Operator Reference

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

set_camera_setup_paramT_set_camera_setup_paramSetCameraSetupParamSetCameraSetupParamset_camera_setup_param — Set generic camera setup model parameters.

Signature

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

Herror T_set_camera_setup_param(const Htuple CameraSetupModelID, const Htuple CameraIdx, const Htuple GenParamName, const Htuple GenParamValue)

void SetCameraSetupParam(const HTuple& CameraSetupModelID, const HTuple& CameraIdx, const HTuple& GenParamName, const HTuple& GenParamValue)

void HCameraSetupModel::SetCameraSetupParam(const HTuple& CameraIdx, const HString& GenParamName, const HTuple& GenParamValue) const

void HCameraSetupModel::SetCameraSetupParam(Hlong CameraIdx, const HString& GenParamName, double GenParamValue) const

void HCameraSetupModel::SetCameraSetupParam(Hlong CameraIdx, const char* GenParamName, double GenParamValue) const

void HCameraSetupModel::SetCameraSetupParam(Hlong CameraIdx, const wchar_t* GenParamName, double GenParamValue) const   ( Windows only)

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

void HCameraSetupModel.SetCameraSetupParam(HTuple cameraIdx, string genParamName, HTuple genParamValue)

void HCameraSetupModel.SetCameraSetupParam(int cameraIdx, string genParamName, double genParamValue)

def set_camera_setup_param(camera_setup_model_id: HHandle, camera_idx: MaybeSequence[Union[int, str]], gen_param_name: str, gen_param_value: MaybeSequence[Union[float, int, str]]) -> None

Description

The operator set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamset_camera_setup_param can be used to set diverse generic parameters or transformations for the camera setup model CameraSetupModelIDCameraSetupModelIDCameraSetupModelIDcameraSetupModelIDcamera_setup_model_id. Two types of parameters can be set with this operator:

Coordinate system of the setup and transformation of camera poses:

By setting CameraIdxCameraIdxCameraIdxcameraIdxcamera_idx to 'general'"general""general""general""general" and GenParamNameGenParamNameGenParamNamegenParamNamegen_param_name to one of the following values, you can perform the following general pose transformation for all cameras:

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

When setting GenParamValueGenParamValueGenParamValuegenParamValuegen_param_value to a valid camera index, all camera poses are recomputed relative to the coordinate system of this camera.

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

When passing a tuple in HALCON pose format in GenParamValueGenParamValueGenParamValuegenParamValuegen_param_value, the current coordinate system is moved into this pose. The pose in GenParamValueGenParamValueGenParamValuegenParamValuegen_param_value represents the location and orientation of the desired coordinate system relative to the current one. All camera poses are recomputed relative to the new coordinate system.

The recomputed camera poses can be inspected with the operator get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamGetCameraSetupParamget_camera_setup_param.

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 can be set with GenParamValueGenParamValueGenParamValuegenParamValuegen_param_value:

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

A tuple with internal camera parameters.

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

A tuple with the standard deviations of the internal camera parameters except for CameraType, Width, and Height, thus |params_deviations|=|params|-3. The internal camera parameters are camera-type dependent. See the description of set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParamset_calib_data_cam_param for a list of values and calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerascalibrate_cameras for details on camera types and camera parameters.

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

A tuple with the covariance matrix of the internal camera parameters. The tuple must represent a square matrix whose both dimensions are identical to the number of standard deviation values, thus |params_covariances|=|params_deviations|²=(|params|-3)² , see 'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations".

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

A tuple representing the pose of the camera in HALCON pose format, relative to camera setup's coordinate system. See the above section for further details.

Note that the camera must already be defined in the model, before any of its parameters can be changed by set_camera_setup_paramset_camera_setup_paramSetCameraSetupParamSetCameraSetupParamset_camera_setup_param. If CameraIdxCameraIdxCameraIdxcameraIdxcamera_idx is an index of a undefined camera, the operator returns an error.

All parameters can be read back by get_camera_setup_paramget_camera_setup_paramGetCameraSetupParamGetCameraSetupParamget_camera_setup_param.

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*)

Unique 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 set.

List of values: 'coord_transf_pose'"coord_transf_pose""coord_transf_pose""coord_transf_pose""coord_transf_pose", '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"

GenParamValueGenParamValueGenParamValuegenParamValuegen_param_value (input_control)  attribute.value(-array) → HTupleMaybeSequence[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 set.

Possible Predecessors

create_camera_setup_modelcreate_camera_setup_modelCreateCameraSetupModelCreateCameraSetupModelcreate_camera_setup_model, read_camera_setup_modelread_camera_setup_modelReadCameraSetupModelReadCameraSetupModelread_camera_setup_model

Module

Calibration

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