M3dmapAlloc

Specifies the identifier of the system on which to allocate the 3D reconstruction context or geometry object.

For specifying the system
Value	Description
M_DEFAULT_HOST	Specifies the default Host system of the current MIL application.
MIL system identifier	Specifies a valid system identifier, previously allocated using MsysAlloc().

Specifies to allocate a 3D reconstruction context or geometry object. This parameter must be set to one of the following:

For specifying the type
Value	Description
M_GEOMETRY	Specifies a geometry object.
M_LASER	Specifies a 3D reconstruction context that will be used to perform laser line profiling.
M_PAIRWISE_ALIGNMENT_CONTEXT	Specifies a pairwise 3D alignment context that will be used to find the transformation that aligns two 3D point clouds together (3D registration).

Specifies the 3D reconstruction mode of the context, which determines how data is represented. The data representation determines whether depth maps can be fully corrected and whether 3D point clouds can be returned.

If allocating a geometry object or a pairwise alignment context, this parameter must be set to M_DEFAULT.

If allocating a 3D reconstruction context, this parameter must be set to one of the following values:

For specifying the 3D reconstruction mode
Value	Description
M_CALIBRATED_CAMERA_LINEAR_MOTION +	Specifies that the 3D reconstruction context will include camera calibration information and depth correction information. This allows for the storage of 3D point clouds and the generation of fully corrected depth maps (shape and depth corrected). Note that the calibration context of the camera setup must have been allocated using M3dmapAlloc() with M_TSAI_BASED or M_3D_ROBOTICS. (summarize) Specifies that the 3D reconstruction context will include camera calibration information and depth correction information. (more details...)
M_DEPTH_CORRECTION	Specifies that the 3D reconstruction context will include depth correction information, but will not include camera calibration information. This allows for only partially corrected depth maps (depth, but not shape corrected). (summarize) Specifies that the 3D reconstruction context will include depth correction information, but will not include camera calibration information. (more details...)

Combination constants for M_CALIBRATED_CAMERA_LINEAR_MOTION.

You can add one or more of the following values to the above-mentioned value to set the label of the camera or laser. This is necessary when creating a multiple camera-laser pair setup.

For specifying the camera label or laser label for a given context
Combination value	Description
M_CAMERA_LABEL( MIL_INT CameraLabel )	Specifies the label for the camera used by this 3D reconstruction context. Note that multiple 3D reconstruction contexts can share the same camera, and in those cases, they must also share the same camera label. (summarize) Specifies the label for the camera used by this 3D reconstruction context. (more details...)
		Parameters
		CameraLabel INQ Specifies the label value. The default value is 1.
			1 <= Value <= 1023 This value must be between 1 and 1023.
M_LASER_LABEL( MIL_INT LaserLabel )	Specifies the label for the laser used by this 3D reconstruction context. Note that multiple 3D reconstruction contexts can share the same laser, and in those cases, they must also share the same laser label. (summarize) Specifies the label for the laser used by this 3D reconstruction context. (more details...)
		Parameters
		LaserLabel INQ Specifies the label value. The default value is 1.
			1 <= Value <= 2047 This value must be between 1 and 2047.

Specifies the address of the variable in which to write the 3D reconstruction context or geometry object identifier. Since the M3dmapAlloc() function also returns the identifier, you can set this parameter to M_NULL.