MIL_ID ContextCalOrCalibratedMilObjectId, | //in |
MIL_INT Index, | //in |
MIL_INT64 InquireType, | //in |
void *UserVarPtr | //out |
This function allows you to inquire about the settings of a single pose in the sequence of poses performed to calibrate M_3D_ROBOTICS camera calibration contexts. Every call to McalGrid() or McalList() with M_ACCUMULATE corresponds to a pose used to obtain information about the camera setup during the camera calibration process.
Specifies the index of the pose of a M_3D_ROBOTICS camera calibration context from which settings should be inquired. The first call corresponds to the index value 0 and the last one is the return value of McalInquire() with M_NUMBER_OF_CALIBRATION_POSES minus one.
Specifies the setting about which to inquire.
See the Parameter associations section for possible values that can be specified.
Specifies the address in which to return the value of the inquired setting. Since the McalInquireSingle() function also returns the requested information, you can set this parameter to M_NULL.
See the Parameter associations section for possible values that can be returned.
The tables below list possible values for the InquireType parameter and possible values returned to the UserVarPtr parameter.
The InquireType parameter can be set to one of the following values only after calibrating with McalGrid().
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Description | ||||||||||||||||||||||||||||||||||||||
UserVarPtr - Possible values returned |
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Inquires the number of columns in the camera calibration grid. SET (summarize)Inquires the number of columns in the camera calibration grid. SET (more details...) |
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Data type info: Data
type: address of a MIL_DOUBLE
MORE
Data type info: Data
type: address of a MIL_DOUBLE
MORE
|
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Specifies the number of columns. |
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Inquires the number of world units between columns. SET (summarize)Inquires the number of world units between columns. SET (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
|
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Specifies the spacing between columns. |
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Inquires the X-position of the top-left circle of a circle grid, or the top-left point connecting four squares in a chessboard grid, in the camera calibration plane coordinate system. SET (summarize)Inquires the X-position of the top-left circle of a circle grid, or the top-left point connecting four squares in a chessboard grid, in the camera calibration plane coordinate system. SET (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
|
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Specifies the X-position, in the camera calibration plane coordinate system. |
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Inquires the Y-position of the top-left circle of a circle grid, or the top-left point connecting four squares in a chessboard grid, in the camera calibration plane coordinate system. SET (summarize)Inquires the Y-position of the top-left circle of a circle grid, or the top-left point connecting four squares in a chessboard grid, in the camera calibration plane coordinate system. SET (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
|
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Specifies the Y-position, in the camera calibration plane coordinate system. |
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Inquires the Z-position of the top-left circle of a circle grid, or the top-left point connecting four squares in a chessboard grid, in the camera calibration plane coordinate system. SET (summarize)Inquires the Z-position of the top-left circle of a circle grid, or the top-left point connecting four squares in a chessboard grid, in the camera calibration plane coordinate system. SET (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
|
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Specifies the Z-position, in the camera calibration plane coordinate system. |
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Inquires the type of grid used to perform the camera calibration. SET (summarize)Inquires the type of grid used to perform the camera calibration. SET (more details...) |
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Data type info: Data
type: address of a MIL_DOUBLE
MORE
Data type info: Data
type: address of a MIL_DOUBLE
MORE
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Specifies a chessboard grid. INFO |
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Specifies a grid of circles. INFO |
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Inquires the units returned by M_GRID_UNITS. You can find the particular abbreviation for each unit in the description of M_GRID_UNITS. (summarize)Inquires the units returned by M_GRID_UNITS. (more details...) |
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Inquires the units of measurement encoded in a chessboard grid with a fiducial. Note that this information is not used by the calibration module. No unit consistency is enforced and no unit conversion is performed. (summarize)Inquires the units of measurement encoded in a chessboard grid with a fiducial. (more details...) |
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Data type info: Data
type: address of a MIL_DOUBLE
MORE
Data type info: Data
type: address of a MIL_DOUBLE
MORE
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Specifies that the grid units are measured in centimeters. |
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Specifies that the grid units are measured in feet. |
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Specifies that the grid units are measured in inches. |
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Specifies that the grid units are measured in kilometers. |
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Specifies that the grid units are measured in meters. |
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Specifies that the grid units are measured in micrometers. |
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Specifies that the grid units are measured in miles. |
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Specifies that the grid units are measured in millimeters. |
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Specifies that the grid units are measured in mils. |
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Specifies that grid units are measured in an unknown unit. INFO |
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Inquires the number of rows in the camera calibration grid. SET (summarize)Inquires the number of rows in the camera calibration grid. SET (more details...) |
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Data type info: Data
type: address of a MIL_DOUBLE
MORE
Data type info: Data
type: address of a MIL_DOUBLE
MORE
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Specifies the number of rows. |
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Inquires the spacing between rows in the camera calibration grid. SET (summarize)Inquires the spacing between rows in the camera calibration grid. SET (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
|
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Specifies the spacing between rows, in world units. |
You can add the following value to the above-mentioned value to get the string's length.
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Description | ||||||||||||||||||||||||||||||||||||||
UserVarPtr - Possible values returned |
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Retrieves the length of the string, including the terminating null character ("\0"). (summarize)Retrieves the length of the string, including the terminating null character ("\0"). (more details...) |
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Data type info: Data
type: address of a MIL_DOUBLE
MORE
Data type info: Data
type: address of a MIL_DOUBLE
MORE
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The InquireType parameter can be set to one of the following values after a call to either McalGrid() or McalList().
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Description | ||||||||||||||||||||||||||||||||||||||
UserVarPtr - Possible values returned |
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Inquires the average camera calibration error in the pixel coordinate system. This is the average distance in the pixel coordinate system between the initial calibration points and their projected points in an image. (summarize)Inquires the average camera calibration error in the pixel coordinate system. (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
|
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Specifies the average camera calibration error, in pixels. |
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Inquires the average camera calibration error in the absolute coordinate system. This is the average distance in the absolute coordinate system between the initial calibration points and their projected points in an image. (summarize)Inquires the average camera calibration error in the absolute coordinate system. (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
|
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Specifies the average camera calibration error, in world units. |
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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 (summarize)Inquires the X-pixel coordinate of the calibration points. SET (more details...) |
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Data type info: Data
type: array of type MIL_DOUBLE [optionally, in C++:
a reference to a std::vector<MIL_DOUBLE>
] MORE
Data type info: Data
type: array of type MIL_DOUBLE [optionally, in C++:
a reference to a std::vector<MIL_DOUBLE>
] MORE
|
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Specifies the X-coordinate, in pixels. |
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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 (summarize)Inquires the Y-pixel coordinate of the calibration points. SET (more details...) |
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Data type info: Data
type: array of type MIL_DOUBLE [optionally, in C++:
a reference to a std::vector<MIL_DOUBLE>
] MORE
Data type info: Data
type: array of type MIL_DOUBLE [optionally, in C++:
a reference to a std::vector<MIL_DOUBLE>
] MORE
|
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Specifies the Y-coordinate, in pixels. |
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Specifies the type of data that was used to perform the camera calibration. (summarize)Specifies the type of data that was used to perform the camera calibration. (more details...) |
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Data type info: Data
type: address of a MIL_DOUBLE
MORE
Data type info: Data
type: address of a MIL_DOUBLE
MORE
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Specifies that the camera calibration was performed using a camera calibration grid (McalGrid()). |
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Specifies that the camera calibration was performed by explicitly specifying the correspondence between some pixels and their real-world coordinates (McalList()). |
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Inquires the X-world coordinate of the calibration points that are computed based on explicitly specified values. The coordinate is expressed in world units of the camera calibration plane (M_CALIBRATION_PLANE). If you used McalList() to calibrate your camera setup, you explicitly set the calibration points' world coordinates with the WorldCoordXArrayPtr parameter. If you used McalGrid() to calibrate your camera setup, the calibration points are computed from the parameters GridOffsetX, ColumnNumber, and ColumnSpacing. SET (summarize)Inquires the X-world coordinate of the calibration points that are computed based on explicitly specified values. SET (more details...) |
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Data type info: Data
type: array of type MIL_DOUBLE [optionally, in C++:
a reference to a std::vector<MIL_DOUBLE>
] MORE
Data type info: Data
type: array of type MIL_DOUBLE [optionally, in C++:
a reference to a std::vector<MIL_DOUBLE>
] MORE
|
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Specifies the X-coordinate, in real-world units of the camera calibration plane (M_CALIBRATION_PLANE). |
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Inquires the Y-world coordinate of the calibration points that are computed based on explicitly specified values. The coordinate is expressed in world units of the camera calibration plane (M_CALIBRATION_PLANE). If you used McalList() to calibrate your camera setup, you explicitly set the calibration points' world coordinates with the WorldCoordYArrayPtr parameter. If you used McalGrid() to calibrate your camera setup, the calibration points are computed from the parameters GridOffsetY, RowNumber, and RowSpacing. SET (summarize)Inquires the Y-world coordinate of the calibration points that are computed based on explicitly specified values. SET (more details...) |
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Data type info:
Data type: array of type
MIL_DOUBLE [optionally, in C++: a reference to a std::vector<MIL_DOUBLE>
] MORE
Data type info:
Data type: array of type
MIL_DOUBLE [optionally, in C++: a reference to a std::vector<MIL_DOUBLE>
] MORE
|
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Specifies the Y-coordinate, in real-world units of the camera calibration plane (M_CALIBRATION_PLANE). |
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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 (summarize)Inquires the Z-world coordinate of the calibration points that are based on explicitly specified values. SET (more details...) |
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Data type info:
Data type: array of type
MIL_DOUBLE [optionally, in C++: a reference to a std::vector<MIL_DOUBLE>
] MORE
Data type info:
Data type: array of type
MIL_DOUBLE [optionally, in C++: a reference to a std::vector<MIL_DOUBLE>
] MORE
|
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Specifies the Z-coordinate, in real-world units of the camera calibration plane (M_CALIBRATION_PLANE). |
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Inquires the maximum camera calibration error, in pixels. (summarize)Inquires the maximum camera calibration error, in pixels. (more details...) |
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Data type info:
Data type: address of a
MIL_DOUBLE
Data type info:
Data type: address of a
MIL_DOUBLE
|
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Specifies the maximum camera calibration error, in pixels. |
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Inquires the maximum camera calibration error, in world units. (summarize)Inquires the maximum camera calibration error, in world units. (more details...) |
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Data type info:
Data type: address of a
MIL_DOUBLE
Data type info:
Data type: address of a
MIL_DOUBLE
|
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Specifies the maximum camera calibration error, in world units. |
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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 (summarize)Inquires the number of calibration points found by McalGrid() or passed to McalList(). SET (more details...) |
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Data type info:
Data type: address of a
MIL_DOUBLE MORE
Data type info:
Data type: address of a
MIL_DOUBLE MORE
|
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Specifies the number of calibration points. |
You can add the following value to the above-mentioned values to determine the required array size (number of elements) to store the returned values.
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Description | ||||||||||||||||||||||||||||||||||||||
UserVarPtr - Possible values returned |
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Retrieves the required array size (number of elements) to store the returned values. (summarize)Retrieves the required array size (number of elements) to store the returned values. (more details...) |
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Data type info:
Data type: address of a
MIL_DOUBLE MORE
Data type info:
Data type: address of a
MIL_DOUBLE MORE
|
You can add one of the following values to the above-mentioned values to cast the requested information to the required data type.
Note: In C++, when using a standard vector (std::vector) instead of an array, the values listed in this combination table must not be used. If you need to use a specific data type, instantiate the vector with the necessary data type.
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Description | ||||||||||||||||||||||||||||||||||||||
UserVarPtr - Possible values returned |
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Casts the requested information to a MIL_DOUBLE. (summarize)Casts the requested information to a MIL_DOUBLE. (more details...) |
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Data type info:
Data type: array of type
MIL_DOUBLE [optionally, in C++: a reference to a std::vector<MIL_DOUBLE>
] | address of a
MIL_DOUBLE MORE
Data type info:
Data type: array of type
MIL_DOUBLE [optionally, in C++: a reference to a std::vector<MIL_DOUBLE>
] | address of a
MIL_DOUBLE MORE
|
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Casts the requested information to a MIL_FLOAT. (summarize)Casts the requested information to a MIL_FLOAT. (more details...) |
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Data type info:
Data type: array of type
MIL_FLOAT [optionally, in C++: a reference to a std::vector<MIL_FLOAT>
] | address of a
MIL_FLOAT MORE
Data type info:
Data type: array of type
MIL_FLOAT [optionally, in C++: a reference to a std::vector<MIL_FLOAT>
] | address of a
MIL_FLOAT MORE
|
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Casts the requested information to a MIL_ID. (summarize)Casts the requested information to a MIL_ID. (more details...) |
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Data type info:
Data type: array of type
MIL_ID [optionally, in C++: a reference to a std::vector<MIL_ID>
] | address of a
MIL_ID MORE
Data type info:
Data type: array of type
MIL_ID [optionally, in C++: a reference to a std::vector<MIL_ID>
] | address of a
MIL_ID MORE
|
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Casts the requested information to a MIL_INT. (summarize)Casts the requested information to a MIL_INT. (more details...) |
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Data type info:
Data type: array of type
MIL_INT [optionally, in C++: a reference to a std::vector<MIL_INT>
] | address of a
MIL_INT MORE
Data type info:
Data type: array of type
MIL_INT [optionally, in C++: a reference to a std::vector<MIL_INT>
] | address of a
MIL_INT MORE
|
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Casts the requested results to a MIL_INT16. (summarize)Casts the requested results to a MIL_INT16. (more details...) |
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Data type info:
Data type: array of type
MIL_INT16 [optionally, in C++: a reference to a std::vector<MIL_INT16>
] | address of a
MIL_INT16 MORE
Data type info:
Data type: array of type
MIL_INT16 [optionally, in C++: a reference to a std::vector<MIL_INT16>
] | address of a
MIL_INT16 MORE
|
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Casts the requested information to a MIL_INT32. (summarize)Casts the requested information to a MIL_INT32. (more details...) |
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Data type info:
Data type: array of type
MIL_INT32 [optionally, in C++: a reference to a std::vector<MIL_INT32>
] | address of a
MIL_INT32 MORE
Data type info:
Data type: array of type
MIL_INT32 [optionally, in C++: a reference to a std::vector<MIL_INT32>
] | address of a
MIL_INT32 MORE
|
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Casts the requested information to a MIL_INT64. (summarize)Casts the requested information to a MIL_INT64. (more details...) |
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Data type info:
Data type: array of type
MIL_INT64 [optionally, in C++: a reference to a std::vector<MIL_INT64>
] | address of a
MIL_UINT64 MORE
Data type info:
Data type: array of type
MIL_INT64 [optionally, in C++: a reference to a std::vector<MIL_INT64>
] | address of a
MIL_UINT64 MORE
|
Header | Include mil.h. |
Library | Use mil.lib; milcal.lib. |
DLL | Requires mil.dll; milcal.dll. |