McalInquire

Specifies the type of data that was used to perform the camera calibration.

Inquires the plane in which the calibration points are defined. SET

Inquires the status of a camera calibration.

Inquires whether a rigid link exists between the camera coordinate system and the tool coordinate system. SET

Inquires 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. SET

Inquires 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. SET

Inquires the identifier of the system on which the camera calibration context has been allocated. SET

Inquires the angle of rotation of the relative world coordinate system.

For 2D-based camera calibration contexts, the angle of rotation is of the relative coordinate system about the Z-axis of the absolute coordinate system. A positive angle corresponds to the rotation of the X-axis in the direction of the negative Y-axis.

For 3D-based camera calibration contexts (M_TSAI_BASED or M_3D_ROBOTICS), the axis of rotation is not necessarily the Z-axis. The returned value is equivalent to Param4Ptr of M_ROTATION_AXIS_ANGLE in McalGetCoordinateSystem().

The angle of rotation of the relative coordinate system is affected by transformations performed using McalSetCoordinateSystem() or McalRelativeOrigin() with AngularOffset. If you are using a 3D-based camera calibration context, it is recommended to use McalGetCoordinateSystem(). SET

Inquires the X-coordinate of the origin of the relative world coordinate system.

The X-coordinate of the origin of the relative coordinate system is affected by transformations performed using McalSetCoordinateSystem() or McalRelativeOrigin() with XOffset. If you are using a 3D-based camera calibration context, it is recommended to use McalSetCoordinateSystem(). SET

Inquires the Y-coordinate of the origin of the relative world coordinate system.

The Y-coordinate of the origin of the relative coordinate system is affected by transformations performed using McalSetCoordinateSystem() or McalRelativeOrigin() with YOffset. If you are using a 3D-based camera calibration context, it is recommended to use McalSetCoordinateSystem(). SET

Inquires the Z-coordinate of the origin of the relative world coordinate system.

The Z-coordinate of the origin of the relative coordinate system is affected by transformations performed using McalSetCoordinateSystem() or McalRelativeOrigin() with ZOffset. If you are using a 3D-based camera calibration context, it is recommended to use McalSetCoordinateSystem(). SET

Inquires the X-position of the origin of the tool coordinate system. SET

Inquires the Y-position of the origin of the tool coordinate system. SET

Inquires the Z-position of the origin of the tool coordinate system. SET

Inquires whether a cache is used to accelerate McalTransformImage(). SET

Inquires the number of columns in the camera calibration grid. SET

Inquires the number of world units between columns. SET

Inquires whether the grid's circles are lighter or darker than the background. SET

Inquires whether the partial chessboard grid has a fiducial. SET

Inquires the hint angle used to help determine the orientation of the X-axis when calibrating your camera with a partial chessboard grid. SET

Inquires the X-coordinate of the hint pixel used to help determine the grid's reference calibration point when calibrating your camera with a grid. SET

Inquires the Y-coordinate of the hint pixel used to help determine the grid's reference calibration point when calibrating your camera with a grid. SET

Inquires the X-coordinate of the grid's reference calibration point, in the world coordinate system. The world coordinate system could be either the absolute coordinate system or the relative coordinate system, depending on which coordinate system was specified when you called McalGrid(). SET

Inquires the Y-coordinate of the grid's reference calibration point, in the world coordinate system. The world coordinate system could be either the absolute coordinate system or the relative coordinate system, depending on which coordinate system was specified when you called McalGrid(). SET

Inquires the Z-coordinate of the grid's reference calibration point, in the world coordinate system. The world coordinate system could be either the absolute coordinate system or the relative coordinate system, depending on which coordinate system was specified when you called McalGrid(). SET

Inquires whether the chessboard grid in the camera calibration image is allowed to be a partial grid. SET

Inquires whether the partial chessboard grid in the camera calibration image is assumed to be a rectangle. SET

Inquires the type of grid used to perform the camera calibration. SET

Inquires the abbreviated name of the world units encoded in the Data Matrix code of the fiducial grid used to calibrate the camera calibration context.

Note that this information is not used by the Calibration module. No unit consistency is enforced and no unit conversion is performed.

Inquires the world units that were encoded in the Data Matrix code of the fiducial grid used to calibrate the camera calibration context.

Note that this information is not used by the Calibration module. No unit consistency is enforced and no unit conversion is performed.

Inquires the number of rows in the camera calibration grid. SET

Inquires the spacing between rows in the camera calibration grid. SET

Inquires the average camera calibration error in the pixel coordinate system. You can only inquire this value for a successfully calibrated camera calibration context.

This is the average distance in the pixel coordinate system between the initial calibration points and their projected points in an image.

When working in M_3D_ROBOTICS camera calibration mode, this only returns the average camera calibration error of the last camera calibration call. To return an average camera calibration error for all camera calibration grids used, it is recommended to use M_GLOBAL_AVERAGE_PIXEL_ERROR instead.

Inquires the average camera calibration error in the absolute coordinate system. You can only inquire this value for a successfully calibrated camera calibration context.

This is the average distance in the absolute coordinate system between the initial calibration points and their projected points in an image.

When working in M_3D_ROBOTICS camera calibration mode, this only returns the average camera calibration error of the last camera calibration call. To return an average camera calibration error for all camera calibration grids used, it is recommended to use M_GLOBAL_AVERAGE_WORLD_ERROR instead.

Inquires the X-pixel coordinate of the calibration points.

If you used McalGrid() to calibrate your camera setup, the calibration points' pixel coordinates are determined by the pixel positions of the centers of the circles in a circle grid or the intersections of four squares/rectangles in a chessboard grid.

If you used McalList() to calibrate your camera setup, you explicitly set the calibration points' pixel coordinates with the PixCoordXArrayPtr parameter. SET

Inquires the Y-pixel coordinate of the calibration points.

If you used McalGrid() to calibrate your camera setup, the calibration points' pixel coordinates are determined by the pixel positions of the centers of the circles in a circle grid or the intersections of four squares/rectangles in a chessboard grid.

If you used McalList() to calibrate your camera setup, you explicitly set the calibration points' pixel coordinates with the PixCoordYArrayPtr parameter. SET

Inquires the X-world coordinate of the calibration points. The coordinate is expressed in world units of the camera calibration plane (M_CALIBRATION_PLANE).

If you used McalGrid() to calibrate your camera setup, the calibration points are computed from the parameters GridOffsetX, ColumnNumber, and ColumnSpacing.

If you used McalList() to calibrate your camera setup, the world coordinates of the calibration points are those you set with the WorldCoordXArrayPtr parameter. SET

Inquires the Y-world coordinate of the calibration points. The coordinate is expressed in world units of the camera calibration plane (M_CALIBRATION_PLANE).

If you used McalGrid() to calibrate your camera setup, the calibration points are computed from the parameters GridOffsetY, RowNumber, and RowSpacing.

If you used McalList() to calibrate your camera setup, the world coordinates of the calibration points are those you set with the WorldCoordYArrayPtr parameter. SET

Inquires the Z-world coordinate of the calibration points that are based on explicitly specified values. The computed calibration points are expressed in world units of the camera calibration plane (M_CALIBRATION_PLANE). If this value is inquired for 2D-based camera calibration contexts, the specified array will be filled with 0.0 values.

If you used McalList() to calibrate your camera setup, you explicitly set the calibration points' pixel coordinates with the WorldCoordZArrayPtr parameter.

If you used McalGrid() to calibrate your camera setup, you explicitly set the Z-coordinate of all the calibration points with the GridOffsetZ parameter. SET

Inquires the average camera calibration error, in pixels, for all the points used in all successive calls to McalGrid() and McalList(). You can only inquire this value for a successfully calibrated M_3D_ROBOTICS camera calibration context.

Inquires the average camera calibration error, in world units, for all the points used in all successive calls to McalGrid() and McalList(). You can only inquire this value for a successfully calibrated M_3D_ROBOTICS camera calibration context.

Inquires the maximum camera calibration error, in pixels, for all the points used in all successive calls to McalGrid() and McalList(). You can only inquire this value for a successfully calibrated M_3D_ROBOTICS camera calibration context.

Inquires the maximum camera calibration error, in world units, for all the points used in all successive calls to McalGrid() and McalList(). You can only inquire this value for a successfully calibrated M_3D_ROBOTICS camera calibration context.

Inquires the maximum camera calibration error, in pixels. You can only inquire this value for a successfully calibrated camera calibration context.

For an M_3D_ROBOTICS camera calibration context, this only returns the average camera calibration error of the last camera calibration call. To return an average camera calibration error for all camera calibration grids used, it is recommended to use M_GLOBAL_MAXIMUM_PIXEL_ERROR instead.

Inquires the maximum camera calibration error, in world units. You can only inquire this value for a successfully calibrated camera calibration context.

For an M_3D_ROBOTICS camera calibration context, this only returns the average camera calibration error of the last camera calibration call. To return an average camera calibration error for all camera calibration grids used, it is recommended to use M_GLOBAL_MAXIMUM_WORLD_ERROR instead.

Inquires the number of calibration points found by McalGrid() or passed to McalList().

If you used McalList() to calibrate your camera setup, you can explicitly set the number of calibration points with the NumPoint parameter.

If you used McalGrid() to calibrate your camera setup, the number of calibration points is determined by the number of columns and rows in your grid. SET

Inquires the number of calls made to McalGrid() or McalList() with the same ContextCalOrCalibratedMilObjectId parameter passed. You can only inquire this value for a successfully calibrated M_3D_ROBOTICS camera calibration context.

Inquires the average aspect ratio. The ratio is the average pixel width, divided by average pixel height, calculated with world units.

Inquires the width to height ratio of the individual elements of the CCD. SET

Inquires the value of the second order radial distortion coefficient used in the camera calibration algorithm. Radial distortion refers to image distortions caused by the camera's lens.

Inquires the effective focal length of the pinhole camera model used in the camera calibration.

Inquires the X-coordinate of the intersection of the camera's optical axis and the image plane. SET

Inquires the Y-coordinate of the intersection of the camera's optical axis and the image plane. SET

Inquires whether the specified MIL object is or is associated with a camera calibration context, and whether the associated context was allocated with a 2D-based or 3D-based calibration mode. SET

Inquires the camera calibration mode of the associated camera calibration of the specified MIL object. SET

Inquires whether the image has a constant pixel size.

When inquiring a camera calibration context, M_CONSTANT_PIXEL_SIZE will always return M_FALSE.

Inquires whether the image has been physically corrected. Physically corrected images have square pixels with a constant size and no rotation between the pixel and absolute coordinate systems. Images can be corrected using McalTransformImage() with M_FULL_CORRECTION.

When inquiring a camera calibration context, M_CORRECTION_STATE will always return M_FALSE.

Inquires whether the MIL object is a fully corrected depth map. A fully corrected buffer is a calibrated buffer with a constant pixel size and with a valid Z-scale. Note that the size of the pixels is not necessarily square.

Inquires the direction the Y-axis of the absolute coordinate system is oriented with respect to its positive X-axis.

If you used McalList() to calibrate your camera setup, the Y-axis orientation was determined by the calibration points that you specified. For more information, see the Calibrating using calibration points from a list section of Chapter 26: Calibrating your camera setup.

If you used McalGrid() to calibrate your camera setup, the explicitly specified Y-axis orientation is used.

Note that this constant does not support images without an associated camera calibration context. An uncalibrated image will return an error. SET

Inquires the X-offset of a child buffer relative to the highest calibrated parent image that was originally associated with the camera calibration context. SET

Inquires the Y-offset of a child buffer relative to the highest calibrated parent image that was originally associated with the camera calibration context. SET

Inquires the step, in world units, along the Z-axis of the relative coordinate system, represented by one gray level. Since the Z-axis is pointing downwards, positive M_GRAY_LEVEL_SIZE_Z values mean that lower (darker) pixel values represent higher world points (top-black); negative M_GRAY_LEVEL_SIZE_Z values mean that higher (brighter) pixel values represent higher world points (top-white).

This inquire type is only useful when inquiring about an image buffer that contains a depth map. SET

Inquires the angle of the X-axis of the pixel coordinate system measured in the relative world coordinate system, starting from the positive X-axis of the relative world coordinate system and going towards its positive Y-axis.

This value corresponds to R in the above formulas. SET

Inquires the width of the pixels in the corrected image.

You can multiply a measure in pixels, along the X-axis, by M_PIXEL_SIZE_X to get the measure in world units. If there is rotation between the relative world coordinate system and the pixel coordinate system, this distance won't be along the X-axis of the relative world coordinate system.

This value corresponds to S_x in the above formulas. SET

Inquires the height of the pixels in the corrected image.

You can multiply a measure in pixels, along the Y-axis, by M_PIXEL_SIZE_Y to get the measure in world units. If there is rotation between the relative world coordinate system and the pixel coordinate system, this distance won't be along the Y-axis of the relative world coordinate system.

This value corresponds to S_y in the above formulas. SET

Inquires the X-coordinate of the center of the top-left pixel in the corrected image. This value corresponds to T_x in the above formulas. SET

Inquires the Y-coordinate of the center of the top-left pixel in the corrected image. This value corresponds to T_y in the above formulas. SET

Inquires the Z-coordinate of gray level 0 in the corrected image. SET

Inquires whether to draw the absolute coordinate system's axes. SET

Inquires whether to draw the camera coordinate system's axes. SET

Inquires the name to draw for the camera coordinate system. SET

Inquires the length at which to draw the specified coordinate system's axes. SET

Inquires whether to draw the frustum. SET

Inquires the frustum's color. SET

Inquires whether to draw the relative coordinate system's axes. SET

Inquires the name to draw for the relative coordinate system. SET

Inquires whether to draw the relative XY plane. SET

Inquires the relative XY plane's fill color. SET