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get_calib_dataGetCalibDataGetCalibDataget_calib_dataT_get_calib_data🔗

Short description🔗

get_calib_dataGetCalibDataGetCalibDataget_calib_dataT_get_calib_data — Query data stored or computed in a calibration data model.

Signature🔗

get_calib_data( calib_data CalibDataID, string ItemType, integer ItemIdx, attribute.name DataName, out attribute.value DataValue )void GetCalibData( const HTuple& CalibDataID, const HTuple& ItemType, const HTuple& ItemIdx, const HTuple& DataName, HTuple* DataValue )static void HOperatorSet.GetCalibData( HTuple calibDataID, HTuple itemType, HTuple itemIdx, HTuple dataName, out HTuple dataValue )def get_calib_data( calib_data_id: HHandle, item_type: str, item_idx: MaybeSequence[Union[int, str]], data_name: MaybeSequence[str] ) -> Sequence[Union[float, int, str]]

def get_calib_data_s( calib_data_id: HHandle, item_type: str, item_idx: MaybeSequence[Union[int, str]], data_name: MaybeSequence[str] ) -> Union[float, int, str]Herror T_get_calib_data( const Htuple CalibDataID, const Htuple ItemType, const Htuple ItemIdx, const Htuple DataName, Htuple* DataValue )

HTuple HCalibData::GetCalibData( const HString& ItemType, const HTuple& ItemIdx, const HTuple& DataName ) const

HTuple HCalibData::GetCalibData( const HString& ItemType, Hlong ItemIdx, const HString& DataName ) const

HTuple HCalibData::GetCalibData( const char* ItemType, Hlong ItemIdx, const char* DataName ) const

HTuple HCalibData::GetCalibData( const wchar_t* ItemType, Hlong ItemIdx, const wchar_t* DataName ) const (Windows only)

HTuple HCalibData.GetCalibData( string itemType, HTuple itemIdx, HTuple dataName )

HTuple HCalibData.GetCalibData( string itemType, int itemIdx, string dataName )

Description🔗

With the operator get_calib_dataGetCalibData, you can query data of the calibration data model CalibDataIDcalibDataIDcalib_data_id.

Note that in the following, all ‘pose’-related data is given in relation to the coordinate system of the model's reference camera, which can be set with set_calib_dataSetCalibData and queried with get_calib_dataGetCalibData. By default, the first camera (camera index 0) is used as reference camera.

The calibration data model contains various kinds of data. How to query specific data of the calibration data model is described for different categories of data:

Before we describe the individual data you can query in detail, we provide you with an overview on which data is available after the individual steps of the calibration processes. When calibrating cameras or a hand-eye system, several operators are called that step by step fill the calibration data model with content. In the following, for each operator a table lists the data that is added to the model. Additionally, you find information about the combinations of the values for ItemTypeitemTypeitem_type, ItemIdxitemIdxitem_idx, and DataNamedataNamedata_name that are needed to query the information with get_calib_dataGetCalibData. For the different indices that are used within the tables the following abbreviations (or potential variable names) are used:

  • Camera index: CameraIdx

  • Calibration object index: CalibObjIdx

  • Calibration object pose index: CalibObjPoseIdx

Detailed descriptions of the data that can be queried can then be found in the specific sections that handle the different categories of data individually.

To get detailed information about the calibration process of your camera setup see the chapter Calibration.

Content of Calibration Data Model When Calibrating Cameras🔗

For each operator that extends the calibration model, a table is provided to give an overview on the respective data:

For standard HALCON calibration plates, further calibration plate specific information is added to the model, which is not accessible with get_calib_dataGetCalibData but can be obtained directly from the corresponding calibration plate description files instead (for details about the description files see create_caltabCreateCaltab for a calibration plate with hexagonally arranged marks and gen_caltabGenCaltab for a calibration plate with rectangularly arranged marks).

  • find_calib_objectFindCalibObject (for standard HALCON calibration plates):

    Data added to the model accessible with
    Observed image coordinates of the calibration marks get_calib_data_observ_pointsGetCalibDataObservPoints
    Observed contours of the calibration marks get_calib_data_observ_contoursGetCalibDataObservContours
    Observed poses of the calibration plate relative to the camera coordinate system get_calib_data_observ_poseGetCalibDataObservPose or get_calib_data_observ_pointsGetCalibDataObservPoints

  • set_calib_data_observ_pointsSetCalibDataObservPoints (for other calibration objects than the HALCON calibration plates):

    Data added to the model accessible with
    Observed image coordinates of the calibration marks get_calib_data_observ_pointsGetCalibDataObservPoints

  • set_calib_dataSetCalibData:

    Data added to the model ItemTypeitemTypeitem_type ItemIdxitemIdxitem_idx DataNamedataNamedata_name
    Reference camera 'model'"model" 'general'"general" 'reference_camera'"reference_camera"
    Internal and external camera parameters to calibrate 'camera'"camera" 'general'"general" or CameraIdx 'calib_settings'"calib_settings"
    Internal and external camera parameters to be excluded from the calibration 'camera'"camera" 'general'"general" or CameraIdx 'excluded_settings'"excluded_settings"
    For stereo setups with telecentric line scan cameras: Do the cameras have a common motion vector? 'model'"model" 'general'"general" 'common_motion_vector'"common_motion_vector"
    Calibration object pose settings to be optimized 'calib_obj_pose'"calib_obj_pose" 'general'"general" or [CalibObjIdx, CalibObjPoseIdx] 'calib_settings'"calib_settings"
    Calibration object pose settings to be excluded from the calibration 'calib_obj_pose'"calib_obj_pose" 'general'"general" or [CalibObjIdx, CalibObjPoseIdx] 'excluded_settings'"excluded_settings"

  • calibrate_camerasCalibrateCameras:

    Data added to the model ItemTypeitemTypeitem_type ItemIdxitemIdxitem_idx DataNamedataNamedata_name
    Camera setup model (needed for multi-view stereo reconstruction) 'model'"model" 'general'"general" 'camera_setup_model'"camera_setup_model"
    Optimized internal camera parameters 'camera'"camera" CameraIdx 'params'"params"
    Standard deviations of the optimized internal camera parameters 'camera'"camera" CameraIdx 'params_deviations'"params_deviations"
    Covariance matrices of the optimized internal camera parameters 'camera'"camera" CameraIdx 'params_covariances'"params_covariances"
    Labels for the internal camera parameters 'camera'"camera" CameraIdx 'params_labels'"params_labels"
    Initial external camera parameters (camera poses) 'camera'"camera" CameraIdx 'init_pose'"init_pose"
    Optimized external camera parameters (camera poses) 'camera'"camera" CameraIdx 'pose'"pose"
    Labels for the external camera parameters (camera poses) 'camera'"camera" CameraIdx 'pose_labels'"pose_labels"
    Initial calibration object poses 'calib_obj_pose'"calib_obj_pose" [CalibObjIdx, CalibObjPoseIdx] 'init_pose'"init_pose"
    Optimized calibration object poses 'calib_obj_pose'"calib_obj_pose" [CalibObjIdx, CalibObjPoseIdx] 'pose'"pose"
    Labels for the calibration object pose parameters 'calib_obj_pose'"calib_obj_pose" [CalibObjIdx, CalibObjPoseIdx] 'pose_labels'"pose_labels"

Content of Calibration Data Model When Performing Hand-Eye Calibration🔗

For each operator that extends the calibration model when performing hand-eye calibration, a table is provided to give an overview on the respective data:

  • create_calib_dataCreateCalibData:

    See the section ‘Content of Calibration Data Model When Calibrating Cameras’.

  • set_calib_dataSetCalibData:

    Data added to the model ItemTypeitemTypeitem_type ItemIdxitemIdxitem_idx DataNamedataNamedata_name
    Optimization method 'model'"model" 'general'"general" 'optimization_method'"optimization_method"
    Poses of the robot tool in robot base coordinates 'tool'"tool" CalibObjPoseIdx 'tool_in_base_pose'"tool_in_base_pose"

  • set_calib_data_observ_poseSetCalibDataObservPose (observations obtained by 3D sensors):

    Data added to the model accessible with
    Observed calibration object poses get_calib_data_observ_poseGetCalibDataObservPose

  • set_calib_data_cam_paramSetCalibDataCamParam, set_calib_data_calib_objectSetCalibDataCalibObject, and find_calib_objectFindCalibObject or set_calib_data_observ_pointsSetCalibDataObservPoints (observations obtained by cameras):

    See the section 'Content of Calibration Data Model When Calibrating Cameras'.

  • calibrate_hand_eyeCalibrateHandEye:

    Moving camera scenario:

    Data added to the model ItemTypeitemTypeitem_type ItemIdxitemIdxitem_idx DataNamedataNamedata_name
    Pose of robot tool in camera coordinate system 'camera'"camera" 00 'tool_in_cam_pose'"tool_in_cam_pose"
    Pose of calibration object in robot base coordinate system 'calib_obj'"calib_obj" 00 'obj_in_base_pose'"obj_in_base_pose"
    Standard deviations of the Pose of the robot tool in camera coordinate system 'camera'"camera" 00 'tool_in_cam_pose_deviations'"tool_in_cam_pose_deviations"
    Covariance matrices of the Pose of the robot tool in camera coordinate system 'camera'"camera" 00 'tool_in_cam_pose_covariances'"tool_in_cam_pose_covariances"
    Standard deviations of the Pose of the calibration object in robot base coordinate system 'calib_obj'"calib_obj" 00 'obj_in_base_pose_deviations'"obj_in_base_pose_deviations"
    Covariance matrices of the Pose of the calibration object in robot base coordinate system 'calib_obj'"calib_obj" 00 'obj_in_base_pose_covariances'"obj_in_base_pose_covariances"

    Stationary camera scenario:

    Data added to the model ItemTypeitemTypeitem_type ItemIdxitemIdxitem_idx DataNamedataNamedata_name
    Pose of robot base in camera coordinate system 'camera'"camera" 00 'base_in_cam_pose'"base_in_cam_pose"
    Pose of calibration object in robot tool coordinate system 'calib_obj'"calib_obj" 00 'obj_in_tool_pose'"obj_in_tool_pose"
    Standard deviations of the Pose of the robot base in camera coordinate system 'camera'"camera" 00 'base_in_cam_pose_deviations'"base_in_cam_pose_deviations"
    Covariance matrices of the Pose of the robot base in camera coordinate system 'camera'"camera" 00 'base_in_cam_pose_covariances'"base_in_cam_pose_covariances"
    Standard deviations of the Pose of the calibration object in robot tool coordinate system 'calib_obj'"calib_obj" 00 'obj_in_tool_pose_deviations'"obj_in_tool_pose_deviations"
    Covariance matrices of the Pose of the calibration object in robot tool coordinate system 'calib_obj'"calib_obj" 00 'obj_in_tool_covariances'"obj_in_tool_covariances"

    Both hand-eye scenarios:

    Data added to the model ItemTypeitemTypeitem_type ItemIdxitemIdxitem_idx DataNamedataNamedata_name
    Calibrated poses of the calibration object in camera coordinate system (not available for SCARA robots) 'calib_obj_pose'"calib_obj_pose" [0, CalibObjPoseIdx][0, CalibObjPoseIdx] 'pose'"pose"
    Root mean square error (RMSE) of the back projection after the optimization of the camera system 'model'"model" 'general'"general" 'camera_calib_error'"camera_calib_error"
    Pose error of the complete chain of transformations 'model'"model" 'general'"general" 'hand_eye_calib_error'"hand_eye_calib_error"
    Camera setup model (needed for multi-view stereo reconstruction) 'model'"model" 'general'"general" 'camera_setup_model'"camera_setup_model"

    Both hand-eye scenarios, if 'optimization_method'"optimization_method" is set to 'stochastic'"stochastic":

    Data added to the model ItemTypeitemTypeitem_type ItemIdxitemIdxitem_idx DataNamedataNamedata_name
    Root mean square error (RMSE) of the back projection into camera images, via pose chain using corrected tool poses 'model'"model" 'general'"general" 'camera_calib_error_corrected_tool'"camera_calib_error_corrected_tool"
    Pose error of the complete chain of transformations using corrected tool poses 'model'"model" 'general'"general" 'hand_eye_calib_error_corrected_tool'"hand_eye_calib_error_corrected_tool"
    Standard deviations of the input poses of the robot tool in robot base coordinates 'tool'"tool" 'general'"general" 'tool_translation_deviation'"tool_translation_deviation", 'tool_rotation_deviation'"tool_rotation_deviation"
    Corrected poses of the robot tool in robot base coordinates 'tool'"tool" CalibObjPoseIdx 'tool_in_base_pose_corrected'"tool_in_base_pose_corrected"

    The following sections describe the parameters for the specific categories of data in more detail.

  • ItemTypeitemTypeitem_type='model'"model":

    ItemIdxitemIdxitem_idx must be set to 'general'"general".

    Depending on the selection in DataNamedataNamedata_name, the following model-related data is then returned in DataValuedataValuedata_value:

    • 'type'"type": Type of the calibration data model. Currently, the five types 'calibration_object'"calibration_object", 'hand_eye_stationary_cam'"hand_eye_stationary_cam", 'hand_eye_moving_cam'"hand_eye_moving_cam", 'hand_eye_scara_stationary_cam'"hand_eye_scara_stationary_cam", and 'hand_eye_scara_moving_cam'"hand_eye_scara_moving_cam" are supported.

    • 'reference_camera'"reference_camera": Index of the reference camera for the calibration model. All poses stored in the calibration data model are specified in the coordinate system of this reference camera.

    • 'num_cameras'"num_cameras": Number of cameras in the calibration data model (see create_calib_dataCreateCalibData).

    • 'num_calib_objs'"num_calib_objs": Number of calibration objects in the calibration data model (see create_calib_dataCreateCalibData).

    • 'common_motion_vector'"common_motion_vector": For stereo setups with telecentric line scan cameras, a string with a Boolean value (i.e., 'true'"true" or 'false'"false") that determines whether the cameras have a common motion vector.

    • 'camera_setup_model'"camera_setup_model": A handle to a camera setup model containing the poses and the internal parameters for the calibrated cameras from the current calibration setup.

    • 'camera_calib_error'"camera_calib_error": The root mean square error (RMSE) of the back projection of the optimization of the camera system. Typically, this error is queried after a hand-eye calibration (calibrate_hand_eyeCalibrateHandEye) was performed, where internally the camera system is calibrated without returning the error of the camera calibration. The returned error is identical to the error returned by calibrate_camerasCalibrateCameras, except for 'optimization_method'"optimization_method" set to 'stochastic'"stochastic", which refines hand-eye poses and camera parameters simultaneously for articulated robots.

    • 'hand_eye_calib_error'"hand_eye_calib_error": After a successful hand-eye calibration, the pose error of the complete chain of transformations is returned. To be more precise, a tuple with four elements is returned, where the first element is the root-mean-square error of the translational part, the second element is the root-mean-square error of the rotational part, the third element is the maximum translational error and the fourth element is the maximum rotational error. The returned errors are identical to the errors returned by calibrate_hand_eyeCalibrateHandEye.

    • 'optimization_method'"optimization_method": Optimization method that was set for the hand-eye calibration (see set_calib_dataSetCalibData).

    • 'camera_calib_error_corrected_tool'"camera_calib_error_corrected_tool": The root mean square error (RMSE) of the back projection of the calibration mark centers into camera images, via the pose chain using corrected tool poses. By contrast, 'camera_calib_error'"camera_calib_error" uses the direct back projection of 'calib_obj_pose'"calib_obj_pose". This parameter is only available if 'optimization_method'"optimization_method" is set to 'stochastic'"stochastic".

    • 'hand_eye_calib_error_corrected_tool'"hand_eye_calib_error_corrected_tool": After a successful hand_eye calibration, the pose error of the complete chain of transformations using corrected tool poses is returned. By contrast, 'hand_eye_calib_error'"hand_eye_calib_error" uses the input tool poses. This parameter is only available if 'optimization_method'"optimization_method" is set to 'stochastic'"stochastic".

    The parameters 'reference_camera'"reference_camera", 'common_motion_vector'"common_motion_vector", and 'optimization_method'"optimization_method" can be set with set_calib_dataSetCalibData. The other parameters are set during the model creation or are a result of the calibration process and cannot be modified.

  • ItemTypeitemTypeitem_type='camera'"camera":

    ItemIdxitemIdxitem_idx determines, if data is queried for all cameras in general or for a specific camera. With ItemIdxitemIdxitem_idx='general'"general", the default value of a parameter for all cameras is returned. In contrast, if you pass a valid camera index instead, i.e., a number between 0 and NumCamerasnumCamerasnum_cameras-1 (NumCamerasnumCamerasnum_cameras is specified during model creation with create_calib_dataCreateCalibData), only the parameter value of the specified camera is returned.

    By selecting the following parameters in DataNamedataNamedata_name, you can query which camera parameters are (or have been) optimized during the calibration performed by calibrate_camerasCalibrateCameras:

    • 'calib_settings'"calib_settings": List of the camera parameters that are marked for calibration.

    • 'excluded_settings'"excluded_settings": List of camera parameters that are excluded from the calibration.

    These parameters can be modified by a corresponding call to set_calib_dataSetCalibData.

    The following parameters can only be queried for a specific camera, i.e., you must pass a valid camera index in ItemIdxitemIdxitem_idx:

    • 'type'"type": The camera type that was set with set_calib_data_cam_paramSetCalibDataCamParam.

    • 'init_params'"init_params": Initial internal camera parameters (set with set_calib_data_cam_paramSetCalibDataCamParam).

    • 'params'"params": Optimized internal camera parameters.

    • 'params_deviations'"params_deviations": Standard deviations of the optimized camera parameters, as estimated at the end of the camera calibration. Note that if the tuple returned for 'params'"params" contains \(n\) elements, the tuple returned for 'params_deviations'"params_deviations" contains \((n-1)\) elements since the camera parameter tuple contains the camera type in the first element of the tuple, whereas the tuple returned for 'params_deviations'"params_deviations" does not contain the camera type.

    • 'params_covariances'"params_covariances": Covariance matrix of the optimized camera parameters, as estimated at the end of the camera calibration. Note that if the tuple returned for 'params'"params" contains \(n\) elements, the tuple returned for 'params_covariances'"params_covariances" contains \((n-1) \times (n-1)\) elements since the camera parameter tuple contains the camera type in the first element of the tuple, whereas the tuple returned for 'params_covariances'"params_covariances" does not contain the camera type.

    • 'params_labels'"params_labels": A convenience list of labels for the entries returned by 'params'"params". This list is camera-type specific. Note that this list contains the label 'camera_type'"camera_type" in its first position. If the first element of the tuple is removed, the list refers to the labels of 'params_deviations'"params_deviations" and the labels of the rows and columns of 'params_covariances'"params_covariances".

    • 'init_pose'"init_pose": Initial camera pose, relative to the current reference camera. It is computed internally based on observation poses during the calibration process (see Calibration).

    • 'pose'"pose": Optimized camera pose, relative to the current reference camera. If one single telecentric camera is calibrated, the translation along the z-axis is set to the value 0.0. If more than one telecentric camera is calibrated, the camera poses are moved in direction of their z-axis until they all lie on a sphere centered at the first observed calibration plate. The radius of the sphere corresponds to the longest distance of a camera to the first observed calibration plate. If this calculated distance is smaller than 1 m, the radius is set to 1 m.

    • 'pose_labels'"pose_labels": A convenience list of labels for the entries returned by 'pose'"pose".

    The calibrated camera parameters ('params'"params" and 'pose'"pose") can be queried only after a successful execution of calibrate_camerasCalibrateCameras. The initial internal camera parameters 'init_params'"init_params" can be queried after a successful call to set_calib_data_cam_paramSetCalibDataCamParam.

  • ItemTypeitemTypeitem_type='calib_obj_pose'"calib_obj_pose":

    ItemIdxitemIdxitem_idx determines, if data is queried for all calibration object poses in general or for a specific calibration object pose. With ItemIdxitemIdxitem_idx='general'"general", the default value of a parameter for all calibration object poses is returned. In contrast, if you pass a valid calibration object index instead, i.e., a tuple containing a valid index pair [CalibObjIdx, CalibObjPoseIdx], only the parameter value of the specified calibration object pose is returned.

    By selecting the following parameters in DataNamedataNamedata_name, you can query which calibration object pose parameters are (or have been) optimized during the calibration performed by calibrate_camerasCalibrateCameras:

    • 'calib_settings'"calib_settings": List of calibration object pose parameters marked for calibration.

    • 'excluded_settings'"excluded_settings": List of calibration object pose parameters excluded from calibration.

    These parameters can be set with set_calib_dataSetCalibData.

    The following parameters can only be queried for a specific calibration object pose, i.e., you must pass a valid index pair [CalibObjIdx, CalibObjPoseIdx] in ItemIdxitemIdxitem_idx:

    • 'init_pose'"init_pose": Initial calibration object pose. It is computed internally based on observation poses during the calibration process (see Calibration). This pose is relative to the current reference camera.

    • 'pose'"pose": Optimized calibration object pose, relative to current reference camera.

    • 'pose_labels'"pose_labels": A convenience list of labels for the entries returned by 'pose'"pose".

    These parameters cannot be explicitly modified and can only be queried after calibrate_camerasCalibrateCameras was executed.

  • ItemTypeitemTypeitem_type='tool'"tool":

    The following parameters can be queried with DataNamedataNamedata_name and are returned in DataValuedataValuedata_value:

    • 'tool_in_base_pose'"tool_in_base_pose": Pose of the robot tool in robot base coordinates with Index ItemIdxitemIdxitem_idx. These poses were previously set using set_calib_dataSetCalibData and served as input for the hand-eye calibration algorithm.

    • 'tool_in_base_pose_corrected'"tool_in_base_pose_corrected": Corrected pose of the robot tool in robot base coordinates of the input 'tool_in_base_pose'"tool_in_base_pose" with Index ItemIdxitemIdxitem_idx. This parameter is only available if 'optimization_method'"optimization_method" is set to 'stochastic'"stochastic" and after calibrate_hand_eyeCalibrateHandEye was executed.

    • 'tool_translation_deviation'"tool_translation_deviation", 'tool_rotation_deviation'"tool_rotation_deviation": Standard deviations of the input poses of the robot tool in robot base coordinates. ItemIdxitemIdxitem_idx has to be set to 'general'"general". This parameter is only available if 'optimization_method'"optimization_method" is set to 'stochastic'"stochastic" and after calibrate_hand_eyeCalibrateHandEye was executed.

After performing a successful hand-eye calibration using calibrate_hand_eyeCalibrateHandEye, the following poses can be queried for a calibration data model of type:

  • 'hand_eye_moving_cam'"hand_eye_moving_cam",'hand_eye_scara_moving_cam'"hand_eye_scara_moving_cam":

    For ItemTypeitemTypeitem_type='camera'"camera" and DataNamedataNamedata_name='tool_in_cam_pose'"tool_in_cam_pose", the pose of the robot tool in the camera coordinate system is returned in DataValuedataValuedata_value. For ItemTypeitemTypeitem_type='calib_obj'"calib_obj" and DataNamedataNamedata_name='obj_in_base_pose'"obj_in_base_pose", the pose of the calibration object in the robot base coordinate system is returned in DataValuedataValuedata_value.

    Note that when calibrating SCARA robots, it is not possible to determine the Z translation of 'obj_in_base_pose'"obj_in_base_pose". To eliminate this ambiguity the Z translation 'obj_in_base_pose'"obj_in_base_pose" is internally set to 0.0 and the 'tool_in_cam_pose'"tool_in_cam_pose" is calculated accordingly. It is necessary to determine the true translation in Z after the calibration (see calibrate_hand_eyeCalibrateHandEye).

    The standard deviations and the covariance matrices of the 6 pose parameters of both poses can be queried with 'tool_in_cam_pose_deviations'"tool_in_cam_pose_deviations", 'tool_in_cam_pose_covariances'"tool_in_cam_pose_covariances" (ItemTypeitemTypeitem_type='camera'"camera"), 'obj_in_base_pose_deviations'"obj_in_base_pose_deviations", and 'obj_in_base_pose_covariances'"obj_in_base_pose_covariances" (ItemTypeitemTypeitem_type='calib_obj'"calib_obj"). Like poses, they are specified in the units [m] and [°].

  • 'hand_eye_stationary_cam'"hand_eye_stationary_cam",'hand_eye_scara_stationary_cam'"hand_eye_scara_stationary_cam": For ItemTypeitemTypeitem_type='camera'"camera" and DataNamedataNamedata_name='base_in_cam_pose'"base_in_cam_pose", the pose of the robot base in the camera coordinate system is returned in DataValuedataValuedata_value. For ItemTypeitemTypeitem_type='calib_obj'"calib_obj" and DataNamedataNamedata_name='obj_in_tool_pose'"obj_in_tool_pose", the pose of the calibration object in the robot tool coordinate system is returned in DataValuedataValuedata_value.

    Note that when calibrating SCARA robots, it is not possible to determine the Z translation of 'obj_in_tool_pose'"obj_in_tool_pose". To eliminate this ambiguity the Z translation of 'obj_in_tool_pose'"obj_in_tool_pose" is internally set to 0.0 and the 'base_in_cam_pose'"base_in_cam_pose" is calculated accordingly. It is necessary to determine the true translation in Z after the calibration (see calibrate_hand_eyeCalibrateHandEye).

    The standard deviations and the covariance matrices of the 6 pose parameters of both poses can be queried with 'base_in_cam_pose_deviations'"base_in_cam_pose_deviations", 'base_in_cam_pose_covariances'"base_in_cam_pose_covariances" (ItemTypeitemTypeitem_type='camera'"camera"), 'obj_in_tool_pose_deviations'"obj_in_tool_pose_deviations", and 'obj_in_tool_pose_covariances'"obj_in_tool_pose_covariances" (ItemTypeitemTypeitem_type='calib_obj'"calib_obj"). Like poses, they are specified in the units [m] and [°].

Execution information🔗

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🔗

CalibDataIDcalibDataIDcalib_data_id (input_control) calib_data → (handle)HTuple (HHandle)HCalibData, HTuple (IntPtr)HHandleHtuple (handle)

Handle of a calibration data model.

ItemTypeitemTypeitem_type (input_control) string → (string)HTuple (HString)HTuple (string)strHtuple (char*)

Type of calibration data item.

Default: 'camera'"camera"
List of values: 'calib_obj', 'calib_obj_pose', 'camera', 'model', 'tool'"calib_obj", "calib_obj_pose", "camera", "model", "tool"

ItemIdxitemIdxitem_idx (input_control) integer(-array) → (integer / string)HTuple (Hlong / HString)HTuple (int / long / string)MaybeSequence[Union[int, str]]Htuple (Hlong / char*)

Index of the affected item (depending on the selected ItemTypeitemTypeitem_type).

Default: 00
Suggested values: 0, 1, 2, 'general'0, 1, 2, "general"

DataNamedataNamedata_name (input_control) attribute.name(-array) → (string)HTuple (HString)HTuple (string)MaybeSequence[str]Htuple (char*)

The name of the inspected data.

Default: 'params'"params"
List of values: 'base_in_cam_pose', 'base_in_cam_pose_covariances', 'base_in_cam_pose_deviations', 'calib_settings', 'camera_calib_error', 'camera_calib_error_corrected_tool', 'camera_setup_model', 'common_motion_vector', 'excluded_settings', 'hand_eye_calib_error', 'hand_eye_calib_error_corrected_tool', 'init_params', 'init_pose', 'num_calib_objs', 'num_cameras', 'num_marks', 'obj_in_base_pose', 'obj_in_base_pose_covariances', 'obj_in_base_pose_deviations', 'obj_in_tool_pose', 'obj_in_tool_pose_covariances', 'obj_in_tool_pose_deviations', 'optimization_method', 'params', 'params_covariances', 'params_deviations', 'params_labels', 'pose', 'pose_labels', 'reference_camera', 'tool_in_base_pose', 'tool_in_base_pose_corrected', 'tool_in_cam_pose', 'tool_in_cam_pose_covariances', 'tool_in_cam_pose_deviations', 'tool_rotation_deviation', 'tool_translation_deviation', 'type', 'x', 'y', 'z'"base_in_cam_pose", "base_in_cam_pose_covariances", "base_in_cam_pose_deviations", "calib_settings", "camera_calib_error", "camera_calib_error_corrected_tool", "camera_setup_model", "common_motion_vector", "excluded_settings", "hand_eye_calib_error", "hand_eye_calib_error_corrected_tool", "init_params", "init_pose", "num_calib_objs", "num_cameras", "num_marks", "obj_in_base_pose", "obj_in_base_pose_covariances", "obj_in_base_pose_deviations", "obj_in_tool_pose", "obj_in_tool_pose_covariances", "obj_in_tool_pose_deviations", "optimization_method", "params", "params_covariances", "params_deviations", "params_labels", "pose", "pose_labels", "reference_camera", "tool_in_base_pose", "tool_in_base_pose_corrected", "tool_in_cam_pose", "tool_in_cam_pose_covariances", "tool_in_cam_pose_deviations", "tool_rotation_deviation", "tool_translation_deviation", "type", "x", "y", "z"

DataValuedataValuedata_value (output_control) attribute.value(-array) → (real / integer / string)HTuple (double / Hlong / HString)HTuple (double / int / long / string)Sequence[Union[float, int, str]]Htuple (double / Hlong / char*)

Requested data.

Example🔗

(HDevelop)

* Get the camera type of camera 0.
get_calib_data (CalibDataID, 'camera', 0, 'type', CameraType)

* Get the optimized (calibrated) pose of pose 1 of the
* calibration object 2.
get_calib_data (CalibDataID, 'calib_obj_pose', [2,1], 'pose', CalobjPose)

Combinations with other operators🔗

Combinations

Possible predecessors

calibrate_camerasCalibrateCameras, calibrate_hand_eyeCalibrateHandEye, create_calib_dataCreateCalibData, read_calib_dataReadCalibData

Module🔗

Calibration