M3dregDraw3d

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

Draw the result of a pairwise 3D registration operation into a 3D graphics list.

Syntax

AIL_INT64 M3dregDraw3d(
    AIL_ID    OperationDraw3dContext3dregId,  //in
    AIL_ID    SrcResult3dregId,               //in
    AIL_INT   Index,                          //in
    AIL_INT   IterationIndex,                 //in
    AIL_INT   PairsRank,                      //in
    AIL_ID    DstList3dgraId,                 //out
    AIL_INT64 DstParentLabel,                 //in
    AIL_INT64 ControlFlag                     //in
)

Description

This function draws the result of a pairwise 3D registration operation, stored in the specified pairwise 3D registration result buffer, into a 3D graphics list. Set the draw operations and options for the draw using M3dregControlDraw.

Note: To ensure that the result buffer will hold the required information for the draw, prior to calling M3dregCalculate you must specify to save pairs information at each iteration, using M3dregControl with M_SAVE_PAIRS_INFO set to M_TRUE.

M3dregCalculate must be called before calling this function.

The specified registration result element's point cloud is drawn relative to the coordinate system specified using M3dregControl with M_MERGE_LOCATION.

Parameters

OperationDraw3dContext3dregId (in, AIL_ID)

Specifies the identifier of the draw 3D registration context that specifies the features to draw and how to draw them.

For specifying the draw 3D registration context identifier

Value	Description
M_DEFAULT	Specifies the default draw 3D registration context with all draw context control types (M3dregControlDraw) set to their default.
Draw 3D registration context identifier	Specifies a valid draw 3D registration context identifier, previously allocated using M3dregAlloc with M_DRAW_3D_CONTEXT.

SrcResult3dregId (in, AIL_ID)

Specifies the identifier of the pairwise 3D registration result buffer from which to retrieve calculated results. The result buffer must have been previously allocated using M3dregAllocResult with M_PAIRWISE_REGISTRATION_RESULT.

Index (in, AIL_INT)

Specifies the registration result element that is associated with the point cloud whose points and/or calculated features you want to draw.

For specifying the registration result element

Value	Description
M_DEFAULT
M_ALL (default)	Specifies all registration result elements.
0 <= Value < M3dregInquire(SrcResult3dregId, M_NUMBER_OF_REGISTRATION_ELEMENTS)	Specifies the index of the registration result element.

IterationIndex (in, AIL_INT)

Specifies the index of the iteration whose registration results to draw. This parameter must be set to one of the following values:

For specifying the iteration index

Value	Description
M_DEFAULT
M_INTERMEDIATE_ITERATION	Specifies to draw the result of an intermediate iteration of the pairwise 3D registration operation.

You can specify from which intermediate iteration to draw results using M3dregControl with M_ITERATION_INDEX. | | M_LAST_ITERATION (default) | Specifies to draw the result of the final iteration of the registration process. | | Value >= 0 | Specifies the index of the iteration.

Note: If the specified index is greater than the number of elements in the pairwise 3D registration result buffer (M3dregGetResult with M_NB_ITERATIONS), the result drawn will be of the final iteration (M_LAST_ITERATION) for that registration result element. |

PairsRank (in, AIL_INT)

Specifies the rank of the point pairs to draw. When a reference point is paired to multiple points in the registration result element's point cloud, PairsRank sets from which pairing to draw results. Note that pairings are ranked from nearest (rank 0) to farthest.

For specifying the pairs rank

Value	Description
M_DEFAULT
M_ALL	Specifies to draw results from all pairings in the registration result element that were calculated at the specified iteration.
Value >= 0 (default)	Specifies the rank of the point pair from which to draw results.

DstList3dgraId (out, AIL_ID)

Specifies the identifier of the 3D graphics list in which to draw. You can specify a 3D graphics list that you have previously allocated using M3dgraAlloc, or you can specify the identifier of the 3D display's internal graphics list (inquired using M3ddispInquire with M_3D_GRAPHIC_LIST_ID).

DstParentLabel (in, AIL_INT64)

Specifies the label of the 3D graphic in the 3D graphics list to use as the annotation's parent.

For specifying the parent label

Value	Description
M_DEFAULT	Same as M_ROOT_NODE.
M_ROOT_NODE	Specifies the top-most node of the 3D graphics list.
Value >= 0	Specifies the label of the 3D graphic in the 3D graphics list. Label 0 is the 3D graphics list's root node.

ControlFlag (in, AIL_INT64)

Reserved for future expansion and must be set to M_DEFAULT.

Return Value

Type: AIL_INT64

Returns the parent label of all 3D graphics that the function added to the 3D graphics list.