M3dimMatrixTransform

See also

User Guide:

3D Geometry module overview Analyzing the profile of a 3D cross-section Defining 3D geometries Defining transformation matrix objects Generating fully corrected depth and intensity maps How to fixture in 3D Moving or scaling a point cloud or 3D geometry Working with 3D

Reference:

M3dgeoAlloc M3dgeoInquire MbufAllocComponent MbufAllocContainer MbufInquireContainer

Availability

Not available in MIL-Lite

Available in MIL

Available on Windows

Available on Linux

Available on Non-Matrox computer

Available on Matrox 4Sight-X

Available on Matrox 4Sight GP/GPm

Available on Matrox Supersight

Function map

Examples

3dcadregistration.cpp
3dmodelheightdefect.cpp
3dplanarity.cpp
3dprofilemetrology.cpp
mechanicalpartscan.cpp
pointcloudprojection.cpp
simple3dbinpicking.cpp

M3dimInquire

M3dimMatrixTransformList

Function Map

Syntax

Description

Parameters

- SrcContainerBufOrGeometry3dgeoId

Table:

For specifying the source point cloud container or 3D geometry object

- DstContainerBufOrGeometry3dgeoId

Table:

For specifying the destination container or 3D geometry object

- Matrix3dgeoId

- ControlFlag

Compilation information

Synopsis

Apply the specified transformation matrix to the 3D points of a specified point cloud or to a 3D geometry.

Syntax

void M3dimMatrixTransform(

MIL_ID SrcContainerBufOrGeometry3dgeoId,	//in
MIL_ID DstContainerBufOrGeometry3dgeoId,	//in
MIL_ID Matrix3dgeoId,	//in
MIL_INT64 ControlFlag	//in

)

Description

This function applies the specified transformation matrix to the 3D points of a specified point cloud or to a 3D geometry.

Note that, when transforming a point cloud, this function affects the coordinates of the points and not their location in the container.

If an M_COMPONENT_NORMALS_MIL component exists in the source container, the component is recalculated then added to the destination container. All other source components are copied to the destination container. Any previously existing components in the destination container are removed.

Note that this function reference has not been updated for a MIL system added during a MIL update. Refer to the MIL system's release note to see if there is complementary information.

Parameters

This function is not supported on the selected boards.

Parameters

SrcContainerBufOrGeometry3dgeoId

Specifies the source point cloud container or 3D geometry object.

Note that the source and destination must match so that both are containers or both are 3D geometries.

For specifying the source point cloud container or 3D geometry object
Value	Description
M_XY_PLANE	Specifies the XY (Z=0) plane.
Source 3D geometry object identifier	Specifies the identifier of the source 3D geometry object. The 3D geometry object must have been previously allocated using M3dgeoAlloc() with M_GEOMETRY, and must have been successfully defined. Supported 3D geometries include box, cylinder, line, plane, and sphere. Note that sphere and box 3D geometry objects do not accept non-uniform scaling. (summarize) Specifies the identifier of the source 3D geometry object. (more details...)
Source point cloud container identifier	Specifies the identifier of the source point cloud container. The container must be 3D-processable (that is, if you call MbufInquireContainer() with M_3D_PROCESSABLE, the function returns M_PROCESSABLE). The container must have been previously allocated using MbufAllocContainer() with M_PROC. The container must have the 2 components M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE. (summarize) Specifies the identifier of the source point cloud container. (more details...)

DstContainerBufOrGeometry3dgeoId

Specifies the destination container or 3D geometry object.

Note that the source and destination must match so that both are containers or both are 3D geometries.

For specifying the destination container or 3D geometry object
Value	Description
Destination 3D geometry object identifier	Specifies the identifier of the destination 3D geometry object. The 3D geometry object must have been previously allocated using M3dgeoAlloc() with M_GEOMETRY. (summarize) Specifies the identifier of the destination 3D geometry object. (more details...)
Destination container identifier	Specifies the identifier of the destination container. The container must have been previously allocated using MbufAllocContainer() with M_PROC, and must not be a child container. (summarize) Specifies the identifier of the destination container. (more details...)

Matrix3dgeoId

Specifies the identifier of the transformation matrix object. The transformation matrix object must have been previously allocated using M3dgeoAlloc() with M_TRANSFORMATION_MATRIX. The transformation matrix must be any valid affine transformation matrix, where the last row is (0,0,0,1). That is, if you call M3dgeoInquire() with M_AFFINE, the function returns M_TRUE.

Note that, for a 3D geometry of type M_SPHERE or M_BOX, the transformation can include rotation, translation, and uniform scaling only. That is, if you call M3dgeoInquire() with M_SIMILARITY, the function returns M_TRUE. Other transformation types are not supported.

ControlFlag

Reserved for future expansion and must be set to M_DEFAULT.

Compilation information

Header	Include mil.h.
Library	Use mil.lib; mil3dim.lib.
DLL	Requires mil.dll; mil3dim.dll.