set_calib_data_observ_poseSetCalibDataObservPoseSetCalibDataObservPoseset_calib_data_observ_poseT_set_calib_data_observ_pose

HALCON ScriptCpp++.NETPythonC

Short description

set_calib_data_observ_poseSetCalibDataObservPoseSetCalibDataObservPoseset_calib_data_observ_poseT_set_calib_data_observ_pose — Set observed calibration object poses in a calibration data model.

Signature

set_calib_data_observ_pose( calib_data CalibDataID, number CameraIdx, number CalibObjIdx, number CalibObjPoseIdx, pose ObjInCameraPose )void SetCalibDataObservPose( const HTuple& CalibDataID, const HTuple& CameraIdx, const HTuple& CalibObjIdx, const HTuple& CalibObjPoseIdx, const HTuple& ObjInCameraPose )static void HOperatorSet.SetCalibDataObservPose( HTuple calibDataID, HTuple cameraIdx, HTuple calibObjIdx, HTuple calibObjPoseIdx, HTuple objInCameraPose )def set_calib_data_observ_pose( calib_data_id: HHandle, camera_idx: int, calib_obj_idx: int, calib_obj_pose_idx: int, obj_in_camera_pose: Sequence[Union[float, int]] ) -> None

Herror T_set_calib_data_observ_pose( const Htuple CalibDataID, const Htuple CameraIdx, const Htuple CalibObjIdx, const Htuple CalibObjPoseIdx, const Htuple ObjInCameraPose )

void HCalibData::SetCalibDataObservPose( Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx, const HPose& ObjInCameraPose ) const

void HCalibData.SetCalibDataObservPose( int cameraIdx, int calibObjIdx, int calibObjPoseIdx, HPose objInCameraPose )

Description

For a calibration data model of type CalibSetupcalibSetupcalib_setup='hand_eye_moving_cam'"hand_eye_moving_cam", 'hand_eye_stationary_cam'"hand_eye_stationary_cam", 'hand_eye_scara_moving_cam'"hand_eye_scara_moving_cam", or 'hand_eye_scara_stationary_cam'"hand_eye_scara_stationary_cam" with no calibration object (see create_calib_dataCreateCalibData), the hand-eye calibration is based on so-called observations of an arbitrary object in the camera coordinate system. In the following this object will be called calibration object. Additionally, the corresponding poses of the robot tool in the robot base coordinate system must be known. With set_calib_data_observ_poseSetCalibDataObservPose, you store an observation of the calibration object pose in the calibration data model CalibDataIDcalibDataIDcalib_data_id. An observation of the calibration object pose consists of the following data:

• CameraIdxcameraIdxcamera_idx: Index of the observing camera

• CalibObjIdxcalibObjIdxcalib_obj_idx: Index of the observed calibration object

• CalibObjPoseIdxcalibObjPoseIdxcalib_obj_pose_idx: Index of the observed pose of the calibration object. You can choose it freely, without following a strict order. If you specify an index that already exists for the calibration object CalibObjIdxcalibObjIdxcalib_obj_idx, the corresponding observation data is replaced by the new one.

• ObjInCameraPoseobjInCameraPoseobj_in_camera_pose: Pose of the observed calibration object relative to observing camera.

Note that, since the model CalibDataIDcalibDataIDcalib_data_id uses a general sensor and no calibration object (i.e., the model was created by create_calib_dataCreateCalibData with NumCamerasnumCamerasnum_cameras=0 and NumCalibObjectsnumCalibObjectsnum_calib_objects=0), both CameraIdxcameraIdxcamera_idx and CalibObjIdxcalibObjIdxcalib_obj_idx must be set to 0. If the model uses a camera and an calibration object (i.e., NumCamerasnumCamerasnum_cameras=1 and NumCalibObjectsnumCalibObjectsnum_calib_objects=1), then find_calib_objectFindCalibObject or set_calib_data_observ_pointsSetCalibDataObservPoints must be used.

The observation pose data can be accessed later by calling get_calib_data_observ_poseGetCalibDataObservPose using the same values for the arguments CameraIdxcameraIdxcamera_idx, CalibObjIdxcalibObjIdxcalib_obj_idx, and CalibObjPoseIdxcalibObjPoseIdxcalib_obj_pose_idx.

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.

This operator modifies the state of the following input parameter:

• CalibDataIDcalibDataIDcalib_data_id

During execution of this operator, access to the value of this parameter must be synchronized if it is used across multiple threads.

Parameters

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

Handle of a calibration data model.

CameraIdxcameraIdxcamera_idx (input_control) number → (integer)HTuple (Hlong)HTuple (int / long)intHtuple (Hlong)

Index of the observing camera.

Default: 00
Suggested values: 0, 1, 20, 1, 2

CalibObjIdxcalibObjIdxcalib_obj_idx (input_control) number → (integer)HTuple (Hlong)HTuple (int / long)intHtuple (Hlong)

Index of the calibration object.

Default: 00
Suggested values: 0, 1, 20, 1, 2

CalibObjPoseIdxcalibObjPoseIdxcalib_obj_pose_idx (input_control) number → (integer)HTuple (Hlong)HTuple (int / long)intHtuple (Hlong)

Index of the observed calibration object.

Default: 00
Suggested values: 0, 1, 20, 1, 2
Restriction: CalibObjPoseIdx >= 0

ObjInCameraPoseobjInCameraPoseobj_in_camera_pose (input_control) pose → (real / integer)HTuple (double / Hlong)HPose, HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)

Pose of the observed calibration object relative to the observing camera.

Number of elements: 7

Combinations with other operators

Combinations

Possible predecessors

find_marks_and_poseFindMarksAndPose, set_calib_data_cam_paramSetCalibDataCamParam, set_calib_data_calib_objectSetCalibDataCalibObject

Possible successors

set_calib_dataSetCalibData, calibrate_camerasCalibrateCameras

Alternatives

find_calib_objectFindCalibObject

Module

Calibration