* create camera setup of three cameras
create_camera_setup_model (3, CameraSetupModelID)
* camera 0 is located in the origin
set_camera_setup_cam_param (CameraSetupModelID, 0, 'area_scan_division',\
[0.006, 0, 8.3e-6, 8.3e-6, 512, 384, 1024, 768],\
[0, 0, 0, 0, 0, 0, 0])
* camera 1 is shifted 0.07 m in positive x-direction relative to camera 0
set_camera_setup_cam_param (CameraSetupModelID, 1, 'area_scan_division',\
[0.006, 0, 8.3e-6, 8.3e-6, 512, 384, 1024, 768],\
[0.07, 0, 0, 0, 0, 0, 0])
* camera 2 is shifted 0.1 m in negative y-direction relative to camera 0
set_camera_setup_cam_param (CameraSetupModelID, 2, 'area_scan_division',\
[0.006, 0, 8.3e-6, 8.3e-6, 512, 384, 1024, 768],\
[0.0, -0.1, 0, 0, 0, 0, 0])
* there is an object, which is 0.5 away from the origin in
* z-direction, and is facing the origin
ObjectPose := [0, 0, 0.5, 180, 0, 0, 0]
* place the setup's origin in the object
set_camera_setup_param (CameraSetupModelID, 'general', 'coord_transf_pose',\
ObjectPose)
* now the camera poses are given relative to the object
get_camera_setup_param (CameraSetupModelID, 0, 'pose', CamPose0)
* CamPose0 is equivalent to [0.0, 0.0, 0.5, 180.0, 0.0, 0.0, 0]
get_camera_setup_param (CameraSetupModelID, 1, 'pose', CamPose1)
* CamPose1 is equivalent to [0.07, 0.0, 0.5, 180.0, 0.0, 0.0, 0]
get_camera_setup_param (CameraSetupModelID, 2, 'pose', CamPose2)
* CamPose2 is equivalent to [0.0, 0.1, 0.5, 180.0, 0.0, 0.0, 0]
