McalAlloc

Filters
See also

User Guide:

Calibrating a camera setup that analyzes large objects Calibrating using a fiducial grid Calibrating using calibration points from a grid Calibrating your 3D reconstruction setup to create a point cloud Camera calibration - overview Establishing the position and orientation of an object Fixturing offset Generating a grid for calibration How coordinates and non-positional results are transformed Industrial communication with robots Inquiring about your camera calibration Moving coordinate systems to reflect camera setup changes Multiple camera-laser pairs Propagating camera calibration information after performing a geometric operation Steps for fixturing Steps to creating a cloud of 3D points using laser line profiling Steps to performing a camera calibration Triangulation Uniform camera calibration and other camera calibration modes

Reference:

McalFixture McalFree McalGrid McalList McalUniform MsysAlloc

Availability

Not available in MIL-Lite

Available in MIL

Available on Windows

Available on Linux

Available on Non-Matrox computer

Available on Matrox 4Sight-X

Available on Matrox 4Sight GP/GPm

Available on Matrox Supersight

Function map

Examples

Function Map

- SystemId

Table:

For specifying the system

- Mode

Table:	For specifying the camera calibration mode
Table:	For setting a fixturing offset

- ModeFlag

- CalibrationIdPtr

Return value

Compilation information

Synopsis

Allocate a camera calibration context or a fixturing offset object.

Syntax

MIL_ID McalAlloc(

MIL_ID SystemId,	//in
MIL_INT64 Mode,	//in
MIL_INT64 ModeFlag,	//in
MIL_ID *CalibrationIdPtr	//out

)

Description

This function allocates a camera calibration context or a fixturing offset object.

When allocating a camera calibration context, use McalGrid() or McalList() to define the pixel-to-world mapping for the camera calibration context. For a uniform pixel-to-world mapping, instead of using McalGrid() or McalList(), use McalUniform().

When allocating a fixturing offset object, use McalFixture() to place the relative coordinate system at a fixed offset from the analysis/processing object.

When the camera calibration or fixturing offset object is no longer required, you should free it with McalFree().

Note that this function reference has not been updated for a MIL system added during a MIL update. Refer to the MIL system's release note to see if there is complementary information.

Parameters

This function is not supported on the selected boards.

Parameters

SystemId INQ

Specifies the system on which to allocate the camera calibration context. This parameter should be set to one of the following values:

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().

Mode

Specifies the camera calibration mode, if allocating a camera calibration context. Otherwise, specifies to allocate a fixturing offset.

When allocating a camera calibration context, this parameter must be set to one of the following values:

For specifying the camera calibration mode INQ
Value	Description
M_DEFAULT	Same as M_LINEAR_INTERPOLATION.
M_3D_ROBOTICS	Specifies a 3D camera calibration mode for a camera setup with the camera mounted on a robot arm at an unknown position. Since this mode requires that the image has perspective distortion, you should not use this mode when using a camera with a telecentric lens; telecentric lenses negate perspective effects. (summarize) Specifies a 3D camera calibration mode for a camera setup with the camera mounted on a robot arm at an unknown position. (more details...)
M_LINEAR_INTERPOLATION	Specifies piecewise linear interpolation mode.
M_PERSPECTIVE_TRANSFORMATION	Specifies perspective transformation mode.
M_TSAI_BASED	Specifies a 3D camera calibration mode based on the technique developed by Roger Y Tsai. Since this mode requires that the image has perspective distortion, you should not use this mode when using a camera with a telecentric lens; telecentric lenses negate perspective effects. (summarize) Specifies a 3D camera calibration mode based on the technique developed by Roger Y Tsai. (more details...)
M_UNIFORM_TRANSFORMATION	Specifies uniform transformation mode.

When allocating a fixturing offset object, set this parameter to the following value:

For setting a fixturing offset
Value	Description
M_FIXTURING_OFFSET	Specifies to allocate a fixturing offset object, used to store the positional and angular offset of the relative coordinate system from the object to be processed or analyzed when fixturing. Note that you cannot use a fixturing offset object to calibrate an image. (summarize) Specifies to allocate a fixturing offset object, used to store the positional and angular offset of the relative coordinate system from the object to be processed or analyzed when fixturing. (more details...)

ModeFlag

Specifies the function's operation flag. Reserved for future expansion. This parameter must be set to M_DEFAULT.

CalibrationIdPtr

Specifies the address in which to return the identifier of the camera calibration context or fixturing offset object. Since McalAlloc() also returns the identifier, you can set this parameter to M_NULL.

Return value

The returned value is the camera calibration or fixturing offset object identifier if the allocation is successful. If allocation fails, M_NULL is returned.

Compilation information

Header	Include mil.h.
Library	Use mil.lib; milcal.lib.
DLL	Requires mil.dll; milcal.dll.