M3dmapControl

Specifies the Z-coordinate in world units (for point clouds) or gray level (for partially corrected depth maps) used to represent the height of the next reference plane (the next call to M3dmapAddScan()), during 3D reconstruction calibration for depth.

If ContextOrResult3dmapId is a profiling 3D reconstruction context allocated with M_CALIBRATED_CAMERA_LINEAR_MOTION, this value must be specified in world units. The specified Z-coordinate is the actual height of the reference plane in the next calibration image.

If ContextOrResult3dmapId is a profiling 3D reconstruction context allocated with M_DEPTH_CORRECTION, this value must be specified in gray levels. The specified gray level is paired with the position of the laser line over a reference plane in the calibration image. Note that a partially corrected depth map has no coordinate system, and so there is no actual height involved. INQ

Sets the number of binary digits used for the fractional part of the gray level values in uncorrected depth maps, when using M3dmapAddScan() with M_LINE_ALREADY_EXTRACTED. INQ

Sets the X-offset that M3dmapAddScan() assumes the laser line image buffer to have relative to the top-left pixel of the image buffer used during camera calibration.

If you supply M3dmapAddScan() with a child buffer so that it processes only a subset of the grabbed laser line image, and you are generating a fully corrected depth map, you must specify the X- and Y-offsets of that child buffer, relative to the top-left pixel of the image buffer used during camera calibration. If you know, for example, that the laser line will appear only at certain heights in the grabbed laser line image, using a child buffer can be useful to narrow down the search region and reduce processing time. INQ

Sets the Y-offset that M3dmapAddScan() assumes the laser line image buffer to have relative to the top-left pixel of the image buffer used during camera calibration.

If you supply M3dmapAddScan() with a child buffer so that it processes only a subset of the grabbed laser line image, and you are generating a fully corrected depth map, you must specify the X- and Y-offsets of that child buffer, relative to the top-left pixel of the image buffer used during camera calibration. If you know, for example, that the laser line will appear only at certain heights in the grabbed laser line image, using a child buffer can be useful to narrow down the search region and reduce processing time. INQ

Sets the mode that helps determine the range of valid Z-coordinates for extracted points when using M3dmapAddScan().

An extracted point that has a Z-coordinate outside of this range is set to M_INVALID_POINT. INQ

Sets the first limit value that determines the range of valid Z-coordinates for extracted points.

This value is ignored when M_EXTRACTION_RANGE_Z is set to M_INFINITE. INQ

Sets the second limit value that determines the range of valid Z-coordinates for extracted points.

Note that when M_EXTRACTION_RANGE_Z is set to M_INFINITE, M_GREATER, or M_LESS, this value is ignored. INQ

Sets the speed and direction of the object being scanned, along the object's plane of motion. INQ

Sets the maximum number of scanned laser lines that the 3D reconstruction result buffer should keep internally. Note that, if the value of this control type is changed after it has already been set, laser lines can be lost.

When you specify a 3D reconstruction result buffer of type M_POINT_CLOUD_RESULT with LabelOrIndex set to M_GENERAL), this control will set the maximum number of scanned laser lines kept by each subsequent point cloud generated in this result buffer. INQ

Sets the displacement mode, which determines whether the coordinates of scanned objects include the movement (displacement) of the conveyor.

By default, the coordinates of scanned objects are stored as though the objects are fixed at their initial position when the first call to M3dmapAddScan() was made, despite the ongoing movement of the conveyor.

When the coordinates are used (for instance, when returning the coordinates or generating a depth map), the displacement mode specifies whether to include the distance that the conveyor moved since the first call to M3dmapAddScan(). When you include this distance, you are getting the real-time coordinates of the objects at the moment the coordinates are returned or the depth map is generated.

You can retrieve this conveyor displacement (Y-axis displacement) using M3dmapGetResult() with M_TOTAL_DISPLACEMENT_Y.

In some circumstances, such as when manually defining the extraction box when generating a depth map, you might have to keep in mind whether an object's coordinates will include displacement when used. For more information, see the Results displacement mode subsection of the 3D coordinate systems and the coordinates of a point cloud section of Chapter 40: 3D reconstruction using laser line profiling. INQ

Sets the Y-axis displacement to add to the resulting 3D coordinates of an object when M_RESULTS_DISPLACEMENT_MODE is set to M_FIXED. INQ

Sets whether to draw the absolute coordinate system's axes. INQ

Sets whether to draw the camera coordinate system's axes. INQ

Sets the length at which to draw the specified coordinate system's axes. INQ

Sets whether to draw the frustum of the camera's view. The frustum is the truncated pyramid of vision that originates at the camera's position and, when drawn, ends at the relative XY plane. When enabled, M_DRAW_FRUSTUM draws a wireframe frustum, using the color specified with M_DRAW_FRUSTUM_COLOR. INQ

Sets whether to draw the laser line coordinate system's axes. INQ

Sets whether to draw the laser plane. INQ

Sets the laser plane's fill color. INQ

Sets the laser plane's outline color. INQ

Sets the laser plane's opacity.

This control type is only available when the laser plane's fill color is set to a uniform color. INQ