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3D Image Processing module overview



The 3D Image Processing module supports processing and basic analysis of 3D data.

Using this module, you can perform arithmetic and statistical operations on point clouds, fully corrected depth maps, and 3D geometries. You can scale, rotate, and translate 3D data, compute 3D profiles to examine a cross-section of data, and sample a subset of points or reconstruct surfaces for point clouds. You can also merge multiple point clouds, crop or mask points, and calculate normal vectors for each point based on neighboring points. Additionally, the 3D image processing module allows you to project point cloud or 3D geometry data into a fully corrected image buffer, thereby generating a depth map.

To operate on depth maps, they must be stored in an image buffer and be fully corrected (that is, if you call McalInquire() with M_DEPTH_MAP, the function returns M_TRUE).

To operate on point clouds, they must be stored in a MIL 3D-processable format (that is, if you call MbufInquireContainer() with M_3D_PROCESSABLE, the function returns M_PROCESSABLE). All 3D-processable point cloud containers have the 2 components M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE. The range component stores coordinates for 3D points and the confidence component stores a confidence score for each point, where a confidence score of 0 indicates an invalid point. If a confidence is not 0, the point is valid.

Note that, for source containers, points in the M_COMPONENT_RANGE component whose corresponding confidence score is 0 have no effect on the computation performed. For destination containers, the M_COMPONENT_RANGE component value of a point with 0 confidence can be any value, and that value might change when the range component is copied, or when read on a different system.

Some 3D image processing functions create and add new components to the destination container, or copy source components into the destination. Typically, previously existing components in the destination container are overwritten.

Some functions might free and reallocate components, which can change a component's MIL identifier.

In-place processing is supported. A temporary internal container is used if necessary.