M3dmapGetResult

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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

3dmodelheightdefect.cpp
cameralasercalibration.cpp
matroxgatoreye.cpp
pfocus.cpp
sickrangerc.cpp
sickrangere.cpp
simple3dstitching.cpp

Function Map

Table:

For specifying the point cloud(s) or point cloud container

- ResultType

- ResultArrayPtr

Parameter Associations

Table:	For retrieving results from a 3D reconstruction result buffer of type M_POINT_CLOUD_CONTAINER
+ combination:	For specifying the feature to check
+ combination:	For modifying the number of points returned
+ combination:	For including the last scan only
Table:	For retrieving results from a pairwise 3D alignment result buffer
+ combination:	For specifying to retrieve the result for each iteration
Table:	For retrieving results from a 3D reconstruction result buffer of type M_DEPTH_CORRECTED_DATA
Table:	For retrieving results from a 3D reconstruction result buffer of type M_LASER_CALIBRATION_DATA or M_DEPTH_CORRECTED_DATA, or individual point clouds.
Table:	For retrieving results from an M_STAT_RESULT result buffer
+ combination:	For specifying which pixels to take into account
+ combination:	For determining whether results are available
+ combination:	For specifying the data type

Compilation information

Synopsis

Get the specified type of result(s) from a 3D reconstruction result buffer.

Syntax

void M3dmapGetResult(

MIL_ID Result3dmapId,	//in
MIL_INT LabelOrIndex,	//in
MIL_INT64 ResultType,	//in
void *ResultArrayPtr	//out

)

Description

This function retrieves the result(s) of the specified type from a result buffer. For M_LASER_CALIBRATION_DATA, M_DEPTH_CORRECTED_DATA, and M_POINT_CLOUD_CONTAINER 3D reconstruction result buffers, results are available after using M3dmapAddScan() and/or M3dmapPut() to fill the result buffer with the extracted laser line data.

For an M_STAT_RESULT result buffer, results are available after using M3dmapStat() to fill the result buffer with statistics on a depth map.

An M_POINT_CLOUD_CONTAINER 3D reconstruction result buffer contains an array of distinct point clouds. You can retrieve results from an individual point cloud in the result buffer, from an aggregate of all point clouds in the result buffer, or from the result buffer itself using the LabelOrIndex parameter.

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

Result3dmapId

Specifies the identifier of the 3D reconstruction result buffer from which to retrieve results.

LabelOrIndex

Specifies the point cloud(s) in the specified 3D reconstruction result buffer, or the entire result buffer itself, from which to get results. Only 3D reconstruction result buffers allocated using M_POINT_CLOUD_CONTAINER have point clouds that can be specified using this parameter. For all other types of 3D reconstruction result buffers, set this parameter to M_DEFAULT.

For specifying the point cloud(s) or point cloud container
Value	Description
M_POINT_CLOUD_INDEX( MIL_INT PointCloudIndex )	Specifies the array index of a point cloud in the specified 3D reconstruction result buffer. (summarize) Specifies the array index of a point cloud in the specified 3D reconstruction result buffer. (more details...)
		Parameters
		PointCloudIndex Specifies the array index of an existing point cloud.
M_POINT_CLOUD_LABEL( MIL_INT PointCloudLabel )	Specifies the label for a point cloud in the specified 3D reconstruction result buffer. (summarize) Specifies the label for a point cloud in the specified 3D reconstruction result buffer. (more details...)
		Parameters
		PointCloudLabel Specifies the label of an existing point cloud.
M_ALL	Specifies to get results about all point clouds in the specified 3D reconstruction result buffer.
M_GENERAL	Specifies to get results about the point cloud container (3D reconstruction result buffer allocated using M_POINT_CLOUD_CONTAINER).

ResultType

Specifies the type of result to get.

See the Parameter associations section for possible values that can be specified.

ResultArrayPtr

Accepts the address of one of the following (see the Parameter associations section for specifics on which is expected):

array of type char
array of type MIL_DOUBLE
array of type MIL_FLOAT
array of type MIL_ID
array of type MIL_INT
array of type MIL_INT16
array of type MIL_INT32
array of type MIL_INT64
char
MIL_DOUBLE
MIL_FLOAT
MIL_ID
MIL_INT
MIL_INT16
MIL_INT32
MIL_INT64

Specifies the address in which to write the results.

When LabelOrIndex is set to M_ALL, you must specify the address of an array with as many elements as point clouds in the point cloud container. You can inquire the number of point clouds using M3dmapInquire() set to M_NUMBER_OF_POINT_CLOUDS.

See the Parameter associations section for possible values that can be returned.

Parameter associations

The tables below list possible values for the ResultType parameter and possible values returned to the ResultArrayPtr parameter.

For retrieving results from a 3D reconstruction result buffer of type M_POINT_CLOUD_CONTAINER
For retrieving results from a pairwise 3D alignment result buffer
For retrieving results from a 3D reconstruction result buffer of type M_DEPTH_CORRECTED_DATA
For retrieving results from a 3D reconstruction result buffer of type M_LASER_CALIBRATION_DATA or M_DEPTH_CORRECTED_DATA, or individual point clouds.
For retrieving results from an M_STAT_RESULT result buffer

To retrieve a result from an M_POINT_CLOUD_CONTAINER 3D reconstruction result buffer, the ResultType parameter can be set to one of the following values:

For retrieving results from a 3D reconstruction result buffer of type M_POINT_CLOUD_CONTAINER
ResultType		Description
	ResultArrayPtr - Possible values returned	Description
M_HAS_FEATURE +		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. You must specify a combination value from the following table: To determine whether the feature exists in the specified location (summarize) Retrieves whether the specified point cloud(s) have the specified feature (such as position or intensity data). (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving the results from an individual point cloud or a general result Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container (LabelOrIndex set to M_ALL) Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving the results from an individual point cloud or a general result Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container (LabelOrIndex set to M_ALL)
	M_FALSE	Specifies that the specified point cloud(s) do not have the feature.
	M_TRUE	Specifies that the specified point cloud(s) do have the feature.
M_NUMBER_OF_3D_POINTS +		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. (summarize) Retrieves the number of 3D points extracted from laser line data and stored in the specified point cloud(s). (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving the results from an individual point cloud or a general result Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving the results from an individual point cloud or a general result Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds
	Value >= 0	Specifies the number of 3D points.
M_TOTAL_DISPLACEMENT_Y +		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. (summarize) Retrieves the total displacement along the Y-axis (typically the conveyor) from the first call to M3dmapAddScan(). (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE

Combination values for M_HAS_FEATURE.

You must add one of the following values to the above-mentioned value to determine whether the feature exists in the specified location.

For specifying the feature to check
Combination value	Description
M_INTENSITY	Specifies to determine if intensity information exists in the specified point cloud(s).
M_POSITION	Specifies to determine if position information exists in the specified point cloud(s).

Combination values for M_NUMBER_OF_3D_POINTS.

You can add one of the following values to the above-mentioned value to specify which 3D points should be included when returning the number of points.

For modifying the number of points returned
Combination value	Description
M_EXCLUDE_INVALID_POINTS +	Specifies to exclude all points in the specified point cloud(s) that are set to M_INVALID_POINT. This includes all valid points inside and outside of the extraction box. (summarize) Specifies to exclude all points in the specified point cloud(s) that are set to M_INVALID_POINT. (more details...)
M_INCLUDE_POINTS_INSIDE_BOX_ONLY +	Specifies to include only the valid points inside the extraction box.

Combination value for M_EXCLUDE_INVALID_POINTS; M_INCLUDE_POINTS_INSIDE_BOX_ONLY; M_NUMBER_OF_3D_POINTS.

You can add the following value to the above-mentioned values to specify to return the points of the last scan only.

For including the last scan only
Combination value	Description
M_LAST_SCAN	Specifies to return only those points generated during the last call to M3dmapAddScan(). This option is valid only if LabelOrIndex refers to a point cloud(s) of type M_LASER_SCAN. (summarize) Specifies to return only those points generated during the last call to M3dmapAddScan(). (more details...)

To retrieve a result from a pairwise 3D alignment result buffer allocated using M3dmapAllocResult() with M_ALIGNMENT_RESULT, the ResultType parameter can be set to one of the following values:

For retrieving results from a pairwise 3D alignment result buffer
ResultType		Description
	ResultArrayPtr - Possible values returned	Description
M_ALIGN_RMS_ERROR +		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. (summarize) Retrieves the RMS error calculated from the distance between paired 3D points from the two aligned point clouds. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
	Value >= 0	Specifies the RMS error.
M_ALIGN_RMS_ERROR_RELATIVE +		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. (summarize) 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. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: This value is expressed as a percentage, so a value of 0.1 is 0.1%, not 10%. Data type info: Data type: address of a MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: This value is expressed as a percentage, so a value of 0.1 is 0.1%, not 10%.
M_ALIGNMENT_MATRIX +		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. (summarize) Retrieves the transformation matrix that would align the model point cloud with the scene point cloud. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: array of type MIL_DOUBLE (more details...) Data type: array of type MIL_DOUBLE Required array size:(16) Data type info: Data type: array of type MIL_DOUBLE (more details...) Data type: array of type MIL_DOUBLE Required array size:(16)
M_NB_ITERATIONS +		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(). (summarize) Retrieves the number of iterations performed during the pairwise 3D alignment process. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_INT (more details...) Data type: address of a MIL_INT Note: greater than or equal to zero Data type info: Data type: address of a MIL_INT (more details...) Data type: address of a MIL_INT Note: greater than or equal to zero
M_STATUS +		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. (summarize) Retrieves the status of the pairwise 3D alignment process. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
	M_ALIGN_RMS_ERROR_RELATIVE_THRESHOLD_REACHED	Specifies that the change in RMS errors of the last two iterations is equal to or lower than the specified percentile threshold (M3dmapControl() with M_ALIGN_RMS_ERROR_RELATIVE_THRESHOLD). This is typically considered a successful alignment. (summarize) Specifies that the change in RMS errors of the last two iterations is equal to or lower than the specified percentile threshold (M3dmapControl() with M_ALIGN_RMS_ERROR_RELATIVE_THRESHOLD). (more details...)
	M_ALIGN_RMS_ERROR_THRESHOLD_REACHED	Specifies that the RMS error of the last iteration is equal to or lower than the specified RMS error threshold (M3dmapControl() with M_ALIGN_RMS_ERROR_THRESHOLD). This is typically considered a successful alignment. (summarize) Specifies that the RMS error of the last iteration is equal to or lower than the specified RMS error threshold (M3dmapControl() with M_ALIGN_RMS_ERROR_THRESHOLD). (more details...)
	M_MAX_ITERATIONS_REACHED	Specifies that the maximum number of iterations of the alignment process, set using M3dmapControl() with M_MAX_ITERATIONS, has been reached.
	M_NO_VALID_POINTS	Specifies that either the model or the scene point cloud does not contain valid points. This can occur if either the model or the scene point cloud contains no points or only invalid points. This can also occur when M3dmapControl() with M_EXTRACTION_BOX_MODEL or M_EXTRACTION_BOX_SCENE is set to M_USE, and the extraction box of the corresponding point cloud is empty. This is typically considered an invalid operation. (summarize) Specifies that either the model or the scene point cloud does not contain valid points. (more details...)
	M_NOT_ENOUGH_POINT_PAIRS	Specifies that the number of points which overlap between the model point cloud and the scene point cloud is below a critical threshold. This could occur because the point clouds were too different in the first iteration, or that, throughout the iterations of the pairwise 3D alignment process, the point clouds diverged too much, rather than converged. This status implies that the function did not discover a transformation which overlaps the two point clouds. (summarize) Specifies that the number of points which overlap between the model point cloud and the scene point cloud is below a critical threshold. (more details...)

Combination value for M_ALIGN_RMS_ERROR; M_ALIGN_RMS_ERROR_RELATIVE; M_ALIGNMENT_MATRIX.

You can add the following value to the above-mentioned values to determine the result for each iteration.

For specifying to retrieve the result for each iteration
ResultType		Description
	ResultArrayPtr - Possible values returned	Description
M_ALL_ITERATIONS		Specifies to retrieve the result for each iteration during the pairwise 3D alignment. (summarize) Specifies to retrieve the result for each iteration during the pairwise 3D alignment. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: array of type MIL_DOUBLE (more details...) Data type: array of type MIL_DOUBLE Required array size: M3dmapGetResult() with a value + M_NB_ITERATIONS Note: When not combined with M_ALIGNMENT_MATRIX Data type: array of type MIL_DOUBLE Required array size: M3dmapGetResult() with a value + M_NB_ITERATIONS * (16) Note: When combined with M_ALIGNMENT_MATRIX Data type info: Data type: array of type MIL_DOUBLE (more details...) Data type: array of type MIL_DOUBLE Required array size: M3dmapGetResult() with a value + M_NB_ITERATIONS Note: When not combined with M_ALIGNMENT_MATRIX Data type: array of type MIL_DOUBLE Required array size: M3dmapGetResult() with a value + M_NB_ITERATIONS * (16) Note: When combined with M_ALIGNMENT_MATRIX

To retrieve a result about partially corrected depth maps from an M_DEPTH_CORRECTED_DATA 3D reconstruction result buffer, the ResultType parameter can be set to one of the following values:

For retrieving results from a 3D reconstruction result buffer of type M_DEPTH_CORRECTED_DATA
ResultType		Description
	ResultArrayPtr - Possible values returned	Description
M_CORRECTED_DEPTH_MAP_BUFFER_TYPE +		Retrieves the data type and depth that an image buffer should have to store the partially corrected depth map. (summarize) Retrieves the data type and depth that an image buffer should have to store the partially corrected depth map. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
	M_UNSIGNED + 8	Specifies that the image buffer should be an 8-bit unsigned buffer.
	M_UNSIGNED + 16	Specifies that the image buffer should be a 16-bit unsigned buffer.
M_CORRECTED_DEPTH_MAP_SIZE_X +		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(). (summarize) Retrieves the X-size, in pixels, that an image buffer should have to store the partially corrected depth map. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
M_CORRECTED_DEPTH_MAP_SIZE_Y +		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. (summarize) Retrieves the Y-size, in pixels, that an image buffer should have to store the partially corrected depth map. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE

To retrieve a result from a 3D reconstruction result buffer of type M_LASER_CALIBRATION_DATA or M_DEPTH_CORRECTED_DATA, or a point cloud of type M_LASER_SCAN, the ResultType parameter can be set to one of the following values:

For retrieving results from a 3D reconstruction result buffer of type M_LASER_CALIBRATION_DATA or M_DEPTH_CORRECTED_DATA, or individual point clouds.
ResultType		Description
	ResultArrayPtr - Possible values returned	Description
M_CAMERA_IMAGE_SIZE_X +		Retrieves the X-size of the image buffer from which the last laser line was extracted using M3dmapAddScan(). (summarize) Retrieves the X-size of the image buffer from which the last laser line was extracted using M3dmapAddScan(). (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container
M_CAMERA_IMAGE_SIZE_Y +		Retrieves the Y-size of the image buffer from which the last laser line was extracted using M3dmapAddScan(). (summarize) Retrieves the Y-size of the image buffer from which the last laser line was extracted using M3dmapAddScan(). (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container
M_INTENSITY_MAP_BUFFER_TYPE +		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. (summarize) Retrieves the data type and depth that an image buffer should have to store the intensity map. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container
	M_UNSIGNED + 8	Specifies that the image buffer should be an 8-bit unsigned buffer.
	M_UNSIGNED + 16	Specifies that the image buffer should be a 16-bit unsigned buffer.
M_NUMBER_OF_MISSING_DATA_LAST_SCAN +		Retrieves the number of points (pixels) with unknown values in the last laser line extracted using M3dmapAddScan(). (summarize) Retrieves the number of points (pixels) with unknown values in the last laser line extracted using M3dmapAddScan(). (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container
M_SCAN_LANE_DIRECTION +		Retrieves whether laser line detection was performed vertically or horizontally. (summarize) Retrieves whether laser line detection was performed vertically or horizontally. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container
M_UNCORRECTED_DEPTH_MAP_BUFFER_TYPE +		Retrieves the data type and depth that an image buffer should have to store the uncorrected depth map. (summarize) Retrieves the data type and depth that an image buffer should have to store the uncorrected depth map. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container
	M_UNSIGNED + 8	Specifies that the image buffer should be an 8-bit unsigned buffer.
	M_UNSIGNED + 16	Specifies that the image buffer should be a 16-bit unsigned buffer.
M_UNCORRECTED_DEPTH_MAP_FIXED_POINT +		Retrieves the number of fractional bits used for the uncorrected depth map. (summarize) Retrieves the number of fractional bits used for the uncorrected depth map. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container
M_UNCORRECTED_DEPTH_MAP_SIZE_X +		Retrieves the X-size, in pixels, that an image buffer should have to store the uncorrected depth map. (summarize) Retrieves the X-size, in pixels, that an image buffer should have to store the uncorrected depth map. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container
M_UNCORRECTED_DEPTH_MAP_SIZE_Y +		Retrieves the Y-size, in pixels, that an image buffer should have to store the uncorrected depth map. (summarize) Retrieves the Y-size, in pixels, that an image buffer should have to store the uncorrected depth map. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container Data type info: Data type: address of a MIL_DOUBLE \| array of type MIL_DOUBLE (more details...) Data type: address of a MIL_DOUBLE Note: when retrieving results from an individual point cloud or result buffer Data type: array of type MIL_DOUBLE Required array size: M3dmapInquire with M_NUMBER_OF_POINT_CLOUDS Note: when retrieving the results from all point clouds in the specified point cloud container

To retrieve a result from a M_STAT_RESULT 3D reconstruction result buffer, the ResultType parameter can be set to one of the following values:

For retrieving results from an M_STAT_RESULT result buffer
ResultType		Description
	ResultArrayPtr - Possible values returned	Description
M_DEVIATION_MAX +		Retrieves the maximum height between the depth map and the reference level (always positive). (summarize) Retrieves the maximum height between the depth map and the reference level (always positive). (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
M_DEVIATION_MEAN +		Retrieves the average height between the depth map and the reference level. (summarize) Retrieves the average height between the depth map and the reference level. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
M_NUMBER_OF_PIXELS_MISSING_DATA +		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. (summarize) 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. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
M_NUMBER_OF_PIXELS_OUTLIER +		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. (summarize) 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. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
M_NUMBER_OF_PIXELS_TOTAL +		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. (summarize) Retrieves the number of pixels that were considered by M3dmapStat(). (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
M_NUMBER_OF_PIXELS_VALID +		Retrieves the number of pixels that were taken into account while computing statistics. (summarize) Retrieves the number of pixels that were taken into account while computing statistics. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
M_VOLUME +		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. (summarize) Retrieves the volume between the depth map and the reference level. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE

Combination values for the values listed in For retrieving results from an M_STAT_RESULT result buffer.

You can add one of the following values to the above-mentioned values to specify which pixels to take into account.

For specifying which pixels to take into account
Combination value	Description
M_STAT_ABS	Takes into account all valid pixels, treating all vertical distances as positive. Note that this value can only be used with M_DEVIATION_MEAN and M_VOLUME. (summarize) Takes into account all valid pixels, treating all vertical distances as positive. (more details...)
M_STAT_ALL	Takes into account all valid pixels. This is the default behavior if no combination flag is added. (summarize) Takes into account all valid pixels. (more details...)
M_STAT_NEGATIVE	Takes into account only the pixels for which going from the reference level to the depth map is in the negative Z-direction, treating all vertical distances as positive.
M_STAT_POSITIVE	Takes into account only the pixels for which going from the reference level to the depth map is in the positive Z-direction.

Combination value for

Tables:

For retrieving results from a 3D reconstruction result buffer of type M_POINT_CLOUD_CONTAINER
For retrieving results from a pairwise 3D alignment result buffer
For retrieving results from a 3D reconstruction result buffer of type M_DEPTH_CORRECTED_DATA
For retrieving results from a 3D reconstruction result buffer of type M_LASER_CALIBRATION_DATA or M_DEPTH_CORRECTED_DATA, or individual point clouds.
For retrieving results from an M_STAT_RESULT result buffer

the values listed in all the parameter association tables.

You can add the following value to the above-mentioned values to determine whether a result is available.

For determining whether results are available
ResultType		Description
	ResultArrayPtr - Possible values returned	Description
M_AVAILABLE		Retrieves whether a result is available to be returned. (summarize) Retrieves whether a result is available to be returned. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: address of a MIL_DOUBLE Data type info: Data type: address of a MIL_DOUBLE
	M_NULL	Specifies that the result is not available to be returned.
	Value != 0	Specifies that the result is available to be returned.

Combination values for

Tables:

For retrieving results from a 3D reconstruction result buffer of type M_POINT_CLOUD_CONTAINER
For retrieving results from a pairwise 3D alignment result buffer
For retrieving results from a 3D reconstruction result buffer of type M_DEPTH_CORRECTED_DATA
For retrieving results from a 3D reconstruction result buffer of type M_LASER_CALIBRATION_DATA or M_DEPTH_CORRECTED_DATA, or individual point clouds.
For retrieving results from an M_STAT_RESULT result buffer

the values listed in all the parameter association tables.

You can add one of the following values to the above-mentioned values to cast the requested results to the required data type.

For specifying the data type
ResultType		Description
	ResultArrayPtr - Possible values returned	Description
M_TYPE_CHAR		Casts the requested results to a char. (summarize) Casts the requested results to a char. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: array of type char \| address of a char (more details...) Data type: array of type char Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a char Note: When a single result. Data type info: Data type: array of type char \| address of a char (more details...) Data type: array of type char Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a char Note: When a single result.
M_TYPE_MIL_DOUBLE		Casts the requested results to a MIL_DOUBLE. (summarize) Casts the requested results to a MIL_DOUBLE. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: array of type MIL_DOUBLE \| address of a MIL_DOUBLE (more details...) Data type: array of type MIL_DOUBLE Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_DOUBLE Note: When a single result. Data type info: Data type: array of type MIL_DOUBLE \| address of a MIL_DOUBLE (more details...) Data type: array of type MIL_DOUBLE Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_DOUBLE Note: When a single result.
M_TYPE_MIL_FLOAT		Casts the requested results to a MIL_FLOAT. (summarize) Casts the requested results to a MIL_FLOAT. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: array of type MIL_FLOAT \| address of a MIL_FLOAT (more details...) Data type: array of type MIL_FLOAT Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_FLOAT Note: When a single result. Data type info: Data type: array of type MIL_FLOAT \| address of a MIL_FLOAT (more details...) Data type: array of type MIL_FLOAT Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_FLOAT Note: When a single result.
M_TYPE_MIL_ID		Casts the requested results to a MIL_ID. (summarize) Casts the requested results to a MIL_ID. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: array of type MIL_ID \| address of a MIL_ID (more details...) Data type: array of type MIL_ID Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_ID Note: When a single result. Data type info: Data type: array of type MIL_ID \| address of a MIL_ID (more details...) Data type: array of type MIL_ID Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_ID Note: When a single result.
M_TYPE_MIL_INT		Casts the requested results to a MIL_INT. (summarize) Casts the requested results to a MIL_INT. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: array of type MIL_INT \| address of a MIL_INT (more details...) Data type: array of type MIL_INT Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_INT Note: When a single result. Data type info: Data type: array of type MIL_INT \| address of a MIL_INT (more details...) Data type: array of type MIL_INT Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_INT Note: When a single result.
M_TYPE_MIL_INT16		Casts the requested results to a MIL_INT16. (summarize) Casts the requested results to a MIL_INT16. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: array of type MIL_INT16 \| address of a MIL_INT16 (more details...) Data type: array of type MIL_INT16 Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_INT16 Note: When a single result. Data type info: Data type: array of type MIL_INT16 \| address of a MIL_INT16 (more details...) Data type: array of type MIL_INT16 Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_INT16 Note: When a single result.
M_TYPE_MIL_INT32		Casts the requested results to a MIL_INT32. (summarize) Casts the requested results to a MIL_INT32. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: array of type MIL_INT32 \| address of a MIL_INT32 (more details...) Data type: array of type MIL_INT32 Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_INT32 Note: When a single result. Data type info: Data type: array of type MIL_INT32 \| address of a MIL_INT32 (more details...) Data type: array of type MIL_INT32 Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_INT32 Note: When a single result.
M_TYPE_MIL_INT64		Casts the requested results to a MIL_INT64. (summarize) Casts the requested results to a MIL_INT64. (more details...)
	ResultArrayPtr extra info	Data type info: Data type: array of type MIL_INT64 \| address of a MIL_INT64 (more details...) Data type: array of type MIL_INT64 Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_INT64 Note: When a single result. Data type info: Data type: array of type MIL_INT64 \| address of a MIL_INT64 (more details...) Data type: array of type MIL_INT64 Required array size:(defined elsewhere) Note: When multiple results. Data type: address of a MIL_INT64 Note: When a single result.

Compilation information

Header	Include mil.h.
Library	Use mil.lib; mil3dmap.lib.
DLL	Requires mil.dll; mil3dmap.dll.