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Installed MIL systems

Multiple

None

Host system

Matrox GigE Vision driver (MIL 10, Update 25, Update 54, or Update 85)*

Matrox Morphis

Matrox Morphis QxT

Matrox Orion HD

Matrox Radient eCL

Matrox Radient eV-CXP (MIL 10 or Update 29)*

Matrox Solios eA/XA

Matrox Solios ecl/xcl/ev-cl

Matrox USB3 Vision driver (Update 19)

Matrox RadientPro-CL (Update 7)

Matrox Radient eV-CL (Update 27 or 74)

Matrox Iris GTR (Update 28 or Update 68)

Matrox Clarity UHD (Update 36 or 76)

Matrox GenTL driver (Update 34)

Matrox Indio (Update 53 or Update 68)

Matrox Rapixo CXP (Update 75 or Update 84)

Matrox Concord PoE with ToE (Update 82)

Matrox Rapixo CL Pro (Update 96)

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M3dmapTriangulate

See also

User Guide:

Performing stereo vision triangulation Uniform camera calibration and other camera calibration modes

Reference:

McalAlloc McalInquire

Availability

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

Function map

Examples

stereocalibration.cpp

Next

Function Map

- ContextCalOrImageBufIdArrayPtr

- PixelCoordXArrayPtr

- PixelCoordYArrayPtr

- WorldCoordXArrayPtr

- WorldCoordYArrayPtr

- WorldCoordZArrayPtr

- RMSErrorArrayPtr

- NumCalibrations

- CoordinateSystem

Table:

For specifying the common coordinate system

Compilation information

Synopsis

Perform stereo vision triangulation to find the 3D world coordinates of points from their pixel location in the image plane of two or more cameras.

Syntax

void M3dmapTriangulate(

const MIL_ID *ContextCalOrImageBufIdArrayPtr,	//in
const MIL_DOUBLE *PixelCoordXArrayPtr,	//in
const MIL_DOUBLE *PixelCoordYArrayPtr,	//in
MIL_DOUBLE *WorldCoordXArrayPtr,	//out
MIL_DOUBLE *WorldCoordYArrayPtr,	//out
MIL_DOUBLE *WorldCoordZArrayPtr,	//out
MIL_DOUBLE *RMSErrorArrayPtr,	//out
MIL_INT NumCalibrations,	//in
MIL_INT NumPoints,	//in
MIL_INT64 CoordinateSystem,	//in
MIL_INT64 ControlFlag	//in

)

Description

This function performs stereo vision triangulation (stereophotogrammetry) to calculate the X-, Y-, and Z-world coordinates of points (features) that can be seen by two or more cameras. You must identify the pixel location of the points in the image plane of the different cameras. Each of the camera setups must be calibrated in 3D mode so that the position of the cameras in the world is known. To calculate each point's location in the world, the point's location in each camera's image plane and the camera's location in the world are used.

With a single call to M3dmapTriangulate(), you can calculate the world coordinates of multiple points, even if a point does not appear in the image plane of all cameras. Each point must be seen by at least two cameras. To indicate that a point is not seen by a camera, use M_INVALID_POINT. For example, to determine the world coordinates of the following two points on an object that is seen by three cameras, you would pass the following arguments to M3dmapTriangulate():

The camera calibration contexts of the camera setups must have been allocated in 3D mode using McalAlloc() with M_TSAI_BASED or M_3D_ROBOTICS and they must share a common world coordinate system. For more information about camera calibration, see Chapter 26: Calibrating your camera setup.

Although results can be obtained with only two cameras, rounding and extraction errors can affect the accuracy of the calculations. Using more than two cameras will increase the robustness of the function.

For points that could not be computed, their corresponding entries in the coordinate output arrays will be set to M_INVALID_POINT and their corresponding entries in the RMSErrorArrayPtr array will be set to 0.0. This can occur when all projection lines from the image planes to the point are perfectly parallel and therefore do not intersect.

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

ContextCalOrImageBufIdArrayPtr

Accepts the address of one of the following:

array of type MIL_ID [optionally, in C++: a reference to a constant std::vector<MIL_ID> ] (and a maximum array rank for C# of 1)
Required array size:(NumCalibrations)

Specifies the address of an array containing the identifiers of the camera calibration contexts for each of the camera setups. Alternatively, the array can contain the identifiers of calibrated or corrected images; the operation uses the camera calibration contexts associated with the images.

PixelCoordXArrayPtr

Accepts the address of one of the following:

array of type MIL_DOUBLE [optionally, in C++: a reference to a constant std::vector<MIL_DOUBLE> ] (and a maximum array rank for C# of 1)
Required array size:((NumCalibrations) * (NumPoints))

Specifies the address of the array containing the X-pixel coordinates of the common points in the image plane of each camera. This array must have a size equal to (NumCalibrations x NumPoints).

Specify the location of the points in the image plane of a given camera, before specifying them for another camera; list them in the same order for each camera. If more than two cameras are used and a point is seen by only a subset of all the cameras, indicate that the point is not seen by a camera by setting the corresponding entry in the array to M_INVALID_POINT. Order the groups of points according to order of their camera's calibration context in the specified list of camera calibration contexts (ContextCalOrImageBufIdArrayPtr).

PixelCoordYArrayPtr

Accepts the address of one of the following:

array of type MIL_DOUBLE [optionally, in C++: a reference to a constant std::vector<MIL_DOUBLE> ] (and a maximum array rank for C# of 1)
Required array size:((NumCalibrations) * (NumPoints))

Specifies the address of the array containing the Y-pixel coordinates of the common points in the image plane of each camera. This array must have a size equal to (NumCalibrations x NumPoints).

Specify the location of the points in the image plane of a given camera, before specifying them for another camera; list them in the same order for each camera. If more than two cameras are used and a point is seen by only a subset of all the cameras, indicate that the point is not seen by a camera by setting the corresponding entry in the array to M_INVALID_POINT. Order the groups of points according to order of their camera's calibration context in the specified list of camera calibration contexts (ContextCalOrImageBufIdArrayPtr).

WorldCoordXArrayPtr

Accepts the address of one of the following:

array of type MIL_DOUBLE [optionally, in C++: a reference to a std::vector<MIL_DOUBLE> ] (and a maximum array rank for C# of 1)
Required array size:(NumPoints)

Specifies the address of an array in which to write the calculated X-world coordinates. This array must have a size equal to NumPoints.

WorldCoordYArrayPtr

Accepts the address of one of the following:

array of type MIL_DOUBLE [optionally, in C++: a reference to a std::vector<MIL_DOUBLE> ] (and a maximum array rank for C# of 1)
Required array size:(NumPoints)

Specifies the address of the array in which to write the calculated Y-world coordinates. This array must have a size equal to NumPoints.

WorldCoordZArrayPtr

Accepts the address of one of the following:

array of type MIL_DOUBLE [optionally, in C++: a reference to a std::vector<MIL_DOUBLE> ] (and a maximum array rank for C# of 1)
Required array size:(NumPoints)

Specifies the address of the array in which to write the calculated Z-world coordinates. This array must have a size equal to NumPoints.

RMSErrorArrayPtr

Accepts the address of one of the following:

array of type MIL_DOUBLE [optionally, in C++: a reference to a std::vector<MIL_DOUBLE> ] (and a maximum array rank for C# of 1)
Required array size:(NumPoints)

Specifies the address of the array in which to write the root mean square (RMS) error for the calculated world coordinates of each point. This array must have a size equal to NumPoints.

If the RMS error is not needed, set this parameter to M_NULL.

NumCalibrations

Specifies the number of camera calibration contexts. This should correspond to the number of cameras. This parameter must be greater or equal to 2.

When using a standard vector (std::vector) overload function in C++, you can pass M_DEFAULT to this parameter and MIL will automatically determine the size based on the number of items in the vector passed to the ContextCalOrImageBufIdArrayPtr parameter.

NumPoints

Specifies the number of points to compute using stereo vision triangulation. This parameter must be greater or equal to 1.

When using a standard vector (std::vector) overload function in C++, you can pass M_DEFAULT to this parameter and MIL will automatically determine the size based on the number of items in the vector passed to the PixelCoordXArrayPtr or PixelCoordYArrayPtr parameter.

CoordinateSystem

Specifies the world coordinate system that is common to all the specified camera calibration contexts.

For specifying the common coordinate system
Value	Description
M_ABSOLUTE_COORDINATE_SYSTEM	Specifies that the camera calibration contexts have the absolute coordinate system in common.
M_RELATIVE_COORDINATE_SYSTEM	Specifies that the camera calibration contexts have the relative coordinate system in common.
M_ROBOT_BASE_COORDINATE_SYSTEM	Specifies that the camera calibration contexts have the robot-base coordinate system in common.
M_TOOL_COORDINATE_SYSTEM	Specifies that the camera calibration contexts have the tool coordinate system in common.

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.

3D ROBOTICS TSAI BASED NULL ABSOLUTE COORDINATE SYSTEM RELATIVE COORDINATE SYSTEM ROBOT BASE COORDINATE SYSTEM TOOL COORDINATE SYSTEM