M3dmapGetResult

Retrieves whether the specified point cloud(s) have the specified feature (such as position or intensity data). The feature is specified using the combination value.

When the LabelOrIndex parameter is set to M_POINT_CLOUD_INDEX() or M_POINT_CLOUD_LABEL(), M_HAS_FEATURE returns whether the specified point cloud has the feature.

When the LabelOrIndex parameter is set to M_GENERAL, M_HAS_FEATURE returns whether all the point clouds in the specified result buffer have the feature.

When the LabelOrIndex parameter is set to M_ALL, M_HAS_FEATURE returns an array where the value of each element in the array is whether the point cloud at the corresponding index has the feature.

Retrieves the number of 3D points extracted from laser line data and stored in the specified point cloud(s).

When the LabelOrIndex parameter is set to M_POINT_CLOUD_INDEX() or M_POINT_CLOUD_LABEL(), M_NUMBER_OF_3D_POINTS returns the number of points in the specified point cloud.

When the LabelOrIndex parameter is set to M_GENERAL, M_NUMBER_OF_3D_POINTS returns the total number of points in all the point clouds in the specified result buffer.

When the LabelOrIndex parameter is set to M_ALL, M_NUMBER_OF_3D_POINTS returns an array where the value of each element in the array is the number of points in the point cloud at the corresponding index.

Retrieves the total displacement along the Y-axis (typically the conveyor) from the first call to M3dmapAddScan().

If the value of M_SCAN_SPEED (M3dmapControl()) has remained constant since the last call to M3dmapClear(), M_TOTAL_DISPLACEMENT_Y is equivalent to M_SCAN_SPEED x (number of calls to M3dmapAddScan()-1).

M_TOTAL_DISPLACEMENT_Y is only available when the LabelOrIndex parameter is set to M_GENERAL.

Retrieves the RMS error calculated from the distance between paired 3D points from the two aligned point clouds. A value of 0 implies that all points in the scene point cloud perfectly overlap with the points in the model point cloud.

Retrieves the relative RMS error, which is the percent change of the RMS error of the last two iterations of the pairwise 3D alignment process.

For instance, if the RMS error of the first iteration is 2.0 and the RMS error of the second iteration is 0.8, the relative RMS error of the second iteration is 60% ([2.0-0.8]/2.0). If the value is positive, the point clouds are becoming better aligned (the RMS error is decreasing).

Note the relative error of the first iteration, the prealignment, is artificially set to 0.0. This is because the value relies on the previous iteration, which in the case of the first iteration, does not exist.

Retrieves the transformation matrix that would align the model point cloud with the scene point cloud. The transformation matrix is a 4 x 4 homogeneous matrix.

Retrieves the number of iterations performed during the pairwise 3D alignment process. This always includes the prealignment step, which is the first iteration regardless of whether a prealignment matrix was passed to M3dmapAlign().

Retrieves the status of the pairwise 3D alignment process.

Note that in a single iteration, there could be more than one status. For instance, the relative RMS threshold could be reached on the last allowable iteration. In this case, only a single status is returned. The following is the order of precedence of returned statuses: M_ALIGN_RMS_ERROR_THRESHOLD_REACHED, M_ALIGN_RMS_ERROR_RELATIVE_THRESHOLD_REACHED, M_MAX_ITERATIONS_REACHED.

Retrieves the data type and depth that an image buffer should have to store the partially corrected depth map.

Retrieves the X-size, in pixels, that an image buffer should have to store the partially corrected depth map.

If the MimControl() M_SCAN_LANE_DIRECTION control type setting is set to M_VERTICAL, this is equal to the X-size of the image buffer passed to M3dmapAddScan().

If the MimControl() M_SCAN_LANE_DIRECTION control type setting is set to M_HORIZONTAL, this is equal to the Y-size of the image buffer passed to M3dmapAddScan().

Retrieves the Y-size, in pixels, that an image buffer should have to store the partially corrected depth map.

This is equal to the number of times M3dmapAddScan() was called or the value of the M_MAX_FRAMES control, whichever is smaller.

Retrieves the X-size of the image buffer from which the last laser line was extracted using M3dmapAddScan().

Retrieves the Y-size of the image buffer from which the last laser line was extracted using M3dmapAddScan().

Retrieves the data type and depth that an image buffer should have to store the intensity map.

The returned depth and data type are the same as those of the image buffer, passed to M3dmapAddScan(), containing the grabbed image of the laser line.

Retrieves the number of points (pixels) with unknown values in the last laser line extracted using M3dmapAddScan().

Retrieves whether laser line detection was performed vertically or horizontally.

Retrieves the data type and depth that an image buffer should have to store the uncorrected depth map.

Retrieves the number of fractional bits used for the uncorrected depth map.

Retrieves the X-size, in pixels, that an image buffer should have to store the uncorrected depth map.

Retrieves the Y-size, in pixels, that an image buffer should have to store the uncorrected depth map.

Retrieves the maximum height between the depth map and the reference level (always positive).

Retrieves the average height between the depth map and the reference level.

Retrieves the number of pixels that were not taken into account while computing statistics because they were missing data, either in the depth map or the reference level.

Retrieves the number of pixels that were not taken into account while computing statistics because the distance between the depth map and the reference level at those coordinates was beyond the outlier threshold.

Retrieves the number of pixels that were considered by M3dmapStat(). This value corresponds to the number of pixels in the depth map, or the number of pixels that are not 0 in the mask buffer if it was provided. This value is also the sum of M_NUMBER_OF_PIXELS_VALID, M_NUMBER_OF_PIXELS_OUTLIER, and M_NUMBER_OF_PIXELS_MISSING_DATA.

Retrieves the number of pixels that were taken into account while computing statistics.

Retrieves the volume between the depth map and the reference level.

Note that if M_STAT_ALL is used as a combination value, this returns the signed volume between the depth map and reference level. To obtain the absolute volume, the M_STAT_ABS combination value must be used.