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Calibration

Transformations - TransformAlignment

Returns the corresponding coordinate system for a given point, angle and calibration transform. Note: Transform's calibration model is needed for undistortion, when not supplied the inObjects are assumed to be already undistorted, and they will be simply transformed to the world/image frame. Transform's homography is needed for transforming coordinates to the world/image frame, when not supplied only the undistortion is performed.

IN

Name Type Description
InPoint Point2D Point.
InAngle Float Angle.
InCalibrationTransform CalibrationTransform Transformation to use.
InInverseY Bool Whether to consider the Y axis as going upwards, in a coordinate system with right-handed orientation (inverse respect to Image representation).
InReverse Bool Whether to invert the transform before applying it.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutUCS2D UCS2D Resulting alignment.
Error ErrorState Gets the execution error message

Transformations - TransformCoordinates_Edge1D

Transform coordinates between Image and World frame of reference. Note: Transform's calibration model is needed for undistortion, when not supplied the inObjects are assumed to be already undistorted, and they will be simply transformed to the world/image frame. Transform's homography is needed for transforming coordinates to the world/image frame, when not supplied only the undistortion is performed.

IN

Name Type Description
InObjects Edge1DArray Array of objects to be transformed.
InCalibrationTransform CalibrationTransform Transformation to use.
InReverse Bool Whether to invert the transform before applying it.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutEdge1D Edge1DArray Array of transformed objects.
Error ErrorState Gets the execution error message

Transformations - TransformCoordinates_Gap1D

Transform coordinates between Image and World frame of reference. Note: Transform's calibration model is needed for undistortion, when not supplied the inObjects are assumed to be already undistorted, and they will be simply transformed to the world/image frame. Transform's homography is needed for transforming coordinates to the world/image frame, when not supplied only the undistortion is performed.

IN

Name Type Description
InObjects Gap1DArray Array of objects to be transformed.
InCalibrationTransform CalibrationTransform Transformation to use.
InReverse Bool Whether to invert the transform before applying it.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutGap1D Gap1DArray Array of transformed objects.
Error ErrorState Gets the execution error message

Transformations - TransformCoordinates_Path

Transform coordinates between Image and World frame of reference. Note: Transform's calibration model is needed for undistortion, when not supplied the inObjects are assumed to be already undistorted, and they will be simply transformed to the world/image frame. Transform's homography is needed for transforming coordinates to the world/image frame, when not supplied only the undistortion is performed.

IN

Name Type Description
InObjects PathArray Array of objects to be transformed.
InCalibrationTransform CalibrationTransform Transformation to use.
InReverse Bool Whether to invert the transform before applying it.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutPath PathArray Array of transformed objects.
Error ErrorState Gets the execution error message

Transformations - TransformCoordinates_Point2D

Transform coordinates between Image and World frame of reference. Note: Transform's calibration model is needed for undistortion, when not supplied the inObjects are assumed to be already undistorted, and they will be simply transformed to the world/image frame. Transform's homography is needed for transforming coordinates to the world/image frame, when not supplied only the undistortion is performed.

IN

Name Type Description
InObjects Point2DArray Array of objects to be transformed.
InCalibrationTransform CalibrationTransform Transformation to use.
InReverse Bool Whether to invert the transform before applying it.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutPoint2D Point2DArray Array of transformed objects.
Error ErrorState Gets the execution error message

Transformations - TransformCoordinates_Ridge1D

Transform coordinates between Image and World frame of reference. Note: Transform's calibration model is needed for undistortion, when not supplied the inObjects are assumed to be already undistorted, and they will be simply transformed to the world/image frame. Transform's homography is needed for transforming coordinates to the world/image frame, when not supplied only the undistortion is performed.

IN

Name Type Description
InObjects Ridge1DArray Array of objects to be transformed.
InCalibrationTransform CalibrationTransform Transformation to use.
InReverse Bool Whether to invert the transform before applying it.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutRidge1D Ridge1DArray Array of transformed objects.
Error ErrorState Gets the execution error message

Transformations - TransformCoordinates_Segment2D

Transform coordinates between Image and World frame of reference. Note: Transform's calibration model is needed for undistortion, when not supplied the inObjects are assumed to be already undistorted, and they will be simply transformed to the world/image frame. Transform's homography is needed for transforming coordinates to the world/image frame, when not supplied only the undistortion is performed.

IN

Name Type Description
InObjects Segment2DArray Array of objects to be transformed.
InCalibrationTransform CalibrationTransform Transformation to use.
InReverse Bool Whether to invert the transform before applying it.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutSegment2D Segment2DArray Array of transformed objects.
Error ErrorState Gets the execution error message

Transformations - TransformCoordinates_Stripe1D

Transform coordinates between Image and World frame of reference. Note: Transform's calibration model is needed for undistortion, when not supplied the inObjects are assumed to be already undistorted, and they will be simply transformed to the world/image frame. Transform's homography is needed for transforming coordinates to the world/image frame, when not supplied only the undistortion is performed.

IN

Name Type Description
InObjects Stripe1DArray Array of objects to be transformed.
InCalibrationTransform CalibrationTransform Transformation to use.
InReverse Bool Whether to invert the transform before applying it.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutStripe1D Stripe1DArray Array of transformed objects.
Error ErrorState Gets the execution error message

PatternFinderParams - CreatePatternFinderParams

Constructs a new PatternFinderParams object.

IN

Name Type Description
InType Enum < PatternFinder > Pattern type.
InFeatureStep Float Pattern features step.
InTolerance Float Tolerance (only for Checkerboard and CircleGrid patterns).
InMinGaussianScore Float Minimum Gaussian score (only for Checkerboard and CircleGrid patterns).
InFeatureQuality Float Corner quality level (only for Checkerboard and CircleGrid patterns).
InFeatureMinDistance Float Minimum distance between found features (in image coordinates).
InMarkerStep Float Marker step (only for ChArUcoBoard pattern).
InCharucoBoardSize Size ChArUco board size (only for ChArUcoBoard pattern).
InDictionary Enum < CharucoDictionary > Dictionary (only for ChArUcoBoard pattern).
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutPatternFinderParams PatternFinderParams The PatternFinderParams instance.
Error ErrorState Gets the execution error message

CameraCalibrationModel - CreateCameraCalibrationModel_CreateFromType

Creates a new CameraCalibrationModel object.

IN

Name Type Description
InCalibrationParams CalibrationParams Camera model parameters.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCameraCalibrationModel CameraCalibrationModel The CameraCalibrationModel instance.
Error ErrorState Gets the execution error message

CameraCalibrationModel - Deserialize

De-serialize the CameraCalibration buffer using flatbuffers.

IN

Name Type Description
InBuffer Buffer Where the image data is contained.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCameraCalibrationModel CameraCalibrationModel Deserialized object.
Error ErrorState Gets the execution error message

CameraCalibrationModel - GetCameraType

Returns the model type.

IN

Name Type Description
InCameraCalibrationModel CameraCalibrationModel The input CameraCalibrationModel
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCameraCalibration Enum < CameraCalibration > Model type.
Error ErrorState Gets the execution error message

CameraCalibrationModel - IsCalibrated

Checks if the CameraCalibrationModel is calibrated.

IN

Name Type Description
InCameraCalibrationModel CameraCalibrationModel The input CameraCalibrationModel
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutBool Bool True if calibrated, false otherwise.
Error ErrorState Gets the execution error message

CameraCalibrationModel - Serialize

Serialize the CameraCalibration object using flatbuffers.

IN

Name Type Description
InCameraCalibrationModel CameraCalibrationModel The input CameraCalibrationModel
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutByteBuffer Buffer Buffer where the object is stored.
Error ErrorState Gets the execution error message

Calibration - AlignHomography

Changes the homography transform in such a way that the transformed frame of reference has the alignment provided in input.

IN

Name Type Description
InHomography Matrix The homography matrix to transform.
InOrigin UCS2D The desired alignment.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutMatrix Matrix Homography that defines a transform in a frame of reference with the desired alignment.
Error ErrorState Gets the execution error message

Calibration - Calibrate_MultipleImages

Calibrate a camera with one of the available models using different views.

IN

Name Type Description
InImages ImageArray A vector containing an image for each view of the calibration pattern.
InPatternFinderParams PatternFinderParams Parameters related to the type of pattern used in the calibration image.
InCalibrateParams CalibrationParams Parameters related to the calibration procedure.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationMap CalibrationMapNull CalibrationMap that can be used for remapping an image using the estimated calibration parameters. If the calibration was not successful, Null is returned.
Error ErrorState Gets the execution error message

Calibration - Calibrate_MultipleViews

Calibrate a camera with one of the available models using different views.

IN

Name Type Description
InAnnotatedPatternsList AnnotatedPoint2DArrayArray Array of AnnotatedPoint2D containing the labelled patterns (i.e., one array for each view).
InSize Size The size of the calibration images from which calibration patterns were extracted.
InPatternFinderParams PatternFinderParams Parameters related to the type of pattern used in the calibration image.
InCalibrateParams CalibrationParams Parameters related to the calibration procedure.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationMap CalibrationMapNull CalibrationMap that can be used for remapping an image using the estimated calibration parameters. If the calibration was not successful, Null is returned.
Error ErrorState Gets the execution error message

Calibration - Calibrate_SingleImage

Calibrate a camera with one of the available models.

IN

Name Type Description
InImage Image An image containing the calibration pattern.
InPatternFinderParams PatternFinderParams Parameters related to the type of pattern used in the calibration image.
InCalibrateParams CalibrationParams Parameters related to the calibration procedure.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationMap CalibrationMapNull CalibrationMap that can be used for remapping an image using the estimated calibration parameters. If the calibration was not successful, Null is returned.
Error ErrorState Gets the execution error message

Calibration - Calibrate_SingleView

Calibrate a camera with one of the available models.

IN

Name Type Description
InAnnotatedPatterns AnnotatedPoint2DArray Array of AnnotatedPoint2D containing the labelled patterns.
InSize Size The size of the calibration images from which calibration patterns were extracted.
InPatternFinderParams PatternFinderParams Parameters related to the type of pattern used in the calibration image.
InCalibrateParams CalibrationParams Parameters related to the calibration procedure.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationMap CalibrationMapNull CalibrationMap that can be used for remapping an image using the estimated calibration parameters. If the calibration was not successful, Null is returned.
Error ErrorState Gets the execution error message

Calibration - EstimateHomography_FromAnnotatedPoints

Compute the homography transformation between source points and destination points correspondence.

IN

Name Type Description
InAnnotatedPoints AnnotatedPoint2DArray Array of annotated points. Annotation should contain the world plane coordinates while points should contain the image plane coordinates.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutMatrix Matrix Homography matrix that describe the perspective transform between image and world plane.
Error ErrorState Gets the execution error message

Calibration - EstimateHomography_FromAnnotatedPointsArray

Compute a global homography from a set of views Point-to-Point correspondence.

IN

Name Type Description
InAnnotatedPointsArray AnnotatedPoint2DArrayArray Array of AnnotatedPoint2D one for each camera view.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutMatrix Matrix Homography matrix that describe the perspective transform between image and world plane.
Error ErrorState Gets the execution error message

Calibration - EstimateHomography_FromPoints

Compute the homography transformation between source points and destination points correspondence.

IN

Name Type Description
InSourcePoints Point2DArray Array containing points with coordinates expressed in the source reference frame.
InDestinationPoints Point2DArray Array containing points with coordinates expressed in the destination reference frame.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutMatrix Matrix Homography matrix that describe the perspective transform between source & destination points.
Error ErrorState Gets the execution error message

Calibration - FindCalibrationPatterns_MultipleImages

Extract calibration patterns from an array of images.

IN

Name Type Description
InImages ImageArray Array of images containing different views of a calibration pattern.
InPatternFinderParams PatternFinderParams Parameters related to the type of pattern used in the calibration image.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutAnnotatedPoint2D AnnotatedPoint2DArrayArray Array of AnnotatedPoint2D (i.e., an array for each view).
Error ErrorState Gets the execution error message

Calibration - FindCalibrationPatterns_SingleImage

Extract calibration pattern from an image.

IN

Name Type Description
InImage Image The image containing the calibration pattern.
InPatternFinderParams PatternFinderParams Parameters related to the type of pattern used in the calibration image.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutAnnotatedPoint2D AnnotatedPoint2DArray Array containing the extracted pattern.
Error ErrorState Gets the execution error message

CalibrationTransform - CreateCalibrationTransform_CreateFromObjects

Constructs a new CalibrationTransform object.

IN

Name Type Description
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationTransform CalibrationTransform The CalibrationTransform instance.
Error ErrorState Gets the execution error message

CalibrationTransform - Deserialize

De-serialize the CalibrationTransform buffer using flatbuffers.

IN

Name Type Description
InBuffer Buffer Where the image data is contained.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationTransform CalibrationTransform Deserialized object.
Error ErrorState Gets the execution error message

CalibrationTransform - Reverse

Reverse the homography matrix.

IN

Name Type Description
InCalibrationTransform CalibrationTransform The input CalibrationTransform
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationTransform CalibrationTransform Reversed CalibrationTransform.
Error ErrorState Gets the execution error message

CalibrationTransform - Serialize

Serialize the CalibrationTransform object using flatbuffers.

IN

Name Type Description
InCalibrationTransform CalibrationTransform The input CalibrationTransform
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutByteBuffer Buffer Buffer where the object is stored.
Error ErrorState Gets the execution error message

CalibrationTransform - Verify

Check if CalibrationTransform is valid. Note: If the CalibrationTransform is not valid the functions throws an exceptions detailing why.

IN

Name Type Description
InCalibrationTransform CalibrationTransform The input CalibrationTransform
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationTransform CalibrationTransform The modified Core.Data.Types.CalibrationTransform
Error ErrorState Gets the execution error message

CalibrationParams - CreateCalibrationParams

Constructs a new CalibrationParams object.

IN

Name Type Description
InCameraModel Enum < CameraCalibration > Camera model.
InOptimizeCenter Bool Whether to optimize distortion center (only for Radial model).
InTelecentricCalibrationMode Enum < CalibrationMode > Calibration mode (only for Telecentric model).
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationParams CalibrationParams The CalibrationParams instance.
Error ErrorState Gets the execution error message

CalibrationMap - CombineWith

Combine the current ImageMap with another one.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
InImageMap ImageMap Another ImageMap.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutImageMap ImageMap Output ImageMap.
Error ErrorState Gets the execution error message

CalibrationMap - CreateCalibrationMap_CreateFromValues

Constructs a new CalibrationMap object.

IN

Name Type Description
InImageMap ImageMap Image map.
InUmOnPixel Float Resolution in unit measure per pixel (the same specified in FeatureStep during calibration).
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationMap CalibrationMap The CalibrationMap instance.
Error ErrorState Gets the execution error message

CalibrationMap - Deserialize

De-serialize a CalibrationMap buffer.

IN

Name Type Description
InBuffer Buffer Buffer containing the object.
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutCalibrationMap CalibrationMap Deserialized object.
Error ErrorState Gets the execution error message

CalibrationMap - GetDataX

Returns the pointer to the internal map X data.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutFloat FloatArray Data pointer for X map.
Error ErrorState Gets the execution error message

CalibrationMap - GetDataY

Returns the pointer to the internal map Y data.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutFloat FloatArray Data pointer for Y map.
Error ErrorState Gets the execution error message

CalibrationMap - GetInputHeight

Returns the input height.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutInt Int Input height.
Error ErrorState Gets the execution error message

CalibrationMap - GetInputSize

Returns a Size object containing the input image's width and height.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutSize Size Input size.
Error ErrorState Gets the execution error message

CalibrationMap - GetInputWidth

Returns the input width.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutInt Int Input width.
Error ErrorState Gets the execution error message

CalibrationMap - GetOutputHeight

Returns the output height. Note: Corresponds to the internal maps' height.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutInt Int Output height.
Error ErrorState Gets the execution error message

CalibrationMap - GetOutputSize

Returns a Size object containing the output image's width and height.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutSize Size Output size.
Error ErrorState Gets the execution error message

CalibrationMap - GetOutputWidth

Returns the output width. Note: Corresponds to the internal maps' width.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutInt Int Output width.
Error ErrorState Gets the execution error message

CalibrationMap - GetumOnPixel

Returns the micrometers per pixel.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutFloat Float Resolution.
Error ErrorState Gets the execution error message

CalibrationMap - Inverse

Invert the current ImageMap.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutImageMap ImageMap ov::ImageMap
Error ErrorState Gets the execution error message

CalibrationMap - IsEmpty

Checks whether the ImageMap is empty.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutBool Bool True if it's empty, false otherwise.
Error ErrorState Gets the execution error message

CalibrationMap - Serialize

Serialize CalibrationMap object using flatbuffers.

IN

Name Type Description
InCalibrationMap CalibrationMap The input CalibrationMap
Name String Set the tool's name
Enable Bool Sets if current tool is enabled or not

OUT

Name Type Description
OutByteBuffer Buffer Buffer where the object is stored.
Error ErrorState Gets the execution error message