M3dimControl

Sets the pixel aspect ratio of the depth map.

This option must be set to M_NULL if you have already specified a pixel size with M_PIXEL_SIZE_X and M_PIXEL_SIZE_Y. Otherwise, an error will occur. INQ

Sets the length in X of one pixel in the depth map.

Note that you cannot specify a specific value for M_PIXEL_SIZE_X if you have done so for M_SIZE_X (and vice versa).

This option must be set to M_NULL if you have already specified a pixel aspect ratio with M_PIXEL_ASPECT_RATIO. Otherwise, an error will occur. INQ

Sets the length in Y of one pixel in the depth map.

Note that you cannot specify a specific value for M_PIXEL_SIZE_Y if you have done so for M_SIZE_Y (and vice versa).

This option must be set to M_NULL if you have already specified a pixel aspect ratio with M_PIXEL_ASPECT_RATIO. Otherwise, an error will occur. INQ

Sets the image size of the depth map along the X dimension.

Note that you cannot set M_SIZE_X and M_SIZE_Y at the same time.

Note that you cannot specify a specific value for M_SIZE_X if you have done so for M_PIXEL_SIZE_X (and vice versa). INQ

Sets the image size of the depth map along the Y dimension.

Note that you cannot set M_SIZE_X and M_SIZE_Y at the same time.

Note that you cannot specify a specific value for M_SIZE_Y if you have done so for M_PIXEL_SIZE_Y (and vice versa). INQ

Sets whether to propagate the boundary value across each gap that touches the image border. INQ

Sets the mode in which to fill gaps in depth maps. INQ

Sets which boundary to use to fill sharp elevation gaps in depth maps. You can specify to propagate either the minimum or maximum gap border value, or not to fill sharp elevation gaps. INQ

Sets the threshold used to differentiate between gradual elevation gaps and sharp elevation gaps in the depth map. If the difference between a gap's boundary values is less than the specified threshold, the gap is considered a gradual elevation gap, otherwise it is considered a sharp elevation gap.

Gradual elevation gaps are filled using linear interpolation; sharp elevation gaps are either filled by propagating the value of one of the boundaries or are left unfilled, depending on the M_FILL_SHARP_ELEVATION control type. It is often better to fill gradual elevation gaps using linear interpolation since the underlying surface of such a gap is considered to be part of the same surface as its boundaries. Whereas for sharp elevation gaps, the underlying surface is considered to be discontinuous at least at one of its boundaries, so propagating the value of one of the boundaries is recommended.

If a gap is greater than M_FILL_SHARP_ELEVATION_DEPTH, it is replaced using the secondary algorithm described in M_FILL_SHARP_ELEVATION. INQ

Sets the maximum X-size of gaps that will be filled.

If a gap is larger than the fill threshold in the X or Y direction, it is not replaced. INQ

Sets the maximum Y-size of gaps that will be filled.

If a gap is larger than the fill threshold in the X or Y direction, it is not replaced. INQ

Sets the units with which to interpret the M_FILL_SHARP_ELEVATION_DEPTH, M_FILL_THRESHOLD_X, and M_FILL_THRESHOLD_Y control types. INQ

Sets the maximum distance at which to connect 2 neighboring points.

This control type is only available when M_MESH_MODE is set to M_MESH_ORGANIZED. INQ

Sets the surface reconstruction mode to use for mesh generation. INQ

Sets the step interval between points, along the X dimension.

Points are selected from the source point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components, where the point cloud's X-, Y-, and Z-coordinates are stored in separate bands of an organized 2D buffer. M_MESH_STEP_X specifies an interval in X for each band. The M3dimMesh() function connects points that are separated by the specified interval, when creating triangular planes for surface reconstruction.

Note that, if an invalid point is located at the specified interval (that is, the point's confidence score is 0), no vertex of a triangular plane is formed at this point, and a gap is possible in the resulting mesh.

This control type is only available when M_MESH_MODE is set to M_MESH_ORGANIZED. INQ

Sets the step interval between points, along the Y dimension.

Points are selected from the source point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components, where the point cloud's X-, Y-, and Z-coordinates are stored in separate bands of an organized 2D buffer. M_MESH_STEP_Y specifies an interval in Y for each band. The M3dimMesh() function connects points that are separated by the specified interval, when creating triangular planes for surface reconstruction.

Note that, if an invalid point is located at the specified interval (that is, the point's confidence score is 0), no vertex of a triangular plane is formed at this point, and a gap is possible in the resulting mesh.

This control type is only available when M_MESH_MODE is set to M_MESH_ORGANIZED. INQ

Sets the number of points within a single octree cell at which the cell will not be split further.

This control type is only available when M_MESH_MODE is set to M_MESH_SMOOTHED.

For example, if M_NUMBER_POINTS_PER_CELL is set to 3, any octree cell with 3 or fewer points is not divided further.

A larger M_NUMBER_POINTS_PER_CELL can minimize effects due to noise in the source cloud data. INQ

Sets the maximum allowed depth of the octree. The octree partitions the 3D space for the mesh calculation.

This control type is only available when M_MESH_MODE is set to M_MESH_SMOOTHED.

The maximum tree depth determines the resolution of the 3D mesh. For example, an M_TREE_MAX_DEPTH set to 8 gives a mesh with a resolution of 2 ⁸ x 2 ⁸ x 2 ⁸ .

Note that a higher octree value gives a higher resolution, but a slower calculation time. INQ

Sets the orientation of the normal vectors, towards a reference point or vector set with M_DIRECTION_REFERENCE_..., which are either the X-, Y-, and Z-coordinates of the reference point, or the X-, Y-, and Z-components of the reference vector.

A point on a 3-dimensional surface has 2 normal vectors, each perpendicular to the surface, but pointing in opposite directions. M_DIRECTION_MODE sets a preferred orientation for the normals, and therefore sets which normal vector to choose for each point. For example, you can specify a reference point inside your 3D object and use M_AWAY_FROM_POSITION to ensure that all normal vectors point outwards from the object's surface. INQ

Sets the X-coordinate or vector component along X for the reference point or vector (respectively) that determines normal vector orientation. INQ

Sets the Y-coordinate or vector component along Y for the reference point or vector (respectively) that determines normal vector orientation. INQ

Sets the Z-coordinate or vector component along Z for the reference point or vector (respectively) that determines normal vector orientation. INQ

Sets the maximum number of neighbors to consider when computing a point's normal vector. You must specify M_MAXIMUM_NUMBER_NEIGHBORS when using an M_TREE neighbor search mode. INQ

Sets the search mode for finding the neighbors of a point, when calculating a point's surface normal vector.

Note that M_ORGANIZED is usually faster, but is less robust to noise. You can optionally specify M_NEIGHBORHOOD_DISTANCE to reduce the effect of outlier neighborhood points.

Invalid points in a neighborhood are not considered when calculating normal vectors. INQ

Sets the distance that defines the neighborhood of a point; only points within this distance are considered for normal vector calculations.

This option is not supported when M_NEIGHBOR_SEARCH_MODE is set to M_MESH INQ

Sets the neighborhood size, which must be an odd number, when finding the neighbors of a point in an organized point cloud. For example, if you set M_NEIGHBORHOOD_ORGANIZED_SIZE to 7, the neighborhood is a 7 x 7 area in the organized point cloud. This is a 7-element by 7-element region in the source point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components, which hold the organized point cloud data in 2D, 3-band buffers.

The size determines the number of elements along a row or column of the 2D buffer in the range and confidence components, not a distance value in world units. The default value of 7 means that 7 x 7 = 49 entries are considered.

Normal calculations for points close to the edge of the 2D buffer use a clipped neighborhood.

This control type is supported only when using an organized point cloud and only if M_NEIGHBOR_SEARCH_MODE is set to M_ORGANIZED. INQ

Sets whether to smooth the normals, which prevents large, discontinuous jumps between normal vectors. For example, if 2 neighboring points have normal vectors (0,0,1) and (0,0,-0.9), 1 of the vectors will be flipped so that both point roughly in the same direction. This means that some normals will not respect the specified M_DIRECTION_MODE, but, on average, most normals will respect the specified orientation of the normal vectors.

This option is supported only when M_NEIGHBOR_SEARCH_MODE is set to M_TREE. INQ

Sets whether to enable bounding box statistics calculations. The bounding box is an axis-aligned box that includes all valid points for which to calculate statistics.

To compute a bounding box that contains most of the valid points instead of all of them, set M_BOUNDING_BOX_ALGORITHM to M_ROBUST. INQ

Sets the algorithm to use when bounding box statistics calculations have been enabled (M_BOUNDING_BOX).

The default setting (M_ALL_POINTS) includes all valid points; no valid points exist outside the bounding box. Invalid points can exist inside or outside the bounding box. INQ

Sets the upper limit in X for the number of outlier points. The specified value is the fraction of the total number of points whose X-coordinate value places the point in an outlier position, and therefore outside of the bounding box.

Set this control type when bounding box calculations have been enabled (M_BOUNDING_BOX) and M_BOUNDING_BOX_ALGORITHM is set to M_ROBUST. INQ

Sets the upper limit in Y for the number of outlier points. The specified value is the fraction of the total number of points whose Y-coordinate value places the point in an outlier position, and therefore outside of the bounding box.

Set this control type when bounding box calculations have been enabled (M_BOUNDING_BOX) and M_BOUNDING_BOX_ALGORITHM is set to M_ROBUST. INQ

Sets the upper limit in Z for the number of outlier points. The specified value is the fraction of the total number of points whose Z-coordinate value places the point in an outlier position, and therefore outside of the bounding box.

Set this option when bounding box calculations have been enabled (M_BOUNDING_BOX) and when M_BOUNDING_BOX_ALGORITHM is set to M_ROBUST. INQ

Sets whether to enable centroid statistics calculations. The centroid is the center of mass of a point cloud's 3D points or a depth map's real world coordinates.

Centroid statistics include the X-, Y-, and Z-coordinates of the point cloud or depth map's centroid. INQ

Sets whether to enable distance-to-nearest-neighbor statistics calculations.

Distance-to-nearest-neighbor statistics include the average distance, the maximum distance, and the minimum distance of 3D points or real world coordinates to their nearest neighbor. INQ

Sets whether to enable number-of-points statistics calculations.

Number-of-points statistics include the total number of points, the number of points that are missing data, and the number of valid points. INQ

Sets the minimum angle difference between the normal vector of a point and that of its neighbors, for the point to be kept in the subsample. If a point's normal vector angle is distinct from that of all of its neighbors, the point is kept. Use M_NEIGHBORHOOD_DISTANCE to define the neighborhood of a point.

This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_NORMAL. INQ

Sets the fraction of all valid points to select randomly from the source point cloud. Non-valid points are not considered in the calculation.

This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_RANDOM. INQ

Sets the cell size in the X-direction.

Note that, when M_ORGANIZATION_TYPE is set to M_ORGANIZED, exactly 1 of M_GRID_SIZE_X, M_GRID_SIZE_Y, or M_GRID_SIZE_Z must be set to M_INFINITE.

This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_GRID. INQ

Sets the cell size in the Y-direction.

Note that, when M_ORGANIZATION_TYPE is set to M_ORGANIZED, exactly 1 of M_GRID_SIZE_X, M_GRID_SIZE_Y, or M_GRID_SIZE_Z must be set to M_INFINITE.

This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_GRID. INQ

Sets the cell size in the Z-direction.

Note that, when M_ORGANIZATION_TYPE is set to M_ORGANIZED, exactly 1 of M_GRID_SIZE_X, M_GRID_SIZE_Y, or M_GRID_SIZE_Z must be set to M_INFINITE.

This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_GRID. INQ

Sets the distance that defines the neighborhood of a point; for a point to be kept in the subsample, it must be distinct in this neighborhood. Use M_DISTINCT_ANGLE_DIFFERENCE to set whether a point is distinct from other points in its neighborhood.

This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_NORMAL. INQ

Sets the resulting subsampled point cloud's organizational type. INQ

Sets which point to choose when multiple points occupy the same cell, and when 1 of M_GRID_SIZE_... is set to M_INFINITE.

Note that this control type is ignored when none of M_GRID_SIZE_... is set to M_INFINITE.

This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_GRID.

Sets the seed for the random selection of points, for an M_SUBSAMPLE_RANDOM operation.

When set to M_DEFAULT, the same sequence of random samples is generated with each call to M3dimSample() (for the same source point cloud). INQ

Sets the step interval between points, along the X dimension.

Points are selected from the source point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components, where the point cloud's X-, Y-, and Z-coordinates are stored in separate bands of a 2D (organized) or 1D (unorganized) buffer. M_STEP_SIZE_X specifies an interval in X for each band. If the resulting point cloud is organized, invalid points are included; otherwise they are ignored.

This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_DECIMATE. INQ

Sets the step interval between points, along the Y dimension.

Points are selected from the source point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components, where the point cloud's X-, Y-, and Z-coordinates are stored in separate bands of a 2D (organized) or 1D (unorganized) buffer.

Note that, if the source point cloud is unorganized, M_STEP_SIZE_Y is ignored.

M_STEP_SIZE_Y specifies an interval in Y for each band in the range and confidence components. If the resulting point cloud is organized, invalid points are included; otherwise they are ignored.

This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_DECIMATE. INQ

Sets the type of subsampling operation to perform. INQ

Sets the algorithm to use for subsampling based on normals.

This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_NORMAL. INQ

Specifies the distance between newly added points on the meshed surface. A smaller value generates more points per surface triangle. INQ