Read the mark center points from the calibration plate description file.
caltab_points reads the mark center points from the calibration plate description file CalTabDescrFile (see create_caltab) and returns their coordinates in X, Y und Z. The mark center points are 3D coordinates in the calibration plate coordinate system und describe the 3D model of the calibration plate. The calibration plate coordinate system is located in the middle of the surface of the calibration plate, its z-axis points into the calibration plate, its x-axis to the right, and it y-axis downwards.
The mark center points are typically used as input parameters for the operator camera_calibration. This operator projects the model points into the image, minimizes the distance between the projected points and the observed 2D coordinates in the image (see find_marks_and_pose), and from this computes the exact values for the interior and exterior camera parameters.
|
CalTabDescrFile (input_control) |
string -> string |
| File name of the calibration plate description. | |
| Default value: 'caltab.descr' | |
|
X (output_control) |
real-array -> real |
| X coordinates of the mark center points in the coordinate system of the calibration plate. | |
|
Y (output_control) |
real-array -> real |
| Y coordinates of the mark center points in the coordinate system of the calibration plate. | |
|
Z (output_control) |
real-array -> real |
| Z coordinates of the mark center points in the coordinate system of the calibration plate. | |
* read_image(Image1, 'calib-01')
* find calibration pattern
find_caltab(Image1, Caltab1, 'caltab.descr', 3, 112, 5)
* find calibration marks and start poses
StartCamPar := [0.008, 0.0, 0.000011, 0.000011, 384, 288, 768, 576]
find_marks_and_pose(Image1,Caltab1,'caltab.descr', StartCamPar,
128, 10, 18, 0.9, 15.0, 100.0, RCoord1, CCoord1,
StartPose1)
* read 3D positions of calibration marks
caltab_points('caltab.descr', NX, NY, NZ) >
* camera calibration
camera_calibration(NX, NY, NZ, RCoord1, CCoord1, StartCamPar,
StartPose1, 'all', CamParam, FinalPose, Errors)
* visualize calibration result
disp_image(Image1, WindowHandle)
set_color(WindowHandle, 'red')
disp_caltab('caltab.descr', CamParam, FinalPose, 1.0)caltab_points returns 2 (H_MSG_TRUE) if all parameter values are correct and the file CalTabDescrFile has been read successfully. If necessary, an exception handling is raised.
caltab_points is reentrant and processed without parallelization.
find_caltab, find_marks_and_pose, camera_calibration, disp_caltab, sim_caltab, project_3d_point, get_line_of_sight, create_caltab
Camera calibration
