MIL_ID ContextCalOrCalibratedMilObjectId, | //in |
MIL_INT64 ControlType, | //in |
MIL_DOUBLE ControlValue | //in |
This function allows you to control a specified setting of a camera calibration context, calibrated image, or 3D draw calibration context.
If you control a camera calibration setting of a calibrated image with an M_VECTOR_AND_RASTER ROI, the raster information will be discarded, causing the ROI to become an M_VECTOR ROI. See MbufSetRegion() for more information.
Specifies the identifier of the camera calibration context, calibrated image, or 3D draw calibration context.
Specifies the setting to change.
See the Parameter associations section for possible values that can be specified.
Specifies the setting's new value.
See the Parameter associations section for possible values that can be specified.
The tables below list possible values for the ControlType and ControlValue parameters.
The following ControlType and ControlValue parameter settings can be specified for a camera calibration context:
For a camera calibration context
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Description | ||||||||||||||||||||||||||||||||||||||
ControlValue | |||||||||||||||||||||||||||||||||||||||
M_CALIBRATION_PLANE |
Sets the plane in which the calibration points are defined. INQ (summarize)Sets the plane in which the calibration points are defined. INQ (more details...) |
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M_DEFAULT |
Same as M_ABSOLUTE_COORDINATE_SYSTEM. |
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M_ABSOLUTE_COORDINATE_SYSTEM |
Specifies that the calibration points are defined in the absolute coordinate system. |
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M_RELATIVE_COORDINATE_SYSTEM |
Specifies that the calibration points are defined in the relative coordinate system. |
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M_FOREGROUND_VALUE |
Sets whether the circles in a circle grid, used with McalGrid(), are lighter or darker than the background. INQ (summarize)Sets whether the circles in a circle grid, used with McalGrid(), are lighter or darker than the background. INQ (more details...) |
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M_DEFAULT |
Determines the appropriate setting automatically. |
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M_FOREGROUND_BLACK |
Specifies that the grid's circles are darker than the background. |
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M_FOREGROUND_WHITE |
Specifies that the grid's circles are lighter than the background. |
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M_GRID_FIDUCIAL |
Specifies that McalGrid() will look for a fiducial in the grid. INQ (summarize)Specifies that McalGrid() will look for a fiducial in the grid. INQ (more details...) |
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M_DEFAULT |
Same as M_NONE. |
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M_DATAMATRIX |
Specifies that a Data Matrix code is used as a fiducial in a chessboard grid. This control type is only used for camera calibrations performed using McalGrid() set to M_CHESSBOARD_GRID. You must set McalControl() with M_GRID_PARTIAL to M_ENABLE and M_GRID_HINT_ANGLE_X, M_GRID_HINT_PIXEL_X, and M_GRID_HINT_PIXEL_Y to M_NONE. Setting M_GRID_FIDUCIAL to M_DATAMATRIX in any other circumstance will generate an error when calling McalGrid(). (summarize)Specifies that a Data Matrix code is used as a fiducial in a chessboard grid. (more details...) |
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M_NONE |
Specifies that there is no fiducial in the grid. |
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M_GRID_HINT_ANGLE_X |
Specifies the hint angle used to establish the direction of the X-axis of the absolute (or relative) coordinate system, when calibrating with a partial chessboard grid. To determine the X-axis of the absolute coordinate system when using a partial grid, McalGrid() first determines the two grid lines intersecting at the reference calibration point. The X- and Y-axes are always aligned with these grid lines. By default, the X-axis of the absolute coordinate system is the grid line intersecting the reference calibration point and closest to the image's X-axis, with the positive X-axis pointing right. To specify the other grid line and/or direction for the positive X-axis, you must specify a hint angle. When you specify a hint angle, the positive X-axis will be the grid line intersecting the reference calibration point and closest in angle to the hint angle. This control type is only used for camera calibrations performed using McalGrid() set to M_CHESSBOARD_GRID, and McalControl() with M_GRID_PARTIAL set to M_ENABLE. Setting this control type in any other circumstance will generate an error when calling McalGrid(). INQ (summarize)Specifies the hint angle used to establish the direction of the X-axis of the absolute (or relative) coordinate system, when calibrating with a partial chessboard grid. INQ (more details...) |
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M_NONE |
Specifies that no hint angle is used. The positive X-axis is the right-pointing grid line closest to the horizontal. This is the default value. (summarize)Specifies that no hint angle is used. (more details...) |
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Value |
Specifies the hint angle, measured counter-clockwise. |
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M_GRID_HINT_PIXEL_X |
Specifies the X-coordinate of the hint pixel. The hint pixel is used to help McalGrid() determine the location of the grid's reference calibration point. Specify an X- and Y-coordinate for the hint pixel that is close to the grid's reference calibration point in the image. For complete grids, the corner calibration point closest to the origin of the pixel coordinate system (top-left corner of the image) is the default reference calibration point. If your grid's reference calibration point is not near the origin of the pixel coordinate system (for instance, if the grid is rotated in the image), you must specify a hint pixel. For complete grids, the corner calibration point closest to the hint pixel will be the grid's reference calibration point. For complete grids, given that the number of rows and columns are specified, there can be either 2 valid corners (for a rectangle grid) or 4 corners (for a square grid), so the approximate X-coordinate does not have to be very precise. For partial chessboard grids (M_GRID_PARTIAL set to M_ENABLE), the calibration point closest to the center of the image is the default reference calibration point. If you need your grid's reference calibration point in another place, you must specify a hint pixel; the calibration point closest to the hint pixel will be the grid's reference calibration point. This control type is only used for camera calibrations performed using McalGrid(). INQ (summarize)Specifies the X-coordinate of the hint pixel. INQ (more details...) |
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M_DEFAULT |
Same as M_NONE. |
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M_NONE |
Specifies not to use a hint pixel. When using a complete grid, the calibration point closest to the top-left corner of the image is used as the grid's reference calibration point. When using a partial grid, the calibration point closest to the center of the image is used as the grid's reference calibration point. Note that when you set M_GRID_HINT_PIXEL_X to M_NONE, you must also set M_GRID_HINT_PIXEL_Y to M_NONE. (summarize)Specifies not to use a hint pixel. (more details...) |
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Value |
Specifies the X-coordinate of the hint pixel, in the pixel coordinate system. |
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M_GRID_HINT_PIXEL_Y |
Specifies the Y-coordinate of the hint pixel. The hint pixel is used to help McalGrid() determine the location of the grid's reference calibration point. Specify an X- and Y-coordinate for the hint pixel that is close to the grid's reference calibration point in the image. For complete grids, the corner calibration point closest to the origin of the pixel coordinate system (top-left corner of the image) is the default reference calibration point. If your grid's reference calibration point is not near the origin of the pixel coordinate system (for instance, if the grid is rotated in the image), you must specify a hint pixel. For complete grids, the corner calibration point closest to the hint pixel will be the grid's reference calibration point. For complete grids, given that the number of rows and columns are specified, there can be either 2 valid corners (for a rectangle grid) or 4 corners (for a square grid), so the approximate Y-coordinate does not have to be very precise. For partial chessboard grids (M_GRID_PARTIAL set to M_ENABLE), the calibration point closest to the center of the image is the default reference calibration point. If you need your grid's reference calibration point in another place, you must specify a hint pixel; the calibration point closest to the hint pixel will be the grid's reference calibration point. This control type is only used for camera calibrations performed using McalGrid(). INQ (summarize)Specifies the Y-coordinate of the hint pixel. INQ (more details...) |
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M_DEFAULT |
Same as M_NONE. |
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M_NONE |
Specifies not to use a hint pixel. When using a complete grid, the calibration point closest to the top-left corner of the image is used as the grid's reference calibration point. When using a partial grid, the calibration point closest to the center of the image is used as the grid's reference calibration point. Note that when you set M_GRID_HINT_PIXEL_Y to M_NONE, you must also set M_GRID_HINT_PIXEL_X to M_NONE. (summarize)Specifies not to use a hint pixel. (more details...) |
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Value |
Specifies the Y-coordinate of the hint pixel, in the pixel coordinate system. |
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M_GRID_PARTIAL |
Specifies whether McalGrid() can assume that the chessboard grid is complete. A complete grid is one the has the exact number of rows and columns specified when calling McalGrid(). INQ (summarize)Specifies whether McalGrid() can assume that the chessboard grid is complete. INQ (more details...) |
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M_DISABLE |
Specifies that McalGrid() will only calibrate the camera setup when a complete grid is found in the image. For complete grids, the grid's default reference calibration point is the calibration point at the corner of the grid, closest to the top-left corner of the image. To specify the calibration point at another corner of the grid, for instance to indicate that the physical grid is rotated, you must specify a hint pixel using M_GRID_HINT_PIXEL_X and M_GRID_HINT_PIXEL_Y. This is the default value. (summarize)Specifies that McalGrid() will only calibrate the camera setup when a complete grid is found in the image. (more details...) |
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M_ENABLE |
Specifies that McalGrid() can calibrate the camera setup when a partial grid is found in the image. When you enable partial grids, the calibration point closest to the center of the image is the grid's default reference calibration point. You can specify an alternative reference calibration point by specifying a hint pixel using M_GRID_HINT_PIXEL_X and M_GRID_HINT_PIXEL_Y. When you enable partial grids, you can specify how to handle potential outlying false calibration points using M_GRID_SHAPE. When enabling partial grids, you must specify that the grid is a M_CHESSBOARD_GRID type grid when calling McalGrid(), which includes both chessboard grids and fiducial grids. Enabling partial grids with an M_CIRCLE_GRID type grid will result in an error. (summarize)Specifies that McalGrid() can calibrate the camera setup when a partial grid is found in the image. (more details...) |
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M_GRID_SHAPE |
Specifies how to handle potential outlying calibration points, using assumptions about the grid's shape in the image. When M_GRID_PARTIAL is set to M_DISABLE, you must set M_GRID_SHAPE to M_RECTANGLE. McalGrid() will try to find the outside edges of a partial chessboard grid if it is assumed to be rectangular. This affects whether potential calibration points are included in the camera calibration or are excluded as outliers. INQ (summarize)Specifies how to handle potential outlying calibration points, using assumptions about the grid's shape in the image. INQ (more details...) |
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M_DEFAULT |
Same as M_RECTANGLE. |
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M_ANY |
Specifies to include all potential calibration points in the image; McalGrid() will not look for the boundary of the real-world grid. In this case, the shape of the partial grid is not bound. Set this value when the partial grid in the image is not a rectangle. This can be either when the real-world grid is a rectangle, but is occluded by an object in the image, as in the image on the left, or when the real-world grid is not a rectangle, as in the image on the right. With no fixed shape, no potential calibration point can be excluded as an outlier because it is not clear where the boundary of the partial grid is. This could lead to outlying false calibration points being included in the camera calibration, which would reduce the calibration's precision. In this case, it is highly recommended to check all calibration points extracted from the image using McalGrid() are valid, using McalDraw() with M_DRAW_IMAGE_POINTS. (summarize)Specifies to include all potential calibration points in the image; McalGrid() will not look for the boundary of the real-world grid. (more details...) |
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M_RECTANGLE |
Specifies to exclude potential calibration points in the image that McalGrid() determines are outside the boundaries of the partial grid. In this case, the shape of the partial grid is a rectangle. Set this value if the real-world grid is rectangular and the image of the partial grid is not occluded by any objects in the image. Note that a partial grid is still considered rectangular if the boundary of the partial grid is obscured by the end of the image. In this case, McalGrid() will look for the boundaries of the partial grid in the image. This allows the possibility of excluding false calibration points outside of the grid. (summarize)Specifies to exclude potential calibration points in the image that McalGrid() determines are outside the boundaries of the partial grid. (more details...) |
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M_LINK_TOOL_AND_CAMERA |
Creates a rigid link between the camera coordinate system and the tool coordinate system. By default, a rigid link exists between the tool and camera coordinate systems such that moving one automatically moves the other accordingly. However, this can be broken using M_LINK_TOOL_AND_CAMERA set to M_DISABLE. You can then set the tool coordinate system to a known location without affecting the camera coordinate system (and the pixel-to-world mapping). After moving the tool coordinate system, you can then re-establish the link so that you move the camera coordinate system by moving the tool coordinate system. INQ (summarize)Creates a rigid link between the camera coordinate system and the tool coordinate system. INQ (more details...) |
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M_DEFAULT |
Same as M_ENABLE. |
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M_DISABLE |
Specifies to remove the link between the two coordinate systems, allowing both to be moved independently. |
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M_ENABLE |
Specifies to link the two coordinate systems, allowing both to be moved together. |
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M_LOCALIZATION_NB_ITERATIONS_MAX |
Specifies the maximum number of iterations to attempt to fit the provided points when calculating the new position of the camera or relative coordinate system, when using McalList() and McalGrid() with M_DISPLACE_CAMERA_COORD or M_DISPLACE_RELATIVE_COORD respectively. If the specified number of iterations is large, the computation could take longer to run, but the algorithm will be more robust. If M_LOCALIZATION_NB_OUTLIERS_MAX is set to 0, only 1 iteration is required and no more will be performed. INQ (summarize)Specifies the maximum number of iterations to attempt to fit the provided points when calculating the new position of the camera or relative coordinate system, when using McalList() and McalGrid() with M_DISPLACE_CAMERA_COORD or M_DISPLACE_RELATIVE_COORD respectively. INQ (more details...) |
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M_DEFAULT |
Specifies the default value; the default value is 250. |
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Value >= 1 |
Specifies the number of expected outliers. Only integer values are accepted. (summarize)Specifies the number of expected outliers. (more details...) |
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M_LOCALIZATION_NB_OUTLIERS_MAX |
Specifies the maximum number of possible outliers that can occur in the dataset used by McalList() or McalGrid() with M_DISPLACE_CAMERA_COORD or M_DISPLACE_RELATIVE_COORD. If the specified number of outliers is large, more iterations are required to determine which points provide the best solution; therefore, computation can take longer, but the function will be more robust to outliers. Also, the function could fail if the value of M_LOCALIZATION_NB_ITERATIONS_MAX is too low. INQ (summarize)Specifies the maximum number of possible outliers that can occur in the dataset used by McalList() or McalGrid() with M_DISPLACE_CAMERA_COORD or M_DISPLACE_RELATIVE_COORD. INQ (more details...) |
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M_DEFAULT |
Specifies the default value; the default value is 0. |
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Value >= 0 |
Specifies the number of expected outliers. Only integer values are accepted. (summarize)Specifies the number of expected outliers. (more details...) |
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M_TOOL_POSITION_X |
Sets the X-position of the tool coordinate system in the absolute coordinate system. The X-position is initialized to 0.0. INQ (summarize)Sets the X-position of the tool coordinate system in the absolute coordinate system. INQ (more details...) |
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Value |
Specifies the X-coordinate, in world units. |
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M_TOOL_POSITION_Y |
Sets the Y-position of the tool coordinate system in the absolute coordinate system. The Y-position is initialized to 0.0. INQ (summarize)Sets the Y-position of the tool coordinate system in the absolute coordinate system. INQ (more details...) |
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Value |
Specifies the Y-coordinate, in world units. |
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M_TOOL_POSITION_Z |
Sets the Z-position of the tool coordinate system in the absolute coordinate system. The Z-position is initialized to 0.0. When using the linear interpolation or perspective transformation camera calibration mode, M_TOOL_POSITION_Z must be set to M_DEFAULT. INQ (summarize)Sets the Z-position of the tool coordinate system in the absolute coordinate system. INQ (more details...) |
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M_DEFAULT |
Specifies the default value; the default value is 0.0. |
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Value |
Specifies the Z-coordinate, in world units. |
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M_TRANSFORM_CACHE |
Sets whether to use a cache to accelerate the McalTransformImage() function. INQ (summarize)Sets whether to use a cache to accelerate the McalTransformImage() function. INQ (more details...) |
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M_DISABLE |
Specifies not to use a cache. Not using a cache saves memory but slows down subsequent calls to McalTransformImage(). (summarize)Specifies not to use a cache. (more details...) |
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M_ENABLE |
Specifies to use a cache. This is the default value. (summarize)Specifies to use a cache. (more details...) |
The following ControlType and ControlValue parameter settings can be specified only for a 3D-based camera calibration context ( M_TSAI_BASED or M_3D_ROBOTICS):
For a 3D-based camera calibration
context
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ControlValue | |||||||||||||||||||||||||||||||||||||||
M_CCD_ASPECT_RATIO |
Sets the width-to-height ratio of the individual elements of the CCD. If this value is not set and is required by the camera calibration mode, the ratio will default to 1.0. INQ (summarize)Sets the width-to-height ratio of the individual elements of the CCD. INQ (more details...) |
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1.0 |
Specifies that the width and height of the CCD element are equal. This is the default value. (summarize)Specifies that the width and height of the CCD element are equal. (more details...) |
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Value > 0.0 |
Specifies the value of the width of a CCD element divided by its height. |
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M_PRINCIPAL_POINT_X |
Sets the X-coordinate of the intersection of the camera's optical axis and the image plane. INQ (summarize)Sets the X-coordinate of the intersection of the camera's optical axis and the image plane. INQ (more details...) |
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M_DEFAULT |
Specifies half of the image's width, in pixels. |
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Value |
Specifies the X-coordinate, in pixels. This only has an effect if M_PRINCIPAL_POINT_Y is not set to M_DEFAULT. (summarize)Specifies the X-coordinate, in pixels. (more details...) |
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M_PRINCIPAL_POINT_Y |
Sets the Y-coordinate of the intersection of the camera's optical axis and the image plane. INQ (summarize)Sets the Y-coordinate of the intersection of the camera's optical axis and the image plane. INQ (more details...) |
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M_DEFAULT |
Specifies half of the image's height, in pixels. |
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Value |
Specifies the Y-coordinate, in pixels. This only has an effect if M_PRINCIPAL_POINT_X is not set to M_DEFAULT. (summarize)Specifies the Y-coordinate, in pixels. (more details...) |
The following ControlType and ControlValue parameter settings can be specified for a calibrated image:
For a calibrated image
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ControlValue | |||||||||||||||||||||||||||||||||||||||
M_CALIBRATION_CHILD_OFFSET_X |
Sets the X-offset of a child buffer, relative to its highest order calibrated parent buffer. INQ (summarize)Sets the X-offset of a child buffer, relative to its highest order calibrated parent buffer. INQ (more details...) |
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Value |
Specifies the X-offset, relative to the child buffer's highest order calibrated parent buffer. |
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M_CALIBRATION_CHILD_OFFSET_Y |
Sets the Y-offset of a child buffer, relative to its highest order calibrated parent buffer. INQ (summarize)Sets the Y-offset of a child buffer, relative to its highest order calibrated parent buffer. INQ (more details...) |
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Value |
Specifies the Y-offset, relative to the child buffer's highest order calibrated parent buffer. |
The following ControlType and ControlValue parameter settings can be specified for a calibrated image:
For a calibrated and corrected image
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M_GRAY_LEVEL_SIZE_Z |
Sets the difference in height corresponding to a difference of one gray level in a fully-corrected depth map. INQ (summarize)Sets the difference in height corresponding to a difference of one gray level in a fully-corrected depth map. INQ (more details...) |
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M_INVALID_SCALE |
Specifies that the image is not a depth map. This is the default value. (summarize)Specifies that the image is not a depth map. (more details...) |
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Value != 0.0 |
Specifies the height, in world units, corresponding to a difference of one gray level. |
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M_WORLD_POS_Z |
Sets the real-world Z-offset of a gray level of 0 in the corrected image, useful in depth maps. INQ (summarize)Sets the real-world Z-offset of a gray level of 0 in the corrected image, useful in depth maps. INQ (more details...) |
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Value |
Specifies the base height of a gray level of 0. The default value is 0.0. (summarize)Specifies the base height of a gray level of 0. (more details...) |
The following ControlType and ControlValue parameter settings can be specified for a 3D draw calibration context:
For a 3D draw calibration context
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Description | ||||||||||||||||||||||||||||||||||||||
ControlValue | |||||||||||||||||||||||||||||||||||||||
M_DRAW_ABSOLUTE_COORDINATE_SYSTEM |
Sets whether to draw the absolute coordinate system's axes. INQ (summarize)Sets whether to draw the absolute coordinate system's axes. INQ (more details...) |
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M_DEFAULT |
Same as M_ENABLE. |
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M_DISABLE |
Specifies not to draw the absolute coordinate system's axes. |
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M_ENABLE |
Specifies to draw the absolute coordinate system's axes. |
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M_DRAW_CAMERA_COORDINATE_SYSTEM |
Sets whether to draw the camera coordinate system's axes. INQ (summarize)Sets whether to draw the camera coordinate system's axes. INQ (more details...) |
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M_DEFAULT |
Same as M_ENABLE. |
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M_DISABLE |
Specifies not to draw the camera coordinate system's axes. |
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M_ENABLE |
Specifies to draw the camera coordinate system's axes. |
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M_DRAW_CAMERA_COORDINATE_SYSTEM_NAME |
Sets the name to draw for the camera coordinate system; the initial value is "Camera". INQ (summarize)Sets the name to draw for the camera coordinate system; the initial value is "Camera". INQ (more details...) |
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Casts the address of the string identifying the camera coordinate system's name, from a MIL_CONST_TEXT_PTR to a MIL_INT. (summarize)Casts the address of the string identifying the camera coordinate system's name, from a MIL_CONST_TEXT_PTR to a MIL_INT. (more details...) |
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Parameters | |||||||||||||||||||||||||||||||||||||||
This parameter specifies the string whose address to cast. |
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M_DRAW_COORDINATE_SYSTEM_LENGTH |
Sets the length at which to draw the specified coordinate system's axes. INQ (summarize)Sets the length at which to draw the specified coordinate system's axes. INQ (more details...) |
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M_DEFAULT |
Specifies the default value; the default value is 50.0. |
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Value > 0.0 |
Specifies the length (in world units) at which to draw the axes of the specified coordinate system. |
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M_DRAW_FRUSTUM |
Sets whether to draw the frustum of the camera's view. The frustum is the truncated pyramid of vision that originates at the camera's position and, when drawn, ends at the relative XY plane. When enabled, M_DRAW_FRUSTUM draws a wireframe frustum, using the color specified with M_DRAW_FRUSTUM_COLOR. INQ (summarize)Sets whether to draw the frustum of the camera's view. INQ (more details...) |
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M_DEFAULT |
Same as M_ENABLE. |
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M_DISABLE |
Specifies not to draw the frustum. |
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M_ENABLE |
Specifies to draw the frustum. |
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M_DRAW_FRUSTUM_COLOR |
Sets the frustum's color. INQ (summarize)Sets the frustum's color. INQ (more details...) |
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M_DEFAULT |
Same as M_COLOR_YELLOW. |
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Specifies an RGB value to draw in an 8-bit, 3-band buffer. The red, green, and blue values must be values between 0 and 255, inclusive. (summarize)Specifies an RGB value to draw in an 8-bit, 3-band buffer. (more details...) |
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Parameters | |||||||||||||||||||||||||||||||||||||||
Specifies the red component, as a value between 0 and 255. |
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Specifies the green component, as a value between 0 and 255. |
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Specifies the blue component, as a value between 0 and 255. |
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M_COLOR_BLACK |
Specifies the color black. |
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M_COLOR_BLUE |
Specifies the color blue. |
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M_COLOR_BRIGHT_GRAY |
Specifies the color bright gray. |
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M_COLOR_CYAN |
Specifies the color cyan. |
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M_COLOR_DARK_BLUE |
Specifies the color dark blue. |
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M_COLOR_DARK_CYAN |
Specifies the color dark cyan. |
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M_COLOR_DARK_GREEN |
Specifies the color dark green. |
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M_COLOR_DARK_MAGENTA |
Specifies the color dark magenta. |
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M_COLOR_DARK_RED |
Specifies the color dark red. |
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M_COLOR_DARK_YELLOW |
Specifies the color dark yellow. |
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M_COLOR_GRAY |
Specifies the color gray. |
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M_COLOR_GREEN |
Specifies the color green. |
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M_COLOR_LIGHT_BLUE |
Specifies the color light blue. |
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M_COLOR_LIGHT_GRAY |
Specifies the color light gray. |
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M_COLOR_LIGHT_GREEN |
Specifies the color light green. |
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M_COLOR_LIGHT_WHITE |
Specifies the color light white. |
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M_COLOR_MAGENTA |
Specifies the color magenta. |
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M_COLOR_RED |
Specifies the color red. |
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M_COLOR_WHITE |
Specifies the color white. |
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M_COLOR_YELLOW |
Specifies the color yellow. |
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M_NO_COLOR |
Specifies no color. |
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M_DRAW_RELATIVE_COORDINATE_SYSTEM |
Sets whether to draw the relative coordinate system's axes. INQ (summarize)Sets whether to draw the relative coordinate system's axes. INQ (more details...) |
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M_DEFAULT |
Same as M_ENABLE. |
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M_DISABLE |
Specifies not to draw the relative coordinate system's axes. |
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M_ENABLE |
Specifies to draw the relative coordinate system's axes. |
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M_DRAW_RELATIVE_COORDINATE_SYSTEM_NAME |
Sets the name to draw for the relative coordinate system; the initial value is "Relative". INQ (summarize)Sets the name to draw for the relative coordinate system; the initial value is "Relative". INQ (more details...) |
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Casts the address of the string identifying the relative coordinate system's name, from a MIL_CONST_TEXT_PTR to a MIL_INT. (summarize)Casts the address of the string identifying the relative coordinate system's name, from a MIL_CONST_TEXT_PTR to a MIL_INT. (more details...) |
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Parameters | |||||||||||||||||||||||||||||||||||||||
This parameter specifies the string whose address to cast. |
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|
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M_DRAW_RELATIVE_XY_PLANE |
Sets whether to draw the relative XY plane. INQ (summarize)Sets whether to draw the relative XY plane. INQ (more details...) |
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M_DEFAULT |
Same as M_ENABLE. |
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M_DISABLE |
Specifies not to draw the relative XY plane. |
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M_ENABLE |
Specifies to draw the relative XY plane. |
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M_DRAW_RELATIVE_XY_PLANE_COLOR_FILL |
Sets the relative XY plane's fill color. INQ (summarize)Sets the relative XY plane's fill color. INQ (more details...) |
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M_DEFAULT |
Same as M_AUTO_COLOR. |
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Specifies an RGB value to draw in an 8-bit, 3-band buffer. The red, green, and blue values must be values between 0 and 255, inclusive. (summarize)Specifies an RGB value to draw in an 8-bit, 3-band buffer. (more details...) |
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Parameters | |||||||||||||||||||||||||||||||||||||||
Specifies the red component, as a value between 0 and 255. |
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Specifies the green component, as a value between 0 and 255. |
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Specifies the blue component, as a value between 0 and 255. |
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M_AUTO_COLOR |
Specifies either the color white or the texture image. If a texture image is specified (using McalDraw3d() with RelXYPlaneTextureImageBufId), the texture image is drawn on the laser plane. Otherwise, the plane is drawn with M_COLOR_WHITE. (summarize)Specifies either the color white or the texture image. (more details...) |
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M_COLOR_BLACK |
Specifies the color black. |
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M_COLOR_BLUE |
Specifies the color blue. |
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M_COLOR_BRIGHT_GRAY |
Specifies the color bright gray. |
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M_COLOR_CYAN |
Specifies the color cyan. |
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M_COLOR_DARK_BLUE |
Specifies the color dark blue. |
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M_COLOR_DARK_CYAN |
Specifies the color dark cyan. |
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M_COLOR_DARK_GREEN |
Specifies the color dark green. |
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M_COLOR_DARK_MAGENTA |
Specifies the color dark magenta. |
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M_COLOR_DARK_RED |
Specifies the color dark red. |
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M_COLOR_DARK_YELLOW |
Specifies the color dark yellow. |
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M_COLOR_GRAY |
Specifies the color gray. |
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M_COLOR_GREEN |
Specifies the color green. |
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M_COLOR_LIGHT_BLUE |
Specifies the color light blue. |
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M_COLOR_LIGHT_GRAY |
Specifies the color light gray. |
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M_COLOR_LIGHT_GREEN |
Specifies the color light green. |
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M_COLOR_LIGHT_WHITE |
Specifies the color light white. |
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M_COLOR_MAGENTA |
Specifies the color magenta. |
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M_COLOR_RED |
Specifies the color red. |
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M_COLOR_WHITE |
Specifies the color white. |
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M_COLOR_YELLOW |
Specifies the color yellow. |
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M_NO_COLOR |
Specifies no color. |
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M_TEXTURE_IMAGE |
Specifies to use the image passed to McalDraw3d() with RelXYPlaneTextureImageBufId, when drawing the relative XY plane. The texture image is typically a 2D image of the 3D scene. For example, you can specify the image used for calibration. If no texture image is specified using McalDraw3d(), setting M_DRAW_RELATIVE_XY_PLANE_COLOR_FILL to M_TEXTURE_IMAGE will cause an error. (summarize)Specifies to use the image passed to McalDraw3d() with RelXYPlaneTextureImageBufId, when drawing the relative XY plane. (more details...) |
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M_DRAW_RELATIVE_XY_PLANE_COLOR_OUTLINE |
Sets the relative XY plane's outline color. INQ (summarize)Sets the relative XY plane's outline color. INQ (more details...) |
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M_DEFAULT |
Same as M_COLOR_WHITE. |
||||||||||||||||||||||||||||||||||||||
Specifies an RGB value to draw in an 8-bit, 3-band buffer. The red, green, and blue values must be values between 0 and 255, inclusive. (summarize)Specifies an RGB value to draw in an 8-bit, 3-band buffer. (more details...) |
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Parameters | |||||||||||||||||||||||||||||||||||||||
Specifies the red component, as a value between 0 and 255. |
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Specifies the green component, as a value between 0 and 255. |
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Specifies the blue component, as a value between 0 and 255. |
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M_COLOR_BLACK |
Specifies the color black. |
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M_COLOR_BLUE |
Specifies the color blue. |
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M_COLOR_BRIGHT_GRAY |
Specifies the color bright gray. |
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M_COLOR_CYAN |
Specifies the color cyan. |
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M_COLOR_DARK_BLUE |
Specifies the color dark blue. |
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M_COLOR_DARK_CYAN |
Specifies the color dark cyan. |
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M_COLOR_DARK_GREEN |
Specifies the color dark green. |
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M_COLOR_DARK_MAGENTA |
Specifies the color dark magenta. |
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M_COLOR_DARK_RED |
Specifies the color dark red. |
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M_COLOR_DARK_YELLOW |
Specifies the color dark yellow. |
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M_COLOR_GRAY |
Specifies the color gray. |
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M_COLOR_GREEN |
Specifies the color green. |
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M_COLOR_LIGHT_BLUE |
Specifies the color light blue. |
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M_COLOR_LIGHT_GRAY |
Specifies the color light gray. |
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M_COLOR_LIGHT_GREEN |
Specifies the color light green. |
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M_COLOR_LIGHT_WHITE |
Specifies the color light white. |
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M_COLOR_MAGENTA |
Specifies the color magenta. |
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M_COLOR_RED |
Specifies the color red. |
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M_COLOR_WHITE |
Specifies the color white. |
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M_COLOR_YELLOW |
Specifies the color yellow. |
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M_NO_COLOR |
Specifies no color. |
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M_DRAW_RELATIVE_XY_PLANE_OPACITY |
Sets the relative XY plane's opacity. INQ (summarize)Sets the relative XY plane's opacity. INQ (more details...) |
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M_DEFAULT |
Specifies the default value; the default value is 20.0. |
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0.0 <= Value <= 100.0 |
Specifies the relative XY plane's opacity. |
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M_DRAW_ROBOT_BASE_COORDINATE_SYSTEM |
Sets whether to draw the robot base coordinate system's axes. INQ (summarize)Sets whether to draw the robot base coordinate system's axes. INQ (more details...) |
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M_DEFAULT |
Same as M_ENABLE. |
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M_DISABLE |
Specifies not to draw the robot base coordinate system's axes. |
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M_ENABLE |
Specifies to draw the robot base coordinate system's axes. |
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M_DRAW_TOOL_COORDINATE_SYSTEM |
Sets whether to draw the tool coordinate system's axes. INQ (summarize)Sets whether to draw the tool coordinate system's axes. INQ (more details...) |
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M_DEFAULT |
Same as M_DISABLE. |
||||||||||||||||||||||||||||||||||||||
M_DISABLE |
Specifies not to draw the tool coordinate system's axes. |
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M_ENABLE |
Specifies to draw the tool coordinate system's axes. |
1 If you are passing the value in a variable, don't enclose it in MIL_TEXT().
void McalControlInt64
(MIL_ID
ContextCalOrCalibratedMilObjectId, MIL_INT64 ControlType,
MIL_INT64 ControlValue)
Parameters
ContextCalOrCalibratedMilObjectId See ContextCalOrCalibratedMilObjectId of the main function for a description. ControlType See ControlType of the main function for a description. ControlValue See ControlValue of the main function for a description. |
void McalControlDouble
(MIL_ID
ContextCalOrCalibratedMilObjectId, MIL_INT64 ControlType,
MIL_DOUBLE ControlValue)
Parameters
ContextCalOrCalibratedMilObjectId See ContextCalOrCalibratedMilObjectId of the main function for a description. ControlType See ControlType of the main function for a description. ControlValue See ControlValue of the main function for a description. |
Header | Include mil.h. |
Library | Use mil.lib; milcal.lib. |
DLL | Requires mil.dll; milcal.dll. |