Name
get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData — Query data stored or computed in a calibration data model.
Herror get_calib_data(const HTuple& CalibDataID, const HTuple& ItemType, const HTuple& ItemIdx, const HTuple& DataName, double* DataValue)
Herror get_calib_data(const HTuple& CalibDataID, const HTuple& ItemType, const HTuple& ItemIdx, const HTuple& DataName, HTuple* DataValue)
HTuple HCalibData::GetCalibData(const HTuple& ItemType, const HTuple& ItemIdx, const HTuple& DataName) const
void GetCalibData(const HTuple& CalibDataID, const HTuple& ItemType, const HTuple& ItemIdx, const HTuple& DataName, HTuple* DataValue)
HTuple HCalibData::GetCalibData(const HString& ItemType, const HTuple& ItemIdx, const HTuple& DataName) const
HTuple HCalibData::GetCalibData(const HString& ItemType, Hlong ItemIdx, const HString& DataName) const
HTuple HCalibData::GetCalibData(const char* ItemType, Hlong ItemIdx, const char* DataName) const
With the operator get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData, you can query data of the
calibration data model CalibDataIDCalibDataIDCalibDataIDCalibDataIDCalibDataIDcalibDataID. Note that in the following,
all 'pose'-related data are given in relation to the coordinate
system of the model's reference camera. It can be set or queried by
set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData or get_calib_dataget_calib_dataGetCalibDataget_calib_dataGetCalibDataGetCalibData, respectively.
Model-related data
For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='model'"model""model""model""model""model", you must pass the value
'general'"general""general""general""general""general" in ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx. Depending on the selection in
DataNameDataNameDataNameDataNameDataNamedataName, the following model-related data is then returned in
DataValueDataValueDataValueDataValueDataValuedataValue:
- 'type'"type""type""type""type""type":
Type of the calibration data model. Currently, the five types
'calibration_object'"calibration_object""calibration_object""calibration_object""calibration_object""calibration_object", 'hand_eye_stationary_cam'"hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam",
'hand_eye_moving_cam'"hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam",
'hand_eye_scara_stationary_cam'"hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam",
and 'hand_eye_scara_moving_cam'"hand_eye_scara_moving_cam""hand_eye_scara_moving_cam""hand_eye_scara_moving_cam""hand_eye_scara_moving_cam""hand_eye_scara_moving_cam" are supported.
- 'reference_camera'"reference_camera""reference_camera""reference_camera""reference_camera""reference_camera":
Index of the reference camera for the calibration model. All poses
stored in the calibration data model are specified in the
coordinate system of this reference camera.
- 'num_cameras'"num_cameras""num_cameras""num_cameras""num_cameras""num_cameras":
Number of cameras in the calibration data model (see
create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData).
- 'num_calib_objs'"num_calib_objs""num_calib_objs""num_calib_objs""num_calib_objs""num_calib_objs":
Number of calibration objects in the calibration data model (see
create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData).
- 'camera_setup_model'"camera_setup_model""camera_setup_model""camera_setup_model""camera_setup_model""camera_setup_model":
A handle to a camera setup model containing the poses and the internal
parameters for the calibrated cameras from the current calibration
setup. Note that the returned data handle needs to be cleared
by clear_camera_setup_modelclear_camera_setup_modelClearCameraSetupModelclear_camera_setup_modelClearCameraSetupModelClearCameraSetupModel.
- 'camera_calib_error'"camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error":
The root mean square error (RMSE) of the back projection of the
optimization of the camera system. Typically, this error is queried after
a hand eye calibration (calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEye) was performed,
where internally the camera system is calibrated without returning
the error of the camera calibration. The returned error is
identical to the error returned by calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras.
- 'hand_eye_calib_error'"hand_eye_calib_error""hand_eye_calib_error""hand_eye_calib_error""hand_eye_calib_error""hand_eye_calib_error":
After a successful hand_eye calibration, the pose error of the complete
chain of transformations is returned. To be more precise, a tuple with
four elements is returned, where the first element is the
root-mean-square error of the translational part, the second element is
the root-mean-square error of the rotational part, the third element is
the maximum translational error and the fourth element is the maximum
rotational error. The returned errors are identical to the errors
returned by calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEye.
The parameter 'reference_camera'"reference_camera""reference_camera""reference_camera""reference_camera""reference_camera" can be set with
set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData. The other parameters are set during model
creation or are a result of the calibration process and cannot be
modified.
Camera-related data
With ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='camera'"camera""camera""camera""camera""camera", you can query data for
all cameras or for a specific camera.
With ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx='general'"general""general""general""general""general", the default value of a parameter
for all cameras is returned. In contrast, if you pass a valid camera index
instead, i.e., a number between 0 and NumCameras-1
(NumCameras is specified during model creation with
create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData), only the parameter value of the specified
camera is returned.
By selecting the following parameters in DataNameDataNameDataNameDataNameDataNamedataName, you can query
which camera parameters are (or have been) optimized during the
calibration performed by calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras:
- 'calib_settings'"calib_settings""calib_settings""calib_settings""calib_settings""calib_settings":
List of the camera parameters that are marked for calibration.
- 'excluded_settings'"excluded_settings""excluded_settings""excluded_settings""excluded_settings""excluded_settings":
List of camera parameters that are excluded from the calibration.
These parameters can be modified by a corresponding call to
set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData.
The following parameters can only be queried for a specific camera, i.e.,
you must pass a valid camera index in ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx:
- 'init_params'"init_params""init_params""init_params""init_params""init_params":
Initial internal camera parameters (set with
set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam).
- 'params'"params""params""params""params""params":
Optimized internal camera parameters.
- 'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations""params_deviations":
Standard deviations of the optimized camera parameters, as estimated
at the end of the camera calibration.
- 'params_covariances'"params_covariances""params_covariances""params_covariances""params_covariances""params_covariances":
Covariance matrix of the optimized camera parameters, as estimated
at the end of the camera calibration.
- 'params_labels'"params_labels""params_labels""params_labels""params_labels""params_labels":
A convenience list of labels for the entries returned by
'params'"params""params""params""params""params" and 'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations""params_deviations". This list is
camera-type specific.
- 'init_pose'"init_pose""init_pose""init_pose""init_pose""init_pose":
Initial camera pose , relative to the current
reference camera. It is computed internally based
on observation poses during the calibration process (see
calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras).
- 'pose'"pose""pose""pose""pose""pose":
Optimized camera pose, relative to the current reference camera.
- 'pose_labels'"pose_labels""pose_labels""pose_labels""pose_labels""pose_labels":
A convenience list of labels for the entries returned by 'pose'"pose""pose""pose""pose""pose".
The calibrated camera parameters ( 'params'"params""params""params""params""params" and 'pose'"pose""pose""pose""pose""pose")
can be queried only after a successful execution of
calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras. The initial internal camera parameters
'init_params'"init_params""init_params""init_params""init_params""init_params" can be queried after a successful call to
set_calib_data_cam_paramset_calib_data_cam_paramSetCalibDataCamParamset_calib_data_cam_paramSetCalibDataCamParamSetCalibDataCamParam.
Data related to calibration objects
With ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='calib_obj'"calib_obj""calib_obj""calib_obj""calib_obj""calib_obj" you can query data for a
specific calibration object by passing its index in ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx, i.e.
a number between 0 and NumCalibObjects-1 (NumCalibObjects
is specified during model creation with create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData).
The following parameters can be queried with
DataNameDataNameDataNameDataNameDataNamedataName and are returned in DataValueDataValueDataValueDataValueDataValuedataValue:
- 'num_marks'"num_marks""num_marks""num_marks""num_marks""num_marks":
Number of calibration marks of the calibration object.
- 'x'"x""x""x""x""x", 'y'"y""y""y""y""y", 'z'"z""z""z""z""z":
Coordinates of the calibration marks relative to the calibration object
coordinate system.
These parameters can be modified with set_calib_data_calib_objectset_calib_data_calib_objectSetCalibDataCalibObjectset_calib_data_calib_objectSetCalibDataCalibObjectSetCalibDataCalibObject.
Data related to calibration object poses
With ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='calib_obj_pose'"calib_obj_pose""calib_obj_pose""calib_obj_pose""calib_obj_pose""calib_obj_pose" you can query general
settings for all calibration object poses, or data for a specific
calibration object pose.
With ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx='general'"general""general""general""general""general", the default value of a parameter
for all calibration object poses is returned. In contrast, if you pass a
valid calibration object index instead, i.e., a tuple containing a valid
index pair [CalibObjIdx, CalibObjPoseIdx], only the
parameter value of the specified calibration object pose is returned.
By selecting the following parameters in DataNameDataNameDataNameDataNameDataNamedataName, you can query
which calibration object pose parameters are (or have been) optimized during
the calibration performed by calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras:
- 'calib_settings'"calib_settings""calib_settings""calib_settings""calib_settings""calib_settings":
List of calibration object pose parameters marked for calibration.
- 'excluded_settings'"excluded_settings""excluded_settings""excluded_settings""excluded_settings""excluded_settings":
List of calibration object pose parameters excluded from calibration.
These parameters can be set with set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData.
The following parameters can only be queried for a specific calibration
object pose, i.e., you must pass a valid index pair [CalibObjIdx,
CalibObjPoseIdx] in ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx:
- 'init_pose'"init_pose""init_pose""init_pose""init_pose""init_pose":
Initial calibration object pose. It is computed internally based
on observation poses during the calibration process (see
calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras). This pose is relative to the current
reference camera.
- 'pose'"pose""pose""pose""pose""pose":
Optimized calibration object pose, relative to current reference
camera.
- 'pose_labels'"pose_labels""pose_labels""pose_labels""pose_labels""pose_labels":
A convenience list of labels for the entries returned by
'pose'"pose""pose""pose""pose""pose".
These parameters cannot be explicitly modified and can only be queried after
calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras was executed.
Hand-eye calibration related data
After performing a successful hand-eye calibration using
calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEye, the following poses can be queried for a
calibration data model of type:
- 'hand_eye_moving_cam'"hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam""hand_eye_moving_cam",
'hand_eye_scara_moving_cam'"hand_eye_scara_moving_cam""hand_eye_scara_moving_cam""hand_eye_scara_moving_cam""hand_eye_scara_moving_cam""hand_eye_scara_moving_cam":
-
For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='camera'"camera""camera""camera""camera""camera" and
DataNameDataNameDataNameDataNameDataNamedataName='tool_in_cam_pose'"tool_in_cam_pose""tool_in_cam_pose""tool_in_cam_pose""tool_in_cam_pose""tool_in_cam_pose", the pose of the
robot tool in the camera coordinate system is returned in
DataValueDataValueDataValueDataValueDataValuedataValue.
For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='calib_obj'"calib_obj""calib_obj""calib_obj""calib_obj""calib_obj" and
DataNameDataNameDataNameDataNameDataNamedataName='obj_in_base_pose'"obj_in_base_pose""obj_in_base_pose""obj_in_base_pose""obj_in_base_pose""obj_in_base_pose", the pose of the
calibration object in the robot base coordinate system is returned
in DataValueDataValueDataValueDataValueDataValuedataValue.
Note that when calibrating SCARA robots, it is not possible to
determine the Z translation of 'obj_in_base_pose'.
To eliminate this ambiguity the Z translation
'obj_in_base_pose' is internally set to 0.0 and the
'tool_in_cam_pose' is calculated accordingly.
It is necessary to determine the true translation in Z after the
calibration (see calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEye).
The standard deviations and the covariance matrices of the
6 pose parameters of both poses can
be queried with 'tool_in_cam_pose_deviations'"tool_in_cam_pose_deviations""tool_in_cam_pose_deviations""tool_in_cam_pose_deviations""tool_in_cam_pose_deviations""tool_in_cam_pose_deviations",
'tool_in_cam_pose_covariances'"tool_in_cam_pose_covariances""tool_in_cam_pose_covariances""tool_in_cam_pose_covariances""tool_in_cam_pose_covariances""tool_in_cam_pose_covariances",
'obj_in_base_pose_deviations'"obj_in_base_pose_deviations""obj_in_base_pose_deviations""obj_in_base_pose_deviations""obj_in_base_pose_deviations""obj_in_base_pose_deviations", and
'obj_in_base_pose_covariances'"obj_in_base_pose_covariances""obj_in_base_pose_covariances""obj_in_base_pose_covariances""obj_in_base_pose_covariances""obj_in_base_pose_covariances". Like poses, they are specified
in the units [m] and [°].
- 'hand_eye_stationary_cam'"hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam""hand_eye_stationary_cam",
'hand_eye_scara_stationary_cam'"hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam""hand_eye_scara_stationary_cam":
-
For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='camera'"camera""camera""camera""camera""camera" and
DataNameDataNameDataNameDataNameDataNamedataName='base_in_cam_pose'"base_in_cam_pose""base_in_cam_pose""base_in_cam_pose""base_in_cam_pose""base_in_cam_pose", the pose of the
robot base in the camera coordinate system is returned in
DataValueDataValueDataValueDataValueDataValuedataValue.
For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='calib_obj'"calib_obj""calib_obj""calib_obj""calib_obj""calib_obj" and
DataNameDataNameDataNameDataNameDataNamedataName='obj_in_tool_pose'"obj_in_tool_pose""obj_in_tool_pose""obj_in_tool_pose""obj_in_tool_pose""obj_in_tool_pose", the pose of the
calibration object in the tool coordinate system is returned in
DataValueDataValueDataValueDataValueDataValuedataValue.
Note that when calibrating SCARA robots, it is not possible to
determine the Z translation of 'obj_in_tool_pose'. To
eliminate this ambiguity the Z translation of
'obj_in_tool_pose' is internally set to 0.0 and the
'base_in_cam_pose' is calculated accordingly.
It is necessary to determine the true translation in Z after the
calibration (see calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEye).
The standard deviations and the covariance matrices of the
6 pose parameters of both poses can
be queried with 'base_in_cam_pose_deviations'"base_in_cam_pose_deviations""base_in_cam_pose_deviations""base_in_cam_pose_deviations""base_in_cam_pose_deviations""base_in_cam_pose_deviations",
'base_in_cam_pose_covariances'"base_in_cam_pose_covariances""base_in_cam_pose_covariances""base_in_cam_pose_covariances""base_in_cam_pose_covariances""base_in_cam_pose_covariances",
'obj_in_tool_deviations'"obj_in_tool_deviations""obj_in_tool_deviations""obj_in_tool_deviations""obj_in_tool_deviations""obj_in_tool_deviations", and
'obj_in_tool_covariances'"obj_in_tool_covariances""obj_in_tool_covariances""obj_in_tool_covariances""obj_in_tool_covariances""obj_in_tool_covariances". Like poses, they are specified
in the units [m] and [°].
For ItemTypeItemTypeItemTypeItemTypeItemTypeitemType='tool'"tool""tool""tool""tool""tool" and
DataNameDataNameDataNameDataNameDataNamedataName='tool_in_base_pose'"tool_in_base_pose""tool_in_base_pose""tool_in_base_pose""tool_in_base_pose""tool_in_base_pose",
the pose of the robot tool in the robot base coordinate system with Index
ItemIdxItemIdxItemIdxItemIdxItemIdxitemIdx is returned in DataValueDataValueDataValueDataValueDataValuedataValue
These poses were previously set using set_calib_dataset_calib_dataSetCalibDataset_calib_dataSetCalibDataSetCalibData and served
as input for the hand-eye calibration algorithm.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Handle of a calibration data model.
Type of calibration data item.
Default value:
'camera'
"camera"
"camera"
"camera"
"camera"
"camera"
List of values: 'calib_obj'"calib_obj""calib_obj""calib_obj""calib_obj""calib_obj", 'calib_obj_pose'"calib_obj_pose""calib_obj_pose""calib_obj_pose""calib_obj_pose""calib_obj_pose", 'camera'"camera""camera""camera""camera""camera", 'model'"model""model""model""model""model", 'tool'"tool""tool""tool""tool""tool"
The name of the inspected data.
Default value:
'params'
"params"
"params"
"params"
"params"
"params"
List of values: 'base_in_cam_pose'"base_in_cam_pose""base_in_cam_pose""base_in_cam_pose""base_in_cam_pose""base_in_cam_pose", 'base_in_cam_pose_covariances'"base_in_cam_pose_covariances""base_in_cam_pose_covariances""base_in_cam_pose_covariances""base_in_cam_pose_covariances""base_in_cam_pose_covariances", 'base_in_cam_pose_deviations'"base_in_cam_pose_deviations""base_in_cam_pose_deviations""base_in_cam_pose_deviations""base_in_cam_pose_deviations""base_in_cam_pose_deviations", 'calib_settings'"calib_settings""calib_settings""calib_settings""calib_settings""calib_settings", 'camera_calib_error'"camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error""camera_calib_error", 'camera_setup_model'"camera_setup_model""camera_setup_model""camera_setup_model""camera_setup_model""camera_setup_model", 'excluded_settings'"excluded_settings""excluded_settings""excluded_settings""excluded_settings""excluded_settings", 'hand_eye_calib_error'"hand_eye_calib_error""hand_eye_calib_error""hand_eye_calib_error""hand_eye_calib_error""hand_eye_calib_error", 'init_params'"init_params""init_params""init_params""init_params""init_params", 'init_pose'"init_pose""init_pose""init_pose""init_pose""init_pose", 'num_calib_objs'"num_calib_objs""num_calib_objs""num_calib_objs""num_calib_objs""num_calib_objs", 'num_cameras'"num_cameras""num_cameras""num_cameras""num_cameras""num_cameras", 'num_marks'"num_marks""num_marks""num_marks""num_marks""num_marks", 'obj_in_base_pose'"obj_in_base_pose""obj_in_base_pose""obj_in_base_pose""obj_in_base_pose""obj_in_base_pose", 'obj_in_base_pose_covariances'"obj_in_base_pose_covariances""obj_in_base_pose_covariances""obj_in_base_pose_covariances""obj_in_base_pose_covariances""obj_in_base_pose_covariances", 'obj_in_base_pose_deviations'"obj_in_base_pose_deviations""obj_in_base_pose_deviations""obj_in_base_pose_deviations""obj_in_base_pose_deviations""obj_in_base_pose_deviations", 'obj_in_tool_pose'"obj_in_tool_pose""obj_in_tool_pose""obj_in_tool_pose""obj_in_tool_pose""obj_in_tool_pose", 'obj_in_tool_pose_covariances'"obj_in_tool_pose_covariances""obj_in_tool_pose_covariances""obj_in_tool_pose_covariances""obj_in_tool_pose_covariances""obj_in_tool_pose_covariances", 'obj_in_tool_pose_deviations'"obj_in_tool_pose_deviations""obj_in_tool_pose_deviations""obj_in_tool_pose_deviations""obj_in_tool_pose_deviations""obj_in_tool_pose_deviations", 'optimization_method'"optimization_method""optimization_method""optimization_method""optimization_method""optimization_method", 'params'"params""params""params""params""params", 'params_covariances'"params_covariances""params_covariances""params_covariances""params_covariances""params_covariances", 'params_deviations'"params_deviations""params_deviations""params_deviations""params_deviations""params_deviations", 'params_labels'"params_labels""params_labels""params_labels""params_labels""params_labels", 'pose'"pose""pose""pose""pose""pose", 'pose_labels'"pose_labels""pose_labels""pose_labels""pose_labels""pose_labels", 'reference_camera'"reference_camera""reference_camera""reference_camera""reference_camera""reference_camera", 'tool_in_base_pose'"tool_in_base_pose""tool_in_base_pose""tool_in_base_pose""tool_in_base_pose""tool_in_base_pose", 'tool_in_cam_pose'"tool_in_cam_pose""tool_in_cam_pose""tool_in_cam_pose""tool_in_cam_pose""tool_in_cam_pose", 'tool_in_cam_pose_covariances'"tool_in_cam_pose_covariances""tool_in_cam_pose_covariances""tool_in_cam_pose_covariances""tool_in_cam_pose_covariances""tool_in_cam_pose_covariances", 'tool_in_cam_pose_deviations'"tool_in_cam_pose_deviations""tool_in_cam_pose_deviations""tool_in_cam_pose_deviations""tool_in_cam_pose_deviations""tool_in_cam_pose_deviations", 'type'"type""type""type""type""type", 'x'"x""x""x""x""x", 'y'"y""y""y""y""y", 'z'"z""z""z""z""z"
* Get the camera type of camera 0
get_calib_data (CalibDataID, 'camera', 0, 'type', CameraType)
* Get the optimized (calibrated) pose of pose 1 of the
* calibration object 2
get_calib_data (CalibDataID, 'calib_obj_pose', [2,1], 'pose', CalobjPose)
calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras,
calibrate_hand_eyecalibrate_hand_eyeCalibrateHandEyecalibrate_hand_eyeCalibrateHandEyeCalibrateHandEye,
create_calib_datacreate_calib_dataCreateCalibDatacreate_calib_dataCreateCalibDataCreateCalibData,
read_calib_dataread_calib_dataReadCalibDataread_calib_dataReadCalibDataReadCalibData
Calibration