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API

C C++ .NET Python Halcon ROS

Tree Commands Guides Hardware Specification

AddPatternBufferView
- Parameters
  - Filter
  - Name
AdjustExposureAndGain
- Parameters
  - AdjustExposure
  - AdjustGain
  - Apply
  - Brightness
  - Cameras
  - Exposure
  - Gain
- Result
  - Exposure
  - Gain
Break
Calibrate
- Parameters
- Result
  - Progress
    - MonocularCalibration
    - StereoCalibration
CalibrateHandEye
- Parameters
  - Angles
    - 0
      - 0
      - 1
      - …
    - 1
      - 0
      - 1
      - …
    - …
  - CameraPose
  - Cameras
  - Fixed
    - Link
      - Rotation
      - Translation
    - PatternPose
      - Rotation
      - Translation
    - Scaling
  - Iterations
  - Links
    - 0
    - 1
    - …
  - MeasureCalibration
  - PatternPose
  - Scaling
  - Setup
  - Target
  - Threads
  - Tolerance
  - Transformations
    - 0
    - 1
    - …
- Result
  - Angles
  - Iterations
  - Link
  - PatternPose
  - PoseError
  - Poses
  - Progress
    - Iterations
    - Residual
  - Residual
  - Scaling
CalibrateWorkspace
- Parameters
  - AlignAxis
  - Cameras
  - DefinedPose
  - Offset
  - PatternPose
  - Plane
  - Rotation
  - Target
  - Type
- Result
Capture
- Parameters
- Result
  - 120001
    - CaptureEvents
      - 0
        
        Message
        
        Symbol
        
        Timestamp
      - …
    - FinalTrigger
    - InitialTrigger
    - PacketsResent
    - Retrieved
ChainTransformations
- Parameters
  - Transformations
- Result
  - Transformation
ClearImageBuffer
- Parameters
  - Cameras
ClearImages
- Parameters
  - Cameras
  - DisparityMap
  - Normals
  - PointMap
  - Raw
  - Rectified
ClearOverlay
- Parameters
  - Cameras
  - ShowRectifiedArea
Close
- Parameters
  - Cameras
  - Threads
  - Unsafe
CollectPattern
- Parameters
  - Blur
  - Buffer
  - Cameras
  - DecodeData
  - Direction
  - Downsample
  - DrawAxes
  - Filter
  - HUD
  - MarkOnly
  - Projector
  - Refinement
  - ReturnAllPattern
  - ShowObjectPoints
  - Threads
  - UpdateGlobalPatternData
- Result
  - GlobalPatternDataUpdated
  - Patterns
  - Stereo
    - 0
      - GridSize
      - GridSpacing
      - Left
        
        Brightness
        
        Contrast
        
        Transformation
      - Offset
      - Right
        
        Brightness
        
        Contrast
        
        Transformation
      - Thickness
      - Type
    - 1
    - …
ComputeDisparityMap
- Parameters
  - Cameras
  - CUDA
  - Threads
ComputeImageContrast
- Parameters
  - Cameras
  - Region
    - Left
    - Right
  - Threads
  - UseBufferedPatterns
- Result
  - 120001
    - Contrast
      - Left
        
        0
        
        1
        
        …
      - Right
        
        0
        
        1
        
        …
ComputeNormals
- Parameters
  - Cameras
  - CUDA
    - Device
    - Enabled
  - Radius
  - Threads
ComputePointMap
- Parameters
  - Cameras
  - Threads
ComputeTexture
- Parameters
  - Cameras
  - Left
  - Right
  - Threads
ConvertTransformation
- Parameters
- Result
  - Transformation
  - Transformations
CreateCamera
DeleteCamera
- Parameters
  - Cameras
DiscardPatterns
- Parameters
  - Cameras
EstimateCaptureTimeout
- Parameters
  - Cameras
- Result
  - Timeout
EstimateDisparitySettings
- Parameters
  - Cameras
  - Threads
- Result
  - 120001
    - MinimumDisparity
    - NumberOfDisparities
EstimatePatternPose
- Parameters
  - Average
  - DrawAxes
  - EstimateGridSpacing
  - Filter
  - Pose
  - Recalibrate
  - Relative
  - ReprojectionErrorScale
  - Threads
  - Type
- Result
  - Patterns
    - 0
    - …
EthernetConfiguration
- Parameters
  - Blind
  - Cameras
  - Configuration
    - 0
      - Gateway
      - IpAddress
      - IpSubnetMask
      - Left
        
        Gateway
        
        IpAddress
        
        IpSubnetMask
        
        Method
      - Method
      - Projector
        
        Gateway
        
        IpAddress
        
        IpSubnetMask
        
        Method
      - Right
        
        Gateway
        
        IpAddress
        
        IpSubnetMask
        
        Method
    - …
  - MacAddresses
FilterPatternBuffer
- Parameters
  - Filter
FitPrimitive
- Primitive Search Parameters
- Parameters
  - BoundingBox
  - Cameras
  - FailureProbability
  - InlierFraction
  - InlierThreshold
  - Iterations
  - Normal
    - Radius
  - Primitive
    - 0 (Plane example)
      - Type
    - 1 (Sphere example)
      - Count
      - Radius
        
        Max
        
        Min
      - Type
    - 2 (Cylinder example)
      - Radius
        
        Max
        
        Min
      - Type
    - …
  - Scaling
  - Threads
- Result
  - Primitive
    - 0
      - Index
    - 1
    - 2
    - …
Flash
- Parameters
  - Cameras
  - FrontLight
  - Glow
  - Projector
GenerateCalibrationPattern
- Parameters
  - Encoding
  - Filename
  - ImageSize
  - Patterns
    - 0
      - GridSpacing
      - Offset
        
        0
        
        1
      - Text
      - Thickness
    - …
- Result
  - Patterns
    - 0
    - …
GetModelInfo
- Parameters
- Result
  - Blur
  - Disparity
  - DisparityAccuracy
  - Distance
  - FocalLength
  - FocusDistance
  - LeftBottom
  - LeftTop
  - Pattern
  - PixelPitch
  - PixelSize
  - RightBottom
  - RightTop
  - Vergence
GetPatternBuffer
- Parameters
  - Filter
- Result
  - Patterns
GetPresets
- Parameters
  - Condition
  - Data
  - FolderPath
  - IgnoreInstalled
  - Name
  - Tags
- Result
  - ExcludedPresets
    - 0
      - Filter
      - Message
      - Name
    - …
  - Presets
    - 0
      - Condition
      - Data
      - DataMatches
      - Description
      - Extends
      - Name
      - Tags
    - …
GetRawCalibrationData
- Parameters
  - Cameras
- Result
  - Calibration
GetSensorTags
- Parameters
  - Cameras
- Result
  - Left
  - Right
InternalPwm
- Parameters
  - Cameras
  - DutyCycle
  - Frequency
  - Output
    - LED
    - Left
- Result
  - 120001
    - DutyCycle
    - Frequency
LoadCalibration
- Parameters
- Result
  - EepromFormat
LoadImage
- Parameters
- Result
  - Images
LoadUEyeParameterSet
- Parameters
  - Cameras
  - Filename
MeasureCalibration
- Parameters
- Result
  - PatternPose
  - Patterns
    - 0
      - PatternPose
      - ReprojectionError
    - 1
      - PatternPose
      - ReprojectionError
    - …
  - ReprojectionError
Open
- Parameters
PartFinder
- Parameters
  - Angle
  - AngularResolution
  - BoundingBox
  - Camera
  - Cameras
  - Cluster
  - CombinedScore
  - CompressModel
  - CoverageDistanceThreshold
  - CoverageScore
  - CUDA
    - Device
    - Enabled
  - Distance
  - DistanceRatio
  - Duplicate
    - Scaling
  - ExcludeObjects
  - Function
  - Hypothesis
    - Count
    - Score
  - InPlaneAngularResolution
  - Model
  - ModelId
  - ModelPath
  - Objects
  - RefineCombined
    - Iterations
  - Refinement
    - Refine3D
  - RelativeModelSamplingDistance
  - Subsampling
  - Supplementary
  - Symmetries
  - Target
  - Texture
  - Threads
  - ViewPoints
- Result
  - Camera
  - Distance
  - Far
  - GenerateModel
  - Hypothesis
    - Count
  - ModelId
  - Models
    - 0
    - …
  - Near
  - Objects
    - 0
      - Coverage
      - Score
      - Texture
      - ViewPointIndex
    - …
  - PointMap
  - Supplementary
  - Texture
PatternBufferInfo
- Parameters
  - ConnectedCameras
  - Filter
- Result
  - ConnectedCameras
    - 0
      - 0
      - …
    - …
  - Count
  - PatternCount
ProjectPattern
- Parameters
  - Cameras
  - GridSize
  - GridSpacing
  - Link
    - Target
  - PatternPose
    - Reference
  - Rectified
  - Threads
- Result
  - Corners
    - Pattern
    - Points
      - Left
        
        0
        
        1
        
        …
      - Right
        
        0
        
        1
        
        …
  - Stereo
    - Pattern
    - Points
      - Left
        
        0
        
        1
        
        …
      - Right
        
        0
        
        1
        
        …
  - Visible
ProjectPoints
- Parameters
  - Cameras
  - Points
  - Rectified
- Result
  - Points
    - Left
      - 0
      - 1
      - …
    - Right
      - 0
      - 1
      - …
Recalibrate
- Parameters
  - Cameras
  - Filter
- Result
  - 120001
RectifyImages
- Parameters
  - Cameras
  - CUDA
    - Device
    - Enabled
  - Threads
ReducePatternBuffer
- Parameters
  - Count
  - Mode
- Result
  - Reduced
RemovePatternBufferView
- Parameters
  - Name
RenderPointMap
- Parameters
  - Camera
  - Cameras
  - Far
  - FillXYCoordinates
  - Near
  - PixelSize
  - Scaling
  - Size
  - Texture
  - Threads
  - UseOpenGL
  - ViewPose
  - ZBufferOnly
RenderView
- Parameters
  - Camera
  - Cameras
  - Far
  - Near
  - Objects
  - PatternPose
  - PointCloud
  - Primitive
  - ShowCameras
  - ShowFieldOfView
  - ShowGrid
  - ShowNormals
  - ShowSurface
  - ShowUserDefinedModels
  - Size
  - SurfaceConnectivity
  - Threads
  - ViewPose
ReprojectPoints
- Parameters
  - Cameras
  - Points
  - Rectified
  - Sensor
- Result
  - Directions
    - 0
    - 1
    - …
  - Origin
Retrieve
- Parameters
- Result
  - 120001
    - CaptureEvents
      - 0
        
        Message
        
        Symbol
        
        Timestamp
      - …
    - PacketsResent
    - Retrieved
SaveImage
- Parameters
  - Filename
  - Node
SaveModel
- Parameters
  - Cameras
  - Filename
  - Texture
  - Threads
SetPatternBuffer
- Parameters
  - Patterns
SetStatusLeds
SimulatePhysics
- Parameters
  - ResetClock
  - Time
StoreCalibration
- Parameters
  - Calibration
  - Cameras
  - DynamicOffsets
  - Force
  - Link
Synchronize
- Parameters
  - Cameras
  - Nodes
Trigger
- Parameters
- Result
  - 120001
    - Triggered
UpdateFirmware
- Parameters
  - Camera
  - Cameras
  - Filename
  - Projector
VisualizePatternBuffer
- Parameters
  - Cameras
  - Filter
Wifi
- Parameters
  - Command
  - Default
  - Passphrase
  - Ssid

Commands - Ensenso SDK

»
CalibrateHandEye »
Result »
Scaling

Scaling¶

The optimized robot to camera scale factor.

Format

Number

A positive floating point number.

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