HALCON

https://www.mvtec.com/doc/halcon/2511/en
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### C example for bin_threshold

Source: https://www.mvtec.com/doc/halcon/2511/en/bin_threshold.html

C example demonstrating bin_threshold and connection, with additional display setup using set_shape, set_colored, and disp_region.

```C
read_image(&Image,"letters");
bin_threshold(Image,&Seg);
connection(Seg,&Connected);
set_shape(WindowHandle,"rectangle1");
set_colored(WindowHandle,6);
disp_region(Connected,WindowHandle);
```

--------------------------------

### C char_threshold example

Source: https://www.mvtec.com/doc/halcon/2511/en/char_threshold.html

C version of the char_threshold example, including display setup and region display.

```C
read_image(&Image,"letters");
char_threshold(Image,Image,&Seg,0.0,5.0,&Threshold);
connection(Seg,&Connected);
set_colored(WindowHandle,12);
set_shape(WindowHandle,"rectangle1");
disp_region(Connected,WindowHandle);
```

--------------------------------

### C example: draw region and icon, set and get icon

Source: https://www.mvtec.com/doc/halcon/2511/en/get_icon.html

This C example demonstrates how to draw a region and an icon, set the icon using set_icon, and then retrieve it with get_icon. It shows the typical usage of get_icon in a C program.

```C
/* draw a region and an icon.  */
/* set it and get it again.    */
T_draw_region(&Region,WindowHandle);
T_draw_region(&Icon,WindowHandle);
set_icon(Icon);
create_tuple_s(&icon,"icon");
T_set_shape(WindowHandle,icon);
destroy_tuple(icon);
T_disp_region(Region,WindowHandle);
get_icon(&OldIcon);
T_disp_region(OldIcon,WindowHandle);
```

--------------------------------

### HDevelop example for zero_crossing_sub_pix

Source: https://www.mvtec.com/doc/halcon/2511/en/zero_crossing_sub_pix.html

Shows two workflows: detecting zero crossings of a Laplacian-of-Gaussian and detecting edges by thresholding the gradient magnitude before applying zero_crossing_sub_pix. The second example compensates the threshold for Gaussian smoothing.

```HDevelop
* Detection zero crossings of the Laplacian-of-Gaussian
* of an aerial image
read_image(Image,'mreut')
derivate_gauss(Image,Laplace,3,'laplace')
zero_crossing_sub_pix(Laplace,ZeroCrossings)
dev_display(ZeroCrossings)

* Detection of edges, i.e, zero crossings of the Laplacian-of-Gaussian
* that have a large gradient magnitude, in an aerial image
read_image(Image,'mreut')
Sigma := 1.5
* Compensate the threshold for the fact that derivate_gauss(...,'gradient')
* calculates a Gaussian-smoothed gradient, in which the edge amplitudes
* are too small because of the Gaussian smoothing, to correspond to a true
* edge amplitude of 20.
Threshold := 20/(Sigma*sqrt(2*3.1415926))
derivate_gauss(Image,Gradient,Sigma,'gradient')
threshold(Gradient,Region,Threshold,255)
reduce_domain(Image,Region,ImageReduced)
derivate_gauss(ImageReduced,Laplace,Sigma,'laplace')
zero_crossing_sub_pix(Laplace,Edges)
dev_display(Edges)
```

--------------------------------

### C++ example: zero_crossing_sub_pix with Laplacian-of-Gaussian and edge detection

Source: https://www.mvtec.com/doc/halcon/2511/en/zero_crossing_sub_pix.html

C++ code showing two workflows: first, detecting zero crossings of the Laplacian-of-Gaussian of an aerial image; second, detecting edges by thresholding the gradient magnitude and then finding zero crossings in the reduced domain. The threshold is compensated for Gaussian smoothing using the formula Threshold = 20/(Sigma*sqrt(2*PI)).

```C++
/* Detection zero crossings of the Laplacian-of-Gaussian of aerial image */
HWindow Window(0,0,512,512);
HImage Image("mreut");
HImage Laplace = Image.DerivateGauss(3,"laplace");
HXLDContArray ZeroCrossings = Laplace.ZeroCrossingsSubPix();
ZeroCrossings.Display(Window);

/* Detection of edges, i.e, zero crossings of the Laplacian-of-Gaussian
   that have a large gradient magnitude, in an aerial image */
HWindow Window(0,0,512,512);
HImage Image("mreut");
Sigma = 1.5;
/* Compensate the threshold for the fact that derivate_gauss(...,'gradient')
   calculates a Gaussian-smoothed gradient, in which the edge amplitudes
   are too small because of the Gaussian smoothing, to correspond to a true
   edge amplitude of 20. */
Threshold = 20/(Sigma*sqrt(2*PI));
HImage Gradient = Image.DerivateGauss(Sigma,"gradient");
HRegion Region = Gradient.Threshold(Threshold,255);
HImage ImageReduced = Image.ReduceDomain(Region);
HImage Laplace = ImageReduced.DerivateGauss(Sigma,"laplace");
HXLDContArray Edges = Laplace.ZeroCrossingSubPix();
Edges.Display(Window);
```

--------------------------------

### C example: zero_crossing_sub_pix with Laplacian-of-Gaussian and edge detection

Source: https://www.mvtec.com/doc/halcon/2511/en/zero_crossing_sub_pix.html

C code showing two workflows: first, detecting zero crossings of the Laplacian-of-Gaussian of an aerial image; second, detecting edges by thresholding the gradient magnitude and then finding zero crossings in the reduced domain. The threshold is compensated for Gaussian smoothing using the formula Threshold = 20/(Sigma*sqrt(2*PI)).

```C
/* Detection zero crossings of the Laplacian-of-Gaussian of aerial image */
read_image(&Image,"mreut");
derivate_gauss(Image,&Laplace,3,"laplace");
zero_crossing_sub_pix(Laplace,&ZeroCrossings);
disp_xld(ZeroCrossings,WindowHandle);

/* Detection of edges, i.e, zero crossings of the Laplacian-of-Gaussian
   that have a large gradient magnitude, in an aerial image */
read_image(&Image,"mreut");
Sigma = 1.5;
/* Compensate the threshold for the fact that derivate_gauss(...,'gradient')
   calculates a Gaussian-smoothed gradient, in which the edge amplitudes
   are too small because of the Gaussian smoothing, to correspond to a true
   edge amplitude of 20. */
Threshold = 20/(Sigma*sqrt(2*PI));
derivate_gauss(Image,&Gradient,Sigma,"gradient");
threshold(Gradient,&Region,Threshold,255);
reduce_domain(Image,Region,&ImageReduced);
derivate_gauss(ImageReduced,&Laplace,Sigma,"laplace");
zero_crossing_sub_pix(Laplace,&Edges);
disp_xld(Edges,WindowHandle);
```

--------------------------------

### HDevelop: find_marks_and_pose example

Source: https://www.mvtec.com/doc/halcon/2511/en/find_marks_and_pose.html

Reads a distorted calibration image, finds the calibration plate, and then calls find_marks_and_pose with a division model camera parameter tuple to get the mark coordinates and start pose.

```HDevelop
* Read calibration image.
read_image(Image, 'calib/calib_distorted_01')
* Find calibration pattern.
find_caltab(Image,CalPlate, 'caltab_100mm.descr', 3, 112, 5)
* Find calibration marks and start pose.
find_marks_and_pose(Image, CalPlate, 'caltab_100mm.descr' , \
                    ['area_scan_division', 0.008, 0.0, \
                     0.000011, 0.000011, 384, 288, 640, 512], \
                    128, 10, 18, 0.9, 15.0, 100.0, RCoord, CCoord, StartPose)
```

--------------------------------

### HDevelop: open_window example

Source: https://www.mvtec.com/doc/halcon/2511/en/open_window.html

HDevelop example that opens a window, reads and displays an image, writes text, waits for a mouse button press, changes the LUT and color, and draws a rectangle to set the display part.

```HDevelop
open_window(0,0,400,-1,'root','visible','',WindowHandle)
read_image(Image,'fabrik')
disp_image(Image,WindowHandle)
write_string(WindowHandle,'File, fabrik')
new_line(WindowHandle)
get_mbutton(WindowHandle,_,_,_)
set_lut(WindowHandle,'temperature')
set_color(WindowHandle,'blue')
write_string(WindowHandle,'temperature')
new_line(WindowHandle)
write_string(WindowHandle,'Draw Rectangle')
new_line(WindowHandle)
draw_rectangle1(WindowHandle,Row1,Column1,Row2,Column2)
set_part(WindowHandle,Row1,Column1,Row2,Column2)
disp_image(Image,WindowHandle)
new_line(WindowHandle)
```

--------------------------------

### C expand_region example

Source: https://www.mvtec.com/doc/halcon/2511/en/expand_region.html

C example showing how to read an image, threshold it, display the light regions, connect them, expand the connected regions using 'maximal' mode with 'image' feature, and display the result with colored margins.

```C
read_image(&Image,"fabrik");
threshold(Image,&Light,100.0,255.0);
disp_region(Light,WindowHandle);
connection(Light,&Seg);
expand_region(Seg,EMPTY_REGION,&Exp1,"maximal","image");
set_colored(WindowHandle,12);
set_draw(WindowHandle,"margin");
disp_region(Exp1,WindowHandle);
```

--------------------------------

### HDevelop example for clear_message_queue

Source: https://www.mvtec.com/doc/halcon/2511/en/clear_message_queue.html

Creates two message queues before clearing them. The example shows the typical setup for using clear_message_queue.

```HDevelop
create_message_queue (ProducerQueue)
create_message_queue (ResultQueue)
* ...
```

--------------------------------

### open_textwindow example in C

Source: https://www.mvtec.com/doc/halcon/2511/en/open_textwindow.html

C example that opens two text windows and a graphics window, displays an image, and loops reading mouse position and gray value until the right mouse button is pressed. Uses create_tuple and set_s to build a string for writing.

```C
open_textwindow(0,0,900,600,1,"black","slate blue","root","visible",
                "",&WindowHandle1);
open_textwindow(10,10,300,580,3,"red","blue",Father,"visible",
                "",&WindowHandle2);
open_window(10,320,570,580,Father,"visible","",&WindowHandle);
set_color(WindowHandle,"red");
read_image(&Image,"monkey");
disp_image(Image,WindowHandle);
create_tuple(&String,1);
do {
  get_mposition(WindowHandle,&Row,&Column,&Button);
  get_grayval(Image,Row,Column,&Gray);
  sprintf(buf,"Position( %d,%d ) ",Row,Column);
  set_s(String,buf,0);
  T_fwrite_string(String);
  new_line(WindowHandle);
}
while(Button < 4);
close_window(WindowHandle);
```

--------------------------------

### C++ example using select_shape_proto

Source: https://www.mvtec.com/doc/halcon/2511/en/select_shape_proto.html

C++ example that loads an image, performs region growing, and selects regions fitting a circle prototype using select_shape_proto. Requires a radius argument. Displays the result in a window.

```C++
#include "HIOStream.h"
#if !defined(USE_IOSTREAM_H)
using namespace std;
#endif
#include "HalconCpp.h"
using namespace Halcon;

int main (int argc, char *argv[])
{
  if (argc < 2)
  {
    cout << "Usage: " << argv[0] << " <radius of circle>" << endl;
    exit (1);
  }

  double   rad = atof (argv[1]);
  HImage   img ("monkey");
  HWindow  w;

  img.Display (w);

  HRegion       circ = HRegion::GenCircle (100, 100, rad);
  HRegionArray  reg  = img.Regiongrowing (3, 3, 5, 0);
  HRegionArray  seg  = reg.SelectShapeProto (circ, "fits", 0, 0);

  w.SetColor  ("red");
  seg.Display (w);
  w.Click ();
  return(0);
}
```

--------------------------------

### GetCameraSetupParam

Source: https://www.mvtec.com/doc/halcon/2511/en/HOperatorSet.html

Gets generic camera setup model parameters.

```APIDOC
## GetCameraSetupParam

### Description
Get generic camera setup model parameters.

### Method
Operator

### Endpoint
GetCameraSetupParam

### Parameters
None documented.

### Request Example
None documented.

### Response
None documented.

```

--------------------------------

### corner_responce example in C++

Source: https://www.mvtec.com/doc/halcon/2511/en/local_min.html

C++ example using HalconCpp to load an image, compute corner response, find local minima, and display the result.

```C++
#include "HIOStream.h"
#if !defined(USE_IOSTREAM_H)
using namespace std;
#endif
#include "HalconCpp.h"
using namespace Halcon;

int main (int argc, char *argv[])
{
  if (argc != 2)
  {
    cout << "Usage : " << argv[0] << " <name of image>" << endl;
    return (-1);
  }

  HImage   image (argv[1]);
  HWindow  win;

  image.Display (win);

  HImage       cres = image.CornerResponse (5, 0.04);
  HRegionArray mins = cres.LocalMin ();

  win.SetColored (12);
  mins.Display (win);
  win.Click ();

  return (0);
}
```

--------------------------------

### HDevelop: Guided point matching with proj_match_points_ransac_guided

Source: https://www.mvtec.com/doc/halcon/2511/en/proj_match_points_ransac_guided.html

This HDevelop example demonstrates a guided matching workflow. It first zooms two images, extracts points with points_foerstner, computes an initial homography with proj_match_points_ransac, scales the guide transformation to the original image size, and finally uses proj_match_points_ransac_guided to refine the matching. The example uses the 'ncc' similarity measure and 'gold_standard' optimization.

```HDevelop
zoom_image_factor (Image1, Image1Zoomed, 0.5, 0.5, 'constant')
zoom_image_factor (Image2, Image2Zoomed, 0.5, 0.5, 'constant')
points_foerstner (Image1Zoomed, 1, 2, 3, 200, 0.3, 'gauss', 'false', \
                  Rows1, Cols1, _, _, _, _, _, _, _, _)
points_foerstner (Image2Zoomed, 1, 2, 3, 200, 0.3, 'gauss', 'false', \
                  Rows2, Cols2, _, _, _, _, _, _, _, _)
get_image_pointer1 (Image1Zoomed, Pointer, Type, Width, Height)
proj_match_points_ransac (Image1Zoomed, Image2Zoomed, Rows1, Cols1, \
                          Rows2, Cols2, 'ncc', 10, 0, 0, \
                          Height, Width, 0, 0.5, 'gold_standard', \
                          5, 0, HomMat2D, Points1, Points2)
hom_mat2d_scale_local (HomMat2D, 0.5, 0.5, HomMat2DGuide)
hom_mat2d_scale (HomMat2DGuide, 2, 2, 0, 0, HomMat2DGuide)
points_foerstner (Image1, 1, 2, 3, 200, 0.3, 'gauss', 'false', \
                  Rows1, Cols1, _, _, _, _, _, _, _, _)
points_foerstner (Image2, 1, 2, 3, 200, 0.3, 'gauss', 'false', \
                  Rows2, Cols2, _, _, _, _, _, _, _, _)
proj_match_points_ransac_guided (Image1, Image2, Rows1, Cols1, \
                                 Rows2, Cols2, 'ncc', 10, \
                                 HomMat2DGuide, 40, 0.5, \
                                 'gold_standard', 10, 0, HomMat2D, \
                                 Points1, Points2)
```

--------------------------------

### C example for sigma_image

Source: https://www.mvtec.com/doc/halcon/2511/en/sigma_image.html

C example showing how to read an image and apply sigma_image with mask size 5x5 and sigma 3, then display the result.

```C
read_image(&Image,"fabrik");
sigma_image(Image,&ImageSigma,5,5,3);
disp_image(ImageSigma,WindowHandle);
```

--------------------------------

### HDevelop example for deserialize_structured_light_model

Source: https://www.mvtec.com/doc/halcon/2511/en/deserialize_structured_light_model.html

Shows the typical workflow: deserialize the model, get a previously decoded result, decode new camera images, and get the new decoded result.

```HDevelop
* Deserialize the model
deserialize_structured_light_model (SerializedItemHandle, \
                                    StructuredLightModel)
* Get a previously decoded result
get_structured_light_object (CorrespondenceImages, StructuredLightModel, \
                             'correspondence_image')
* Decode new camera images
decode_structured_light_pattern (CameraImages, StructuredLightModel)
* Get the decoded result
get_structured_light_object (CorrespondenceImagesNew, StructuredLightModel, \
                             'correspondence_image')
```

--------------------------------

### C example: draw_point with gen_cross_contour_xld

Source: https://www.mvtec.com/doc/halcon/2511/en/draw_point.html

C example that calls draw_point to get the selected point coordinates and then gen_cross_contour_xld to create a cross at that point. The cross size is 6.0 and the rotation angle is 0.0.

```C
draw_point(WindowHandle,&Row,&Column);
gen_cross_contour_xld (&Cross, Row, Column, 6.0, 0.0);
```

--------------------------------

### C example: rgb1_to_gray

Source: https://www.mvtec.com/doc/halcon/2511/en/rgb1_to_gray.html

C example showing how to read an image, display it in color, convert it to gray scale using rgb1_to_gray, and display the gray image.

```C
/* Transformation from rgb to gray  */
read_image(Image,"patras");
disp_color(Image,WindowHandle);
rgb1_to_gray(Image,&GrayImage);
disp_image(GrayImage,WindowHandle);
```

--------------------------------

### HDevelop example: draw_point with gen_cross_contour_xld

Source: https://www.mvtec.com/doc/halcon/2511/en/draw_point.html

HDevelop example that calls draw_point to get the selected point coordinates and then gen_cross_contour_xld to create a cross at that point. The cross size is 6 pixels and the rotation angle is 0.

```HDevelop
draw_point(WindowHandle,Row,Column)
gen_cross_contour_xld (Cross, Row, Column, 6, 0)
```

--------------------------------

### C example: read_image, diff_of_gauss, zero_crossing

Source: https://www.mvtec.com/doc/halcon/2511/en/diff_of_gauss.html

C example showing the same workflow as the HDevelop example, using the C API with pointers for output parameters.

```C
read_image(&Image,"mreut");
diff_of_gauss(Image,&Laplace,2.0,1.6);
zero_crossing(Laplace,&ZeroCrossings);
```

--------------------------------

### get_message_param

Source: https://www.mvtec.com/doc/halcon/2511/en/get_message_param.html

Retrieves parameters from a message object. The example shows how to get all message keys and their data types.

```APIDOC
## get_message_param

### Description
Retrieves parameters from a message object. The example shows how to get all message keys and their data types.

### Example (HDevelop)
```hdevelop
get_message_param (Message, 'message_keys', [], AllKeys)
get_message_param (Message, 'key_data_type', AllKeys, KeysType)
```

### Result
If all the operator parameters, and the specified keys are valid, `get_message_param` returns 2 (H_MSG_TRUE). Otherwise an exception is raised.

### Possible Predecessors
- `dequeue_message`

### See also
- `create_message`
- `clear_message`
- `set_message_tuple`
- `get_message_tuple`
- `set_message_obj`
- `get_message_obj`
- `set_message_param`
- `enqueue_message`
- `dequeue_message`
```

--------------------------------

### corner_responce example in C

Source: https://www.mvtec.com/doc/halcon/2511/en/local_min.html

C example using HALCON's procedural API to read an image, compute corner response, find local minima, and display the result.

```C
read_image(&Image,"fabrik");
corner_responce(Image,&CornerResp,5,0.04);
local_min(CornerResp,&Minima);
set_colored(WindowHandle,12);
disp_region(Minima,WindowHandle);
T_get_region_points(Minima,&Row,&Col);
```

--------------------------------

### HDevelop example: Start and join subthreads with par_start and par_join

Source: https://www.mvtec.com/doc/halcon/2511/en/par_join.html

Shows how to start two procedures in separate subthreads using the par_start qualifier and then wait for both to finish with par_join. The thread IDs are passed as a tuple to par_join.

```HDevelop
* start two procedures in separate sub threads
par_start <ThreadID1> : producer_proc()
par_start <ThreadID2> : consumer_proc()
* wait until both procedures have finished
par_join ([ThreadID1, ThreadID2])
```

--------------------------------

### C example: draw a region and an icon

Source: https://www.mvtec.com/doc/halcon/2511/en/set_icon.html

Shows how to draw a region and an icon, set the icon, and display the region with the icon.

```C
/* draw a region and an icon */
T_draw_region(&Region,WindowHandle);
T_draw_region(&Icon,WindowHandle);
set_icon(Icon);
create_tuple_s(&icon,"icon");
T_set_shape(WindowHandle,icon);
destroy_tuple(icon);
T_disp_region(Region,WindowHandle);
```

--------------------------------

### C example for bottom_hat

Source: https://www.mvtec.com/doc/halcon/2511/en/bottom_hat.html

C example showing how to threshold an image, generate a circular structuring element, apply bottom_hat, and display the results with different colors.

```C
threshold(Image,&Regions,128.0,255.0);
gen_circle(&Circle,128.0,128.0,16.0);
bottom_hat(Regions,Circle,&RegionBottomHat);
set_color(WindowHandle,"red");
disp_region(Regions,WindowHandle);
set_color(WindowHandle,"green");
disp_region(RegionBottomHat,WindowHandle);
```

--------------------------------

### C++ example using caltab_points for camera calibration

Source: https://www.mvtec.com/doc/halcon/2511/en/caltab_points.html

C++ example showing how to read calibration marks with caltab_points and use them in camera_calibration. It includes finding the calibration plate, initializing start camera parameters, and visualizing the result.

```cpp
HTuple StartCamPar, NX, NY, NZ;
HTuple RCoord, CCoord, StartPose;
HTuple StartPose, CameraParam, FinalPose, Errors;
// Read calibration image.
HImage Image("calib/calib-3d-coord-03");
// Find calibration pattern.
HRegion CalPlate1 = Image.FindCaltab("caltab_100mm.descr", 3, 112, 5);
// Find calibration marks and start pose.
StartCamPar[8] = 576;                  // ImageHeight
StartCamPar[7] = 768;                  // ImageWidth
StartCamPar[6] = 288;                  // Cy
StartCamPar[5] = 384;                  // Cx
StartCamPar[4] = 0.000011;             // Sy
StartCamPar[3] = 0.000011;             // Sx
StartCamPar[2] = 0.0;                  // Kappa
StartCamPar[1] = 0.008;                // Focus
StartCamPar[0] = "area_scan_division"; // CameraType
RCoord = Image.FindMarksAndPose(CalPlate, "caltab_100mm.descr", StartCamPar,
                                 128, 10, &CCoord, &StartPose);
// Read 3D positions of calibration marks.
caltab_points("caltab_100mm.descr", &NX, &NY, &NZ);
// Calibrate camera.
camera_calibration(NX, NY, NZ, RCoord, CCoord, StartCamPar, StartPose,
                   11, &CameraParam, &FinalPose, &Errors);
// Visualize calibration result.
disp_image(Image, WindowHandle);
disp_caltab(WindowHandle, "caltab_100mm.descr, CameraParam, FinalPose, 1.0);
```

--------------------------------

### C example: draw_line with disp_line

Source: https://www.mvtec.com/doc/halcon/2511/en/draw_line.html

C example showing how to call draw_line to get line endpoints and then display the line using disp_line. The operator returns 2 (H_MSG_TRUE) if the window is valid; otherwise an exception is raised.

```C
draw_line(WindowHandle,&Row1,&Column1,&Row2,&Column2);
disp_line(WindowHandle,Row1,Column1,Row2,Column2);
```

--------------------------------

### fread_string example in C

Source: https://www.mvtec.com/doc/halcon/2511/en/fread_string.html

C example showing how to prompt for text, read it with fread_string, and write it back. Uses fwrite_string and fnew_line.

```C
fwrite_string(FileHandle,"Please enter text and return: ..");
fread_string(FileHandle,&String,&IsEOF);
fwrite_string(FileHandle,"here it is again: ");
fwrite_string(FileHandle,String);
fnew_line(FileHandle);
```

--------------------------------

### expand_gray C example

Source: https://www.mvtec.com/doc/halcon/2511/en/expand_gray.html

C example using read_image, regiongrowing, and expand_gray to segment and expand regions.

```C
read_image(&Image,"fabrik");
disp_image(Image,WindowHandle);
regiongrowing(Image,&RawSegments,3,3,6.0,100);
set_colored(WindowHandle,12);
disp_region(RawSegments,WindowHandle);
expand_gray(RawSegments,Image,EMPTY_REGION,&Segments,"maximal","image",24);
disp_region(Segments,WindowHandle)
```

--------------------------------

### HDevelop example: create_camera_setup_model

Source: https://www.mvtec.com/doc/halcon/2511/en/create_camera_setup_model.html

Creates a camera setup model with three cameras, sets camera parameters and poses, and retrieves camera poses relative to an object. The example shows how to use create_camera_setup_model, gen_cam_par_area_scan_division, set_camera_setup_cam_param, set_camera_setup_param, and get_camera_setup_param.

```HDevelop
* Create camera setup of three cameras.
create_camera_setup_model (3, CameraSetupModelID)
gen_cam_par_area_scan_division (0.006, 0, 8.3e-6, 8.3e-6,\
              512, 384, 1024, 768, StartCamPar)
* Camera 0 is located in the origin.
set_camera_setup_cam_param (CameraSetupModelID, 0, [], StartCamPar,\
                            [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, [], StartCamPar,\
                            [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, [], StartCamPar,\
                            [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]
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