/**
@brief: Allows to Export Surface Voxels present in the entire volume
*/
public pxcmStatus ExportSurfaceVoxels(PXCMSurfaceVoxelsData surfaceVoxelsData)
{
return ExportSurfaceVoxels(surfaceVoxelsData, new PXCMPoint3DF32(0, 0, 0), new PXCMPoint3DF32(0, 0, 0));
}
/**
@brief: Allows user to export the voxels intersected by the surface
scanned. Optionally allows to specify region of interest for
surface voxels to be exported. Voxels will be exported in parts over
multiple calls to this function. Client is expected to check return code to
determine if all voxels are exported successfully or not.
@param[out] surfaceVoxelsData: Pre-allocated instance of PXCMSurfaceVoxelsData
using CreatePXCMSurfaceVoxelsData method. On Success the function will fill
in center of each surface voxel in an array which can be obtained using QueryCenterOfSurfaceVoxels
and Number of voxels which can be retrieved using QueryNumberOfSurfaceVoxels()
@param[in] lowerLeftFrontPoint: Optional, PXCMPoint3DF32 represents lower
left corner of the front face of the bounding box which specifies region of interest for exporting
surface voxels
@param[in] upperRightRearPoint: Optional, PXCMPoint3DF32 represents upper
right corner of the rear face of the bounding box which specifies region of interest for exporting
surface voxels
@returns: If Scene Perception module is able to export all the surface
voxels it has acquired it will return PXCM_STATUS_NO_ERROR and after that
any calls made to ExportSurfaceVoxels will restart exporting all the
voxels again.
If all voxels cannot be fit into specified surfaceVoxelsData, it will
return warning code PXCM_STATUS_DATA_PENDING indicating that client
should make additional calls to ExportSurfaceVoxels to get remaining
voxels until PXCM_STATUS_NO_ERROR is returned.
*/
public pxcmStatus ExportSurfaceVoxels(PXCMSurfaceVoxelsData surfaceVoxelsData, PXCMPoint3DF32 lowerLeftFrontPoint, PXCMPoint3DF32 upperRightRearPoint)
{
IntPtr unmanagedAddrlowerLeftFrontPoint = Marshal.AllocHGlobal(Marshal.SizeOf(lowerLeftFrontPoint));
IntPtr unmanagedAddrupperRightRearPoint = Marshal.AllocHGlobal(Marshal.SizeOf(upperRightRearPoint));
Marshal.StructureToPtr(lowerLeftFrontPoint, unmanagedAddrlowerLeftFrontPoint, false);
Marshal.StructureToPtr(upperRightRearPoint, unmanagedAddrupperRightRearPoint, false);
pxcmStatus retStatus = PXCMScenePerception_ExportSurfaceVoxels(instance, surfaceVoxelsData.instance, unmanagedAddrlowerLeftFrontPoint, unmanagedAddrupperRightRearPoint); ;
Marshal.FreeHGlobal(unmanagedAddrlowerLeftFrontPoint);
Marshal.FreeHGlobal(unmanagedAddrupperRightRearPoint);
unmanagedAddrlowerLeftFrontPoint = IntPtr.Zero;
unmanagedAddrupperRightRearPoint = IntPtr.Zero;
return retStatus;
}
