Operator Reference

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

sim_caltabT_sim_caltabSimCaltabSimCaltabsim_caltab (Operator)

sim_caltabT_sim_caltabSimCaltabSimCaltabsim_caltab — Simulate an image with calibration plate.

Signature

Herror T_sim_caltab(Hobject* SimImage, const Htuple CalPlateDescr, const Htuple CameraParam, const Htuple CalPlatePose, const Htuple GrayBackground, const Htuple GrayPlate, const Htuple GrayMarks, const Htuple ScaleFac)

void SimCaltab(HObject* SimImage, const HTuple& CalPlateDescr, const HTuple& CameraParam, const HTuple& CalPlatePose, const HTuple& GrayBackground, const HTuple& GrayPlate, const HTuple& GrayMarks, const HTuple& ScaleFac)

void HImage::SimCaltab(const HString& CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac)

void HImage::SimCaltab(const char* CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac)

void HImage::SimCaltab(const wchar_t* CalPlateDescr, const HCamPar& CameraParam, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac)   ( Windows only)

HImage HCamPar::SimCaltab(const HString& CalPlateDescr, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HCamPar::SimCaltab(const char* CalPlateDescr, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HCamPar::SimCaltab(const wchar_t* CalPlateDescr, const HPose& CalPlatePose, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const   ( Windows only)

HImage HPose::SimCaltab(const HString& CalPlateDescr, const HCamPar& CameraParam, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HPose::SimCaltab(const char* CalPlateDescr, const HCamPar& CameraParam, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const

HImage HPose::SimCaltab(const wchar_t* CalPlateDescr, const HCamPar& CameraParam, Hlong GrayBackground, Hlong GrayPlate, Hlong GrayMarks, double ScaleFac) const   ( Windows only)

def sim_caltab(cal_plate_descr: str, camera_param: Sequence[Union[int, float, str]], cal_plate_pose: Sequence[Union[int, float]], gray_background: int, gray_plate: int, gray_marks: int, scale_fac: float) -> HObject

Description

sim_caltabsim_caltabSimCaltabSimCaltabsim_caltab is used to generate a simulated calibration image. The calibration plate description is read from the file CalPlateDescrCalPlateDescrCalPlateDescrcalPlateDescrcal_plate_descr and will be projected into the image plane using the given camera parameters, thus internal camera parameters CameraParamCameraParamCameraParamcameraParamcamera_param and external camera parameters CalPlatePoseCalPlatePoseCalPlatePosecalPlatePosecal_plate_pose (see also project_3d_pointproject_3d_pointProject3dPointProject3dPointproject_3d_point). Thereby the pose is expected to be 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”).

In the simulated image only the calibration plate is shown. The image background is set to the gray value GrayBackgroundGrayBackgroundGrayBackgroundgrayBackgroundgray_background, the calibration plate background is set to GrayPlateGrayPlateGrayPlategrayPlategray_plate, and the calibration marks are set to the gray value GrayMarksGrayMarksGrayMarksgrayMarksgray_marks. The parameter ScaleFacScaleFacScaleFacscaleFacscale_fac influences the number of supporting points to approximate the elliptic contours of the calibration marks, see also disp_caltabdisp_caltabDispCaltabDispCaltabdisp_caltab. Increasing the number of supporting points causes a more accurate determination of the mark boundary, but increases the computation time, too. For each pixel of the simulated image which touches a subpixel-boundary of this kind, the gray value is set linearly between GrayMarksGrayMarksGrayMarksgrayMarksgray_marks and GrayPlateGrayPlateGrayPlategrayPlategray_plate dependent on the proportion Inside/Outside.

By applying the operator sim_caltabsim_caltabSimCaltabSimCaltabsim_caltab you can generate synthetic calibration images (with known camera parameters!) to test the quality of the calibration algorithm (see Calibration).

Execution Information

  • Multithreading type: reentrant (runs in parallel with non-exclusive operators).
  • Multithreading scope: global (may be called from any thread).
  • Automatically parallelized on internal data level.

Parameters

SimImageSimImageSimImagesimImagesim_image (output_object)  image → objectHImageHObjectHObjectHobject * (byte)

Simulated calibration image.

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

File name of the calibration plate description.

Default: 'calplate_320mm.cpd' "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.cpd" "calplate_320mm.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

GrayBackgroundGrayBackgroundGrayBackgroundgrayBackgroundgray_background (input_control)  integer → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Gray value of image background.

Default: 128

Suggested values: 0, 32, 64, 96, 128, 160

Restriction: 0 <= GrayBackground <= 255

GrayPlateGrayPlateGrayPlategrayPlategray_plate (input_control)  integer → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Gray value of calibration plate.

Default: 80

Suggested values: 144, 160, 176, 192, 208, 224, 240

Restriction: 0 <= GrayPlate <= 255

GrayMarksGrayMarksGrayMarksgrayMarksgray_marks (input_control)  integer → HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Gray value of calibration marks.

Default: 224

Suggested values: 16, 32, 48, 64, 80, 96, 112

Restriction: 0 <= GrayMarks <= 255

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

Scaling factor to reduce oversampling.

Default: 1.0

Suggested values: 1.0, 0.5, 0.25, 0.125

Recommended increment: 0.05

Restriction: 1.0 >= ScaleFac

Example (HDevelop)

* Read calibration image.
read_image(Image1, 'calib-01')
* Find calibration pattern.
CameraType := 'area_scan_division'
StartCamPar := [CameraType, Focus, Kappa, Sx, Sy, Cx, Cy, \
                ImageWidth, ImageHeight]
create_calib_data ('calibration_object', 1, 1, CalibDataID)
set_calib_data_cam_param (CalibDataID, 0, [], StartCamPar)
set_calib_data_calib_object (CalibDataID, 0, 'calplate.cpd')
find_caltab(Image1, CalPlate1, 'caltab.descr', 3, 112, 5)
* Find calibration marks and initial pose.
find_calib_object (Image1, CalibDataID, 0, 0, 0, [], [])
* Camera calibration.
calibrate_cameras (CalibDataID, Error)
* Simulate calibration image.
get_calib_data (CalibDataID, 'calib_obj_pose', [0, 0], 'pose', FinalPose)
get_calib_data (CalibDataID, 'camera', 0, 'params', CameraParam)
sim_caltab(Image1Sim, 'calplate.cpd', CameraParam, FinalPose, 128, \
           80, 224, 1)

Result

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

Possible Predecessors

camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationcamera_calibration, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose, read_poseread_poseReadPoseReadPoseread_pose, read_cam_parread_cam_parReadCamParReadCamParread_cam_par, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose

Possible Successors

find_caltabfind_caltabFindCaltabFindCaltabfind_caltab

See also

find_caltabfind_caltabFindCaltabFindCaltabfind_caltab, find_marks_and_posefind_marks_and_poseFindMarksAndPoseFindMarksAndPosefind_marks_and_pose, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationcamera_calibration, disp_caltabdisp_caltabDispCaltabDispCaltabdisp_caltab, create_posecreate_poseCreatePoseCreatePosecreate_pose, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose, project_3d_pointproject_3d_pointProject3dPointProject3dPointproject_3d_point, gen_caltabgen_caltabGenCaltabGenCaltabgen_caltab

Module

Calibration

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