M3dmapCalibrate

See also

User Guide:

3D coordinate systems and the coordinates of a point cloud Calibrating your 3D reconstruction setup to create a point cloud Multiple camera-laser pairs Partially corrected depth maps Steps to creating a cloud of 3D points using laser line profiling Uniform camera calibration and other camera calibration modes

Reference:

M3dmapAddScan M3dmapAlloc M3dmapAllocResult McalAlloc McalInquire

Availability

Not available in MIL-Lite

Available in MIL

Available on Windows

Available on Linux

Not supported on:

Not supported on Matrox Indio (Update 53 or Update 68) (w)

Not supported on Matrox Concord PoE with ToE (Update 82) (z)

Fully supported on:

Fully supported on Host system (a)

Fully supported on Matrox GigE Vision driver (MIL 10, Update 25, Update 54, or Update 85)* (c)

Fully supported on Matrox Morphis (g)

Fully supported on Matrox Morphis QxT (h)

Fully supported on Matrox Orion HD (i)

Fully supported on Matrox Radient eCL (j)

Fully supported on Matrox Radient eV-CXP (MIL 10 or Update 29)* (k)

Fully supported on Matrox Solios eA/XA (l)

Fully supported on Matrox Solios ecl/xcl/ev-cl (m)

Fully supported on Matrox USB3 Vision driver (Update 19) (o)

Fully supported on Matrox RadientPro-CL (Update 7) (p)

Fully supported on Matrox Radient eV-CL (Update 27 or 74) (r)

Fully supported on Matrox Iris GTR (Update 28 or Update 68) (t)

Fully supported on Matrox Clarity UHD (Update 36 or 76) (u)

Fully supported on Matrox GenTL driver (Update 34) (v)

Fully supported on Matrox Rapixo CXP (Update 75 or Update 84) (y)

Fully supported on Matrox Rapixo CL Pro (Update 96) (aa)

* Refer to the MIL system-specific information
in the MIL Reference for the minimum update required.

For any information regarding a MIL system added during a MIL Update, see the MIL system’s release note

Available on Non-Matrox computer

Available on Matrox 4Sight-X

Available on Matrox 4Sight GP/GPm

Available on Matrox Supersight

Function map

Examples

cameralasercalibration.cpp
interactiveexample.cpp
m3dmap.cpp
m3dmap.cs
m3dmap.vb
multicameralasercalibration.cpp

M3dmapAllocResult

M3dmapCalibrateMultiple

Function Map

Compilation information

Synopsis

Calibrate a 3D reconstruction setup.

Syntax

void M3dmapCalibrate(

MIL_ID Context3dmapId,	//in
MIL_ID Result3dmapId,	//in
MIL_ID ContextCalId,	//in
MIL_INT64 ControlFlag	//in

)

Description

This function calibrates your 3D reconstruction setup.

If the specified 3D reconstruction context is set to generate fully corrected depth maps (M_CALIBRATED_CAMERA_LINEAR_MOTION 3D reconstruction mode), the 3D reconstruction calibration is done using the specified camera calibration context and the extracted laser line data stored in the result buffer. In this mode, the following setup constraints must be met:

You must specify a 3D-based camera calibration context (M_TSAI_BASED or M_3D_ROBOTICS).
If the laser plane is not perpendicular to the object's motion (that is, if it is not perfectly vertical), the result buffer must contain laser line data extracted from multiple reference planes (multiple calls to M3dmapAddScan()). The laser plane is assumed to be perfectly vertical if a single reference plane is used.
The laser line on the XY-plane (Z=0) must be perfectly perpendicular to the object's motion.
The camera must have a sufficient angle with respect to the Z-axis to have accurate results; that is, the camera must be able to grab meaningful displacements of the laser line for different depths. For more information, see the Camera angle requirement subsection of the Configuring the laser line profiling setup section of Chapter 40: 3D reconstruction using laser line profiling.

If the specified 3D reconstruction context is set to generate partially corrected depth maps (M_DEPTH_CORRECTION 3D reconstruction mode), the 3D reconstruction calibration is done with the extracted laser line data stored in the result buffer. With this type of context, there is no constraint on the orientation of the laser plane; that is, it does not need to be perfectly vertical or perpendicular to the object's motion. You do not need to provide a camera calibration context and the ContextCalId parameter must be set to M_NULL.

For the steps required to calibrate your 3D reconstruction setup in either mode, see the Calibrating your 3D reconstruction setup to create a point cloud section of Chapter 40: 3D reconstruction using laser line profiling.

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 which MIL system’s documentation you should use in its place and any possible differences.

Parameters

This function is not supported on the selected boards.

This function reference has not been updated for the selected MIL system. To show the content of this page, choose a second MIL system; refer to the MIL system's release note to see which MIL system’s documentation to choose and any possible differences.

Parameters

Context3dmapId

Specifies the identifier of the 3D reconstruction context used to extract the laser line from grabbed images. The context must have been previously allocated on the required system using M3dmapAlloc().

Result3dmapId

Specifies the identifier of the 3D reconstruction result buffer that contains the laser line data required for calibration. The 3D reconstruction result buffer must have been previously allocated using M3dmapAllocResult() and contain data for at least one laser line.

ContextCalId

Specifies the identifier of the camera calibration context that contains the 3D camera calibration data or M_NULL.

For fully corrected depth maps, this parameter must be set to the identifier of a camera calibration context allocated using McalAlloc() with M_TSAI_BASED or M_3D_ROBOTICS.

For partially corrected depth maps, this parameter must be set to M_NULL.

ControlFlag

Reserved for future expansion and must be set to M_DEFAULT.

Compilation information

Header	Include mil.h.
Library	Use mil.lib; mil3dmap.lib.
DLL	Requires mil.dll; mil3dmap.dll.