McalRelativeOrigin

See also

User Guide:

Calibrating a camera setup that analyzes large objects Calibrating using calibration points from a grid Fixturing offset Moving coordinate systems to reflect camera setup changes Moving the relative coordinate system Steps for fixturing Using child buffers, ROIs, or a copy to manipulate specific data areas

Reference:

MbufInquire MbufSetRegion McalAlloc McalFixture McalInquire McalSetCoordinateSystem

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

inspectiontask.cpp
profiledisplay.cpp

Function Map

- CalibrationOrImageId

- XOffset

- YOffset

- ZOffset

- AngularOffset

- ControlFlag

Table:

For specifying the reference coordinate system

Compilation information

Synopsis

Change the origin and/or orientation of the relative coordinate system.

Syntax

void McalRelativeOrigin(

MIL_ID CalibrationOrImageId,	//in
MIL_DOUBLE XOffset,	//in
MIL_DOUBLE YOffset,	//in
MIL_DOUBLE ZOffset,	//in
MIL_DOUBLE AngularOffset,	//in
MIL_INT64 ControlFlag	//in

)

Description

This function changes the origin and/or orientation of the relative coordinate system of a camera calibration context or a calibrated image. If you specify a camera calibration context, the new location of the relative coordinate system will be taken into account in images associated with the camera calibration context after the function call, but images previously associated with the camera calibration context will not be affected. After the function call, you can reference all images with the new relative coordinate system in world units with respect to the new origin.

Moving the relative coordinate system of an image is useful for analyzing an object with respect to a temporary local coordinate system. The relative coordinate system is moved with respect to the specified reference coordinate system. The reference coordinate system can be the absolute coordinate system (M_ASSIGN) or the current location of relative coordinate system (M_COMPOSE_WITH_CURRENT); when it is the absolute coordinate system, the relative coordinate system is re-initialized to the location and orientation of the absolute coordinate system before applying the specified transformation. You can also use McalFixture() to move the relative coordinate system to the location of a specified occurrence of a MIL Pattern Matching or Model Finder model.

If you specify both a rotation and a translation of the relative coordinate system, the rotation is done first.

Note that when the reference coordinate system is the absolute coordinate system, setting the XOffset, YOffset, ZOffset, and AngularOffset parameters to 0 has the effect of resetting the relative coordinate system to that of the absolute coordinate system.

To manipulate the relative coordinate system of a 3D-based camera calibration context (M_TSAI_BASED or M_3D_ROBOTICS), it is recommended to use McalSetCoordinateSystem() instead of McalRelativeOrigin() since the former supports more transformation types.

If you adjust the relative coordinate system of a calibrated image associated with an M_VECTOR_AND_RASTER ROI, the raster information will be discarded, causing the ROI to become an M_VECTOR ROI. See MbufSetRegion() for more information.

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

CalibrationOrImageId

Specifies the identifier of the camera calibration context or calibrated image.

XOffset INQ

Specifies the X-offset of the relative coordinate system origin from the reference coordinate system, in world-units.

YOffset INQ

Specifies the Y-offset of the relative coordinate system origin from the reference coordinate system, in world-units.

ZOffset INQ

Specifies the Z-offset of the relative coordinate system origin from the reference coordinate system, in world-units.

For 2D-based camera calibration contexts, this parameter must be set to M_NULL.

AngularOffset INQ

Specifies the angle, in degrees, at which to rotate the relative coordinate system around the Z-axis of the reference coordinate system. A positive angle will rotate the relative coordinate system in the direction from the positive X-axis to the negative Y-axis of the reference coordinate system.

ControlFlag

Specifies how to apply the transformation. This establishes the reference coordinate system. This parameter can be set to one of the following values:

For specifying the reference coordinate system
Value	Description
M_DEFAULT	Same as M_ASSIGN.
M_ASSIGN	Specifies to assign the specified transformation to the relative coordinate system from the origin and orientation of the absolute coordinate system.
M_COMPOSE_WITH_CURRENT	Specifies to compose the specified transformation with the current position and orientation of the relative coordinate system. This effectively applies the transformation to the current position and orientation of the relative coordinate system. (summarize) Specifies to compose the specified transformation with the current position and orientation of the relative coordinate system. (more details...)

Compilation information

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