McalAlloc

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 Performing stereo vision triangulation 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 Uniform camera calibration and other camera calibration modes Working with points in a point cloud

Reference:

McalDraw3d McalFixture McalFree McalGrid McalList McalUniform MsysAlloc

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

Function Map

- SysId

Table:

For specifying the system

- Mode

Table:	For specifying the camera calibration mode
Table:	For setting a fixturing offset
Table:	For allocating a 3D draw calibration context

- ModeFlag

- CalibrationIdPtr

Return value

Compilation information

Synopsis

Allocate a camera calibration context, a fixturing offset object, or a 3D draw calibration context.

Syntax

MIL_ID McalAlloc(

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

)

Description

This function allocates a camera calibration context, a fixturing offset object, or a 3D draw calibration context.

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 the camera calibration context, fixturing offset object, or 3D draw calibration context 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 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

SysId INQ

Specifies the system on which to allocate the camera calibration context, fixturing offset object, or 3D draw 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 or a 3D draw calibration context.

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 a preestablished positional and angular offset of the relative coordinate system from the object to be processed or analyzed when fixturing. To set up the fixturing offset object, use McalFixture() with M_LEARN_OFFSET. To use the fixturing offset object, call McalFixture() with M_MOVE_RELATIVE, the reference location, and the fixturing offset object. Note that you cannot use a fixturing offset object to calibrate an image. (summarize) Specifies to allocate a fixturing offset object, used to store a preestablished positional and angular offset of the relative coordinate system from the object to be processed or analyzed when fixturing. (more details...)

When allocating a 3D draw calibration context, set this parameter to the following value:

For allocating a 3D draw calibration context
Value	Description
M_DRAW_3D_CONTEXT	Specifies to allocate a 3D draw calibration context, for drawing 3D annotations using McalDraw3d().

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, fixturing offset object, or 3D draw calibration context. Since McalAlloc() also returns the identifier, you can set this parameter to M_NULL.

Return value

The returned value is the context's or fixturing offset object's 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.