Read the internal camera parameters from text file.
read_cam_par is used to read the internal camera parameters CamParam from a text file with name CamParFile.
The format of the text file is a (HORUS-independent) generic parameter description. Thus, arbitrary sets of parameters can be grouped together in a hierarchical way. The description of a single parameter within a parameter group consists of the following 3 lines:
Name : Shortname : Actual value ; Type : Lower bound (optional) : Upper bound (optional) ; Description (optional) ;The HORUS operator write_cam_par expects in the file CamParFile the parameter group Camera:Parameter. This parameter group consists of the 8 parameters Focus, Sx, Sy, Cx, Cy, Kappa , ImageWidth and ImageHeight. Comments are marked by a '' at the beginning of a line. A suitable file can look like the following:
# INTERNAL CAMERA PARAMETERS ParGroup: Camera: Parameter; "Internal CCD-camera parameters"; Focus:foc: 0.00806039; DOUBLE:0.0:; "Focal length of the lens [meter]"; Sx:sx: 1.0629e-05; DOUBLE:0.0:; "Width of a cell on the CCD-chip [meter]"; Sy:sy: 1.1e-05; DOUBLE:0.0:; "Height of a cell on the CCD-chip [meter]"; Cx:cx: 378.236; DOUBLE:0.0:; "X-coordinate of the image center [pixel]"; Cy:cy: 297.587; DOUBLE:0.0:; "Y-coordinate of the image center [pixel]"; Kappa:kappa: -2253.5; DOUBLE::; "Radial distortion coefficient [1/(meter*meter)]"; ImageWidth:imgw: 768; INT:0:2048; "Width of the used calibration images [pixel]"; ImageHeight:imgh: 576; INT:0:2048; "Height of the used calibration images [pixel]";The underlying camera model is a pinhole camera with radial distortions. A detailled description of this camera model can be found within the description of write_cam_par.
CamParFile (input_control) |
string -> string |
File name of internal camera parameters. | |
Default value: 'campar.dat' | |
List of values: 'campar.dat', 'campar.initial', 'campar.final' |
CamParam (output_control) |
number-array -> real / integer |
Internal camera parameters. | |
Number of elements: 8 |
/* get internal camera parameters: */ read_cam_par(::'campar.dat':CamParam).
read_cam_par returns TRUE if all parameter values are correct and the file has been read successfully. If necessary an exception is raised.
find_marks_and_pose, sim_caltab, create_caltab, disp_caltab, camera_calibration
find_caltab, find_marks_and_pose, camera_calibration, disp_caltab, sim_caltab, write_cam_par, write_cam_pose, read_cam_pose, project_3d_point, inverse_project_pixel