M3dimFillGaps

Board	Supported
Host System	Yes
V4L2	Yes
Clarity UHD	Yes
Concord PoE	No
GenTL	Yes
GevIQ	Yes
GigE Vision	Yes
Indio	No
Iris GTX	Yes
Radient eV-CL	Yes
Rapixo CL	Yes
Rapixo CoF	Yes
Rapixo CXP	Yes
USB3 Vision	Yes

Fill gaps in a depth map and, optionally, an intensity map, according to gap filling context controls.

Syntax

void M3dimFillGaps(
    AIL_ID    GapFillingContext3dimId,  //in
    AIL_ID    DepthMapImageBufId,       //out
    AIL_ID    IntensityMapImageBufId,   //out
    AIL_INT64 ControlFlag               //in
)

Description

This function replaces missing or invalid data (gaps) in a depth map and/or intensity map. You can choose to fill gaps with interpolated values, or propagate a boundary value across the gap. The gap filling operation is performed according to the context specified with GapFillingContext3dimId.

For some applications, you can reasonably approximate gap values with an interpolation of neighboring values. In other situations, such as when the gap spans an abrupt change in depth, or the gap is very wide, you can choose to propagate one of the gap's boundary values across the gap. To specify how wide a gap to fill and other gap filling settings, use M3dimControl.

Gaps are filled in a 2-step process: first along X, and then along Y (or vice versa). For example, if you choose to fill first along the X-direction, all gaps along rows in the depth or intensity map are evaluated and filled before any columns are examined. Therefore, gaps are examined not as an X-by-Y area to be filled, but on a per-row (or column) basis. To set the mode in which to fill gaps, use M3dimControl with M_FILL_MODE and M_X_THEN_Y or M_Y_THEN_X.

Parameters

GapFillingContext3dimId (in, AIL_ID)

Specifies a fill gaps 3D image processing context.

For specifying the fill gaps 3D image processing context identifier

Value	Description
M_DEFAULT	Specifies the default fill gaps 3D image processing context of the current Aurora Imaging Library application.

Note: The fill gaps operation will use default values for all gap filling control types listed in M3dimControl. | | Fill gaps 3D image processing context identifier | Specifies the identifier of a fill gaps 3D image processing context, previously allocated using M3dimAlloc with M_FILL_GAPS_CONTEXT.

Note: If a previously allocated context is specified, the function applies the fill gaps control settings specified using M3dimControl. |

DepthMapImageBufId (out, AIL_ID)

Specifies the depth map container or image buffer identifier of the depth map on which to fill gaps.

IntensityMapImageBufId (out, AIL_ID)

Specifies the image buffer identifier of the intensity map on which to fill gaps. The image buffer must be an 8-bit or 16-bit unsigned, 1-band or 3-band buffer. The image buffer must have the same dimensions as the buffer specified for DepthMapImageBufId (or, if DepthMapImageBufId is a depth map container, the same dimensions as the range component).

ControlFlag (in, AIL_INT64)

Reserved for future expansion and must be set to M_DEFAULT.