M3dmodFind

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

Search for the model in the specified 3D model finder context in the specified point cloud.

Syntax

void M3dmodFind(
    AIL_ID    Context3dmodId,  //in
    AIL_ID    ContainerBufId,  //in
    AIL_ID    Result3dmodId,   //out
    AIL_INT64 ControlFlag      //in
)

Description

This function searches for the model in the specified 3D model finder context, in the specified point cloud. Results are stored in the specified 3D model finder result buffer. You can retrieve results using M3dmodGetResult.

To consider the color information of the surface model and target point cloud, set M3dmodControl with M_USE_COLOR to M_ENABLE.

If you expect occurrences to be found in similar locations to the occurrences found in the previous search, you can use M3dmodControl with M_REUSE_RESULT set to M_ENABLE to reuse the previous results to speed up the current search. M3dmodFind will search the target point cloud at the positions of the occurrences found during the previous search, before searching for occurrences in the rest of the point cloud. To reuse the same results for multiple searches, set up two result buffers: one for the initial search and another for use with subsequent searches. Before each subsequent search, copy into its result buffer the results from the initial search, using M3dmodCopyResult with M_RESULT, and use this result buffer for the search. If there is a known movement between scans or an occurrence is not always present, you can use M3dmodModifyResult to transform or delete results for an occurrence.

A normals component (M_COMPONENT_NORMALS_AIL) must exist in the specified point cloud container. Otherwise, the M3dmodFind operation will not complete successfully and M3dmodGetResult with M_STATUS will return M_MISSING_COMPONENT_NORMALS_AIL. You can use M3dimNormals to generate a normals component.

If an occurrence has a score greater than or equal to its model's certainty level (specified using M3dmodControl with M_CERTAINTY), it is automatically considered an occurrence (default 90%); the remaining occurrences will be the best of those greater than or equal to the model's acceptance level (specified using M3dmodControl with M_ACCEPTANCE).

The maximum number of occurrences found depends on the maximum number specified for the context (specified using M3dmodControl with M_NUMBER).

The 3D model finder context must be preprocessed with M3dmodPreprocess before calling this function.

Parameters

Context3dmodId (in, AIL_ID)

Specifies the identifier of the 3D model finder context to use for the search, and other settings related to the 3D model finder operation. The context must have been previously allocated using M3dmodAlloc with M_FIND_BOX_CONTEXT, M_FIND_CYLINDER_CONTEXT, M_FIND_RECTANGULAR_PLANE_CONTEXT, M_FIND_SPHERE_CONTEXT, M_FIND_SURFACE_CONTEXT, or M_FIND_PLANAR_SURFACE_CONTEXT and a corresponding model must have been previously defined using M3dmodDefine.

ContainerBufId (in, AIL_ID)

Specifies the identifier of the 3D-processable point cloud container in which to search for the model.

Result3dmodId (out, AIL_ID)

Specifies the 3D model finder result buffer identifier in which to store results. The result buffer must have been previously allocated using M3dmodAllocResult.

ControlFlag (in, AIL_INT64)

Reserved for future expansion and must be set to M_DEFAULT.