValue='linear' is set, a linear method is used for the hand-eye calibration. IfDataValue='nonlinear' is set, a nonlinear method is used for the hand-eye calibration. IfDataValue='stochastic' is set, a method is used which also takes the uncertainty of measured observations into account (seecalibrate_hand_eyefor more details).
Camera-related data
ItemType='camera':-
ItemIdxdetermines, if data is set for all cameras in general or for a specific camera. WithItemIdx='general', the new settings are applied to all cameras in the model. If you pass a valid camera index instead, i.e., a number between 0 andNumCameras-1 (NumCamerasis specified during model creation withcreate_calib_data), only the specified camera is affected by the changes.By selecting the following parameters in
DataName, you can specify which camera parameters shall be optimized during the calibration performed bycalibrate_cameras:- 'calib_settings':
The camera parameters listed in
DataValueare marked for optimization for the affected camera(s) (additionally to the camera parameters that were already marked for optimization). Note that by default, all parameters are marked for the optimization. That is, 'calib_settings' is mainly suited to add previously excluded parameters again.- 'excluded_settings':
The camera parameters listed in
DataValueare excluded from the optimization for the affected camera(s).
The following camera parameters can be passed in
DataValue. See Calibration for affected camera types and further details about the parameters.Internal camera parameters
- 'focus':
Focal length of the lens.
- 'magnification':
Magnification of the lens.
- 'kappa':
Divisional distortion coefficient kappa.
- 'k1','k2','k3':
Polynomial radial distortion parameters.
- 'poly_tan_2':
An alias parameter for all polynomial tangential distortion parameters, i.e., p1 and p2.
- 'poly':
An alias parameter for all polynomial distortion parameters, i.e., k1, k2, k3, p1, and p2.
- 'image_plane_dist':
The distance of the tilted image plane from the perspective projection center.
- 'tilt':
Tilt and rotation of the tilt lens.
- 'cx','cy':
Coordinates of the camera's principal point.
- 'principal_point':
An alias parameter for 'cx' and 'cy'.
- 'sx','sy':
Sensor element dimensions.
- 'params':
All internal camera parameters.
External camera parameters
- 'alpha','beta','gamma':
Rotation part of the camera pose.
- 'transx','transy','transz':
Translation part of the camera pose.
- 'pose':
All external camera parameters.
Further camera parameters
- 'vx','vy','vz':
Motion vector parameters. Note that for stereo setups with telecentric line scan cameras with a common motion vector (i.e., 'common_motion_vector' = 'true'), the motion vector optimization parameters of the reference camera determine which parameters of the common motion vector are optimized. For this kind of setup, it is recommended not to exclude any motion vector parameters from the optimization.
- 'all':
All camera parameters.
By default, all parameters are marked for calibration. As an exception, the camera pose is excluded from the optimization for calibration setups with only one camera (
NumCameras=1). This setting makes the calibration process equivalent to the one performed bycamera_calibration.
Data related to calibration object poses
ItemType='calib_obj_pose':-
ItemIdxdetermines, if data is set for all calibration object poses in general or for a specific calibration object pose. WithItemIdx='general' the new settings are applied to all calibration object poses in the model. If you pass a valid calibration object pose index instead, i.e., a tuple containing a valid index pair[CalibObjIdx, CalibObjPoseIdx], you specify a calibration object pose, which is affected by the changes.By selecting the following parameters in
DataName, you can specify which calibration object pose parameters shall be optimized during the calibration performed bycalibrate_cameras:- 'calib_settings':
The calibration object pose settings listed in
DataValueare marked for optimization for the affected pose(s). Note that by default, all calibration pose parameters are marked for the optimization. That is, 'calib_settings' is mainly suited to add previously excluded parameters again.- 'excluded_settings':
The calibration object pose settings listed in
DataValueare excluded from the optimization for the affected pose(s).
The following calibration pose parameters can be passed in
DataValue:- 'alpha','beta','gamma':
Rotation part of the calibration object pose.
- 'transx','transy','transz':
Translation part of the calibration object pose.
- 'pose':
All calibration object pose parameters.
- 'all':
All calibration objects optimization parameters, i.e., the same as 'pose'.
By default all parameters are marked for calibration.
The current settings for any model item can be queried with the operator
get_calib_data.
Hand-eye calibration related data
ItemType='tool':-
ItemIdxmust be set to a valid calibration object pose index.By selecting the following parameter in
DataName, you can set the pose of the robot tool:- 'tool_in_base_pose':
Set the pose of the robot tool (in robot base coordinates), which was used to obtain the observation of the pose of the calibration object with the same index
ItemIdx(corresponds to the parameterCalibObjPoseIdxof any of the operatorsfind_calib_object,set_calib_data_observ_pose, orset_calib_data_observ_points).
Execution Information
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
This operator modifies the state of the following input parameter:
During execution of this operator, access to the value of this parameter must be synchronized if it is used across multiple threads.
Parameters
CalibDataID (input_control, state is modified) calib_data → (handle)
Handle of a calibration data model.
ItemType (input_control) string → (string)
Type of calibration data item.
Default: 'model'
List of values: 'calib_obj_pose', 'camera', 'model', 'tool'
ItemIdx (input_control) number(-array) → (integer / string)
Index of the affected item
(depending on the selected ItemType).
Default: 'general'
Suggested values: 0, 1, 2, 'general'
DataName (input_control) attribute.name → (string)
Parameter(s) to set.
Default: 'reference_camera'
List of values: 'calib_settings', 'common_motion_vector', 'excluded_settings', 'optimization_method', 'reference_camera', 'tool_in_base_pose'
DataValue (input_control) attribute.value(-array) → (string / integer)
New value(s).
Default: 0
Suggested values: 0, 1, 2, 'all', 'pose', 'params', 'alpha', 'beta', 'gamma', 'transx', 'transy', 'transz', 'focus', 'magnification', 'kappa', 'poly', 'poly_tan_2', 'k1', 'k2', 'k3', 'image_plane_dist', 'tilt', 'principal_point', 'cx', 'cy', 'sx', 'sy', 'vx', 'vy', 'vz', 'true', 'false', 'linear', 'nonlinear', 'stochastic'
Example (HDevelop)
* Here, the cell size is known exactly, thus it is excluded from
* the optimization.
set_calib_data (CalibDataID, 'camera', 'general', 'excluded_settings', \
['sx','sy'])
Possible Predecessors
set_calib_data_observ_points,
find_calib_object
Possible Successors
calibrate_cameras,
calibrate_hand_eye
Module
Calibration