McalGetCoordinateSystem
- See also
Availability
Function map
- Examples
McalFree
- McalGrid
in the MIL Reference for the minimum update required.
| MIL_ID CalibratedMilObjectId, | //in |
| MIL_INT64 TargetCoordinateSystem, | //in |
| MIL_INT64 ReferenceCoordinateSystem, | //in |
| MIL_INT64 InquireType, | //in |
| MIL_ID ArrayBufOrMatrix3dgeoId, | //in |
| MIL_DOUBLE *Param1Ptr, | //out |
| MIL_DOUBLE *Param2Ptr, | //out |
| MIL_DOUBLE *Param3Ptr, | //out |
| MIL_DOUBLE *Param4Ptr | //out |
DescriptionThis function returns the position and orientation of one coordinate system as a transformation of another coordinate system. For example, you can use this function to inquire about the position of your camera in the absolute coordinate system; essentially, you can inquire about the origin and orientation of the camera coordinate system with respect to the absolute coordinate system. Note that to move a specified (target) coordinate system relative to a reference coordinate system, you can use McalSetCoordinateSystem().
Note that McalGetCoordinateSystem() returns angles in degrees. However, unlike most other MIL functions, this function returns angles following the right-hand grip rule around the axis of rotation; if you wrap your right hand around the axis of rotation, pointing your thumb in the positive direction of the axis, your fingers wrap in the direction of rotation. For example, a positive rotation around the Z-axis corresponds to a rotation that turns the positive X-axis toward the positive Y-axis.
ParametersSpecifies the identifier of a camera calibration context, a 3D reconstruction context of type M_CALIBRATED_CAMERA_LINEAR_MOTION, a 3D reconstruction result buffer of type M_POINT_CLOUD_RESULT, or any object that has camera calibration information, such as an image or a result buffer.
Note that if you specify a 3D reconstruction context, it must have already been calibrated using M3dmapCalibrate() or M3dmapCalibrateMultiple().
Specifies the coordinate system for which to inquire about its position and orientation. This parameter must be set to one of the following values.
Note that if you specify a 3D reconstruction context, it must have already been calibrated using M3dmapCalibrate() or M3dmapCalibrateMultiple(). In this case, TargetCoordinateSystem can only be set to either M_ABSOLUTE_COORDINATE_SYSTEM or M_LASER_LINE_COORDINATE_SYSTEM.
Note that when CalibratedMilObjectId is set to a 3D reconstruction result buffer, TargetCoordinateSystem can only be set to either M_ABSOLUTE_COORDINATE_SYSTEM or M_RELATIVE_COORDINATE_SYSTEM.
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For specifying the target coordinate
system |
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| Value |
Description | ||||||||||||||||||||||||||||||||||||||
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M_ABSOLUTE_COORDINATE_SYSTEM |
Specifies an implicit and unmovable coordinate system from which all other coordinate systems are defined. By default, it corresponds to the center of the top-left calibration point of the camera calibration grid if calibrated using McalGrid(). (summarize)Specifies an implicit and unmovable coordinate system from which all other coordinate systems are defined. (more details...) |
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M_CAMERA_COORDINATE_SYSTEM |
Specifies the coordinate system whose origin corresponds to the effective pinhole of the camera and whose Z-axis points in the direction that the camera is facing. This coordinate system is only defined after a successful camera calibration in M_TSAI_BASED or M_3D_ROBOTICS mode. Alternatively, you can define this coordinate system using McalSetCoordinateSystem() with M_ASSIGN. (summarize)Specifies the coordinate system whose origin corresponds to the effective pinhole of the camera and whose Z-axis points in the direction that the camera is facing. (more details...) |
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M_LASER_LINE_COORDINATE_SYSTEM |
Specifies the coordinate system whose origin is on the first laser line at the point closest to the origin of the absolute coordinate system. This value is only supported when CalibratedMilObjectId is set to a valid calibrated 3D reconstruction context. (summarize)Specifies the coordinate system whose origin is on the first laser line at the point closest to the origin of the absolute coordinate system. (more details...) |
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M_RELATIVE_COORDINATE_SYSTEM |
Specifies the coordinate system which determines the world plane used when working with world units which can be recentered and/or re-oriented using McalSetCoordinateSystem() or McalRelativeOrigin(). By default, it corresponds to the absolute coordinate system. (summarize)Specifies the coordinate system which determines the world plane used when working with world units which can be recentered and/or re-oriented using McalSetCoordinateSystem() or McalRelativeOrigin(). (more details...) |
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M_ROBOT_BASE_COORDINATE_SYSTEM |
Specifies the coordinate system whose origin is positioned at the base of the robot holding the camera. This coordinate system is only supported for M_3D_ROBOTICS camera calibration mode. It is defined using McalSetCoordinateSystem() with M_ASSIGN, or after a successful camera calibration with McalGrid() or McalList(). (summarize)Specifies the coordinate system whose origin is positioned at the base of the robot holding the camera. (more details...) |
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M_TOOL_COORDINATE_SYSTEM |
Specifies the coordinate system used to change the position of the camera coordinate system. Although you can use this coordinate system to move the camera coordinate system, it need not be associated with the real camera position. By default, its axes are parallel to the absolute coordinate system, and its origin is the same as that of the absolute coordinate system. (summarize)Specifies the coordinate system used to change the position of the camera coordinate system. (more details...) |
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Specifies the coordinate system that will be used as a reference for calculations. All returned coordinates or angles will be calculated relative to this coordinate system. This parameter must be set to one of the following values.
Note that if you specify a 3D reconstruction context, it must have already been calibrated using M3dmapCalibrate() or M3dmapCalibrateMultiple(). In this case, ReferenceCoordinateSystem can only be set to either M_ABSOLUTE_COORDINATE_SYSTEM or M_LASER_LINE_COORDINATE_SYSTEM.
Note that when CalibratedMilObjectId is set to a 3D reconstruction result buffer, ReferenceCoordinateSystem can only be set to either M_ABSOLUTE_COORDINATE_SYSTEM or M_RELATIVE_COORDINATE_SYSTEM.
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For specifying the reference coordinate
system |
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| Value |
Description | ||||||||||||||||||||||||||||||||||||||
| M_DEFAULT |
Same as M_ABSOLUTE_COORDINATE_SYSTEM. |
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M_ABSOLUTE_COORDINATE_SYSTEM |
Specifies an implicit and unmovable coordinate system from which all other world coordinate systems are defined. By default, the origin lies at the center of the top-left calibration point when using McalGrid(). (summarize)Specifies an implicit and unmovable coordinate system from which all other world coordinate systems are defined. (more details...) |
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M_CAMERA_COORDINATE_SYSTEM |
Specifies the coordinate system whose origin corresponds to the effective pinhole of the camera and whose Z-axis points in the direction that the camera is facing. This coordinate system can only be used as a reference coordinate system after it has been defined, either by a successful camera calibration in M_TSAI_BASED or M_3D_ROBOTICS mode. Alternatively, you can define this coordinate system using McalSetCoordinateSystem() with M_ASSIGN. (summarize)Specifies the coordinate system whose origin corresponds to the effective pinhole of the camera and whose Z-axis points in the direction that the camera is facing. (more details...) |
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M_LASER_LINE_COORDINATE_SYSTEM |
Specifies the coordinate system whose origin is on the first laser line at the point closest to the origin of the absolute coordinate system. This value is only supported when CalibratedMilObjectId is set to a valid calibrated 3D reconstruction context. (summarize)Specifies the coordinate system whose origin is on the first laser line at the point closest to the origin of the absolute coordinate system. (more details...) |
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M_RELATIVE_COORDINATE_SYSTEM |
Specifies the coordinate system used when working in world units, which can be recentered and/or re-oriented using McalSetCoordinateSystem() or McalRelativeOrigin(). By default, it is equivalent to the absolute coordinate system. (summarize)Specifies the coordinate system used when working in world units, which can be recentered and/or re-oriented using McalSetCoordinateSystem() or McalRelativeOrigin(). (more details...) |
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M_ROBOT_BASE_COORDINATE_SYSTEM |
Specifies the coordinate system whose origin is positioned at the base of the robot holding the camera. This coordinate system is only supported for M_3D_ROBOTICS camera calibration mode. It is defined using McalSetCoordinateSystem() with M_ASSIGN, or after a successful camera calibration with McalGrid() or McalList(). (summarize)Specifies the coordinate system whose origin is positioned at the base of the robot holding the camera. (more details...) |
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M_TOOL_COORDINATE_SYSTEM |
Specifies the coordinate system used to change the position of the camera coordinate system. Although this is the coordinate system used to move the camera coordinate system, it need not be associated with the real camera position. By default, its axes are parallel to the absolute coordinate system, and its origin is the same as that of the absolute coordinate system. (summarize)Specifies the coordinate system used to change the position of the camera coordinate system. (more details...) |
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Specifies the type of transformation to use to return the location of the target coordinate system with respect to the reference coordinate system.
See the Parameter associations section for possible values that can be specified.
Specifies the identifier of the destination MIL array buffer or transformation matrix object in which to return the matrix representation of the transformation required to cause the reference coordinate system to align with the target coordinate system.
The MIL array buffer must be a 32-bit float buffer, previously allocated using MbufAlloc2d() with M_ARRAY. The required buffer size will depend on the results being returned.
The transformation matrix object must have been previously allocated using M3dgeoAlloc() with M_TRANSFORMATION_MATRIX.
If this parameter is not used, it must be set to M_NULL.
See the Parameter associations section for possible values that can be specified.
Specifies the address in which to return information about the transformation required to cause the reference coordinate system to overlap or align with the target coordinate system, depending on which is requested.
If this parameter is not used, it must be set to M_NULL.
See the Parameter associations section for possible values that can be returned.
Specifies the address in which to return information about the transformation required to cause the reference coordinate system to overlap or align with the target coordinate system, depending on which is requested.
If this parameter is not used, it must be set to M_NULL.
See the Parameter associations section for possible values that can be returned.
Specifies the address in which to return information about the transformation required to cause the reference coordinate system to overlap or align with the target coordinate system, depending on which is requested.
If this parameter is not used, it must be set to M_NULL.
See the Parameter associations section for possible values that can be returned.
Specifies the address in which to return information about the transformation required to cause the reference coordinate system to overlap or align with the target coordinate system, depending on which is requested.
If this parameter is not used, it must be set to M_NULL.
See the Parameter associations section for possible values that can be returned.
The table below lists possible values for the InquireType and ArrayBufOrMatrix3dgeoId parameters and possible values returned to the Param1Ptr, Param2Ptr, Param3Ptr, and Param4Ptr parameters.
Set unused parameters to M_NULL.
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For inquiring about the transformation
parameters
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| InquireType |
Description | ||||||||||||||||||||||||||||||||||||||
| ArrayBufOrMatrix3dgeoId | |||||||||||||||||||||||||||||||||||||||
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Param1Ptr - Possible values returned |
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Param2Ptr - Possible values returned |
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Param3Ptr - Possible values returned |
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Param4Ptr - Possible values returned |
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| M_HOMOGENEOUS_MATRIX |
Retrieves the transformation which makes the axes of the reference coordinate system parallel to those of the target coordinate system, and makes the origin of the reference coordinate system coincide with that of the target coordinate system. The transformation is returned as a 4x4 homogenous matrix. Note that this transformation is also the transformation required to express target coordinates with respect to the reference coordinate system. So you can use this result to convert a coordinate in the target coordinate system to the reference coordinate system. 
Retrieves the transformation which makes the axes of the reference coordinate system parallel to those of the target coordinate system, and makes the origin of the reference coordinate system coincide with that of the target coordinate system. (more details...) |
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ArrayBufOrMatrix3dgeoId |
Returns, into the specified MIL array buffer or transformation matrix object, the matrix representation of the transformation. (summarize)Returns, into the specified MIL array buffer or transformation matrix object, the matrix representation of the transformation. (more details...) |
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| M_ROTATION_AXIS_ANGLE |
Retrieves the axis and angle of rotation which makes the axes of the reference coordinate system parallel to those of the target coordinate system. The axis of rotation is defined by a vector. The rotation angle is measured in the counter-clockwise direction around the axis of rotation, as per the right-hand rule. 
The axis of rotation is always normalized. When the axes of the coordinate systems are already parallel, Param1Ptr to Param4Ptr will be set to (0, 0, 0, 0). (summarize)Retrieves the axis and angle of rotation which makes the axes of the reference coordinate system parallel to those of the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the X-component of the vector which defines the axis of rotation. |
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| Param2Ptr |
Returns the Y-component of the vector which defines the axis of rotation. |
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| Param3Ptr |
Returns the Z-component of the vector which defines the axis of rotation. |
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| Param4Ptr |
Returns the angle of the rotation around the axis of rotation. (summarize)Returns the angle of the rotation around the axis of rotation. (more details...) |
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 0 <=
Value < 360 |
Specifies the rotation angle, in degrees. |
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| M_ROTATION_AXIS_X |
Retrieves the normalized vector aligned with the X-axis of the reference coordinate system, expressed in the target coordinate system. (summarize)Retrieves the normalized vector aligned with the X-axis of the reference coordinate system, expressed in the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the X-component of the vector. |
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| Param2Ptr |
Returns the Y-component of the vector. |
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| Param3Ptr |
Returns the Z-component of the vector. |
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| M_ROTATION_AXIS_Y |
Retrieves the normalized vector aligned with the Y-axis of the reference coordinate system, expressed in the target coordinate system. (summarize)Retrieves the normalized vector aligned with the Y-axis of the reference coordinate system, expressed in the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the X-component of the vector. |
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| Param2Ptr |
Returns the Y-component of the vector. |
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| Param3Ptr |
Returns the Z-component of the vector. |
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| M_ROTATION_AXIS_Z |
Retrieves the normalized vector aligned with the Z-axis of the reference coordinate system, expressed in the target coordinate system. (summarize)Retrieves the normalized vector aligned with the Z-axis of the reference coordinate system, expressed in the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the X-component of the vector. |
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| Param2Ptr |
Returns the Y-component of the vector. |
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| Param3Ptr |
Returns the Z-component of the vector. |
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| M_ROTATION_MATRIX |
Retrieves the rotation matrix that makes the axes of the reference coordinate system parallel to those of the target coordinate system. The transformation is returned as a 3x3 matrix. (summarize)Retrieves the rotation matrix that makes the axes of the reference coordinate system parallel to those of the target coordinate system. (more details...) |
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ArrayBufOrMatrix3dgeoId |
Returns, into the specified MIL array buffer or transformation matrix object, the matrix representation of the transformation. (summarize)Returns, into the specified MIL array buffer or transformation matrix object, the matrix representation of the transformation. (more details...) |
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| M_ROTATION_QUATERNION |
Retrieves the components of the quaternion that defines the rotation which makes the axes of the reference coordinate system parallel to those of the target coordinate system. The quaternion is always normalized. When the axes of the coordinate systems are already parallel, Param1Ptr to Param4Ptr will be set to (1, 0, 0, 0). (summarize)Retrieves the components of the quaternion that defines the rotation which makes the axes of the reference coordinate system parallel to those of the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the scalar component of the quaternion. |
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| Param2Ptr |
Returns the X-component of the quaternion. |
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| Param3Ptr |
Returns the Y-component of the quaternion. |
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| Param4Ptr |
Returns the Z-component of the quaternion. |
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| M_ROTATION_XYZ |
Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. The rotation is described by three distinct rotations about the axes of the reference coordinate system in the following order: the X-axis, Y-axis, and Z-axis rotation. (summarize)Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the X-axis rotation. (summarize)Returns the X-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the X-axis rotation, in degrees. |
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| Param2Ptr |
Returns the Y-axis rotation. (summarize)Returns the Y-axis rotation. (more details...) |
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0.0 <= Value <=
90.0 |
Specifies the Y-axis rotation, in degrees, when located between the positive Z-axis and the positive X-axis. |
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270.0 <= Value <
360.0 |
Specifies the Y-axis rotation, in degrees, when located between the positive Z-axis and the negative X-axis. |
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| Param3Ptr |
Returns the Z-axis rotation. (summarize)Returns the Z-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the Z-axis rotation, in degrees. |
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| M_ROTATION_XZY |
Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. The rotation is described by three distinct rotations about the axes of the reference coordinate system in the following order: the X-axis, Z-axis, and Y-axis rotation. (summarize)Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the X-axis rotation. (summarize)Returns the X-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the X-axis rotation, in degrees. |
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| Param2Ptr |
Returns the Z-axis rotation. (summarize)Returns the Z-axis rotation. (more details...) |
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0.0 <= Value <=
90.0 |
Specifies the Z-axis rotation, in degrees, when located between the positive X-axis and the positive Y-axis. |
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270.0 <= Value <
360.0 |
Specifies the Z-axis rotation, in degrees, when located between the positive X-axis and the negative Y-axis. |
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| Param3Ptr |
Returns the Y-axis rotation. (summarize)Returns the Y-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the Y-axis rotation, in degrees. |
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| M_ROTATION_YXZ |
Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. The rotation is described by three distinct rotations about the axes of the reference coordinate system in the following order: the Y-axis, X-axis, and Z-axis rotation. (summarize)Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the Y-axis rotation. (summarize)Returns the Y-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the Y-axis rotation, in degrees. |
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| Param2Ptr |
Returns the X-axis rotation. (summarize)Returns the X-axis rotation. (more details...) |
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0.0 <= Value <=
90.0 |
Specifies the X-axis rotation, in degrees, when located between the positive Y-axis and the positive Z-axis. |
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270.0 <= Value <
360.0 |
Specifies the X-axis rotation, in degrees, when located between the positive Y-axis and the negative Z-axis. |
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| Param3Ptr |
Returns the Z-axis rotation. (summarize)Returns the Z-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the Z-axis rotation, in degrees. |
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| M_ROTATION_YZX |
Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. The rotation is described by three distinct rotations about the axes of the reference coordinate system in the following order: the Y-axis, Z-axis, and X-axis rotation. (summarize)Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the Y-axis rotation. (summarize)Returns the Y-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the Y-axis rotation, in degrees. |
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| Param2Ptr |
Returns the Z-axis rotation. (summarize)Returns the Z-axis rotation. (more details...) |
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0.0 <= Value <=
90.0 |
Specifies the Z-axis rotation, in degrees, when located between the positive X-axis and the positive Y-axis. |
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270.0 <= Value <
360.0 |
Specifies the Z-axis rotation, in degrees, when located between the positive X-axis and the negative Y-axis. |
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| Param3Ptr |
Returns the X-axis rotation. (summarize)Returns the X-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the X-axis rotation, in degrees. |
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| M_ROTATION_ZXY |
Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. The rotation is described by three distinct rotations about the axes of the reference coordinate system in the following order: the Z-axis, X-axis, and Y-axis rotation. (summarize)Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the Z-axis rotation. (summarize)Returns the Z-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the Z-axis rotation, in degrees. |
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| Param2Ptr |
Returns the X-axis rotation. (summarize)Returns the X-axis rotation. (more details...) |
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0.0 <= Value <=
90.0 |
Specifies the X-axis rotation, in degrees, when located between the positive Y-axis and the positive Z-axis. |
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270.0 <= Value <
360.0 |
Specifies the X-axis rotation, in degrees, when located between the positive Y-axis and the negative Z-axis. |
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| Param3Ptr |
Returns the Y-axis rotation. (summarize)Returns the Y-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the Y-axis rotation, in degrees. |
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| M_ROTATION_ZYX |
Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. The rotation is described by three distinct rotations about the axes of the reference coordinate system in the following order: Z-axis, Y-axis, and X-axis rotation. (summarize)Retrieves the angles of the three rotations that make the axes of the reference coordinate system parallel to those of the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the Z-axis rotation. (summarize)Returns the Z-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the Z-axis rotation, in degrees. |
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| Param2Ptr |
Returns the Y-axis rotation. (summarize)Returns the Y-axis rotation. (more details...) |
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0.0 <= Value <=
90.0 |
Specifies the Y-axis rotation, in degrees, when located between the positive Z-axis and the positive X-axis. |
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270.0 <= Value <
360.0 |
Specifies the Y-axis rotation, in degrees, when located between the positive Z-axis and the negative X-axis. |
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| Param3Ptr |
Returns the X-axis rotation. (summarize)Returns the X-axis rotation. (more details...) |
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0.0 <= Value <
360.0 |
Specifies the X-axis rotation, in degrees. |
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| M_TRANSLATION |
Retrieves the components of the translation vector that makes the origin of the reference coordinate system coincide with the origin of the target coordinate system. (summarize)Retrieves the components of the translation vector that makes the origin of the reference coordinate system coincide with the origin of the target coordinate system. (more details...) |
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| Param1Ptr |
Returns the displacement along the X-axis of the reference coordinate system. |
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| Param2Ptr |
Returns the displacement along the Y-axis of the reference coordinate system. |
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| Param3Ptr |
Returns the displacement along the Z-axis of the reference coordinate system. |
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| Header | Include mil.h. |
| Library | Use mil.lib; milcal.lib. |
| DLL | Requires mil.dll; milcal.dll. |