M3dimRemovePoints

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

Remove 3D points from a point cloud, based on a specified condition.

Syntax

void M3dimRemovePoints(
    AIL_ID    SrcContainerBufId,  //in
    AIL_ID    DstContainerBufId,  //out
    AIL_INT64 Option,             //in
    AIL_INT64 ControlFlag         //in
)

Description

This function removes 3D points from a point cloud, based on a specified condition (for example, all invalid points).

The specified points are removed from the point cloud, not just invalidated with the confidence component. The mesh component (if existing) is recalculated for the remaining points. If the point cloud has both intensity and reflectance components, the points' color or intensity data is assumed to be stored in the reflectance component. Consequently, the specified points' color or intensity data is removed from the reflectance component, while the intensity component is copied unchanged into the destination container. This is because, when both components exist in a point cloud, the intensity component often stores a photographic image of the source scene. A data correlation might or might not exist between the image and the container's 3D points, depending on the type of 3D sensor used to generate the data. If the intensity component or the reflectance component exists but not both, it is modified and copied to the destination container.

Note: Note that, if an M_COMPONENT_NORMALS_AIL component exists in the source container, normal vectors of removed points are also removed; remaining point normals are not recalculated.

The destination point cloud is always unorganized, meaning its data is stored in the destination container with 1D components.

Parameters

SrcContainerBufId (in, AIL_ID)

Specifies the identifier of the source point cloud container. The container must have been previously allocated using MbufAllocContainer with M_PROC, and must be 3D-processable (that is, if you call MbufInquireContainer with M_3D_PROCESSABLE, the function returns M_PROCESSABLE).

DstContainerBufId (out, AIL_ID)

Specifies the identifier of the destination container in which to place the modified point cloud. The container must have been previously allocated using MbufAllocContainer with M_PROC, and must not be a child container.

Option (in, AIL_INT64)

Specifies which points to remove.

For specifying the option

Value	Description
M_INVALID_NORMALS	Specifies to remove points whose confidence is equal to zero, as well as points whose normal vector values are zero. Note that other points with non-unit normal vectors are not removed. This option is available only when the component M_COMPONENT_NORMALS_AIL exists in the source point cloud container.
M_INVALID_POINTS_ONLY	Specifies to remove points whose confidence is equal to zero.
M_NOT_MESH_POINTS	Specifies to remove points whose confidence is equal to zero, as well as points that are not part of the mesh. This option is available only when the component M_COMPONENT_MESH_AIL exists in the source point cloud container.

ControlFlag (in, AIL_INT64)

Specifies which components will be affected by the operation.

For specifying whether to remove points from all components

Value	Description
M_DEFAULT	Specifies that the operation will only affect the core components of a 3D-processable container. These core components are listed in the description of MbufInquireContainer with M_3D_PROCESSABLE.

All other components are copied to the destination container unmodified. | | M_APPLY_TO_ALL_COMPONENTS | Specifies that the operation will affect the core components of a 3D-processable container, as well as any other component (including custom components) that has the same dimension as M_COMPONENT_RANGE. These components must not have a region of interest (ROI) associated with them. For example, using a component that is an image buffer with an ROI will cause an error.

Note: Note that if a custom component has an associated calibration context, the component has points removed, but its context is discarded.

If the resulting operation yields an empty container with 0 valid points, the components with the same dimensions are not created and will not exist in the destination container. |