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  • 3D reconstruction context
    • For any laser profiling context
    • For a laser profiling context with camera calibration information
    • For a laser profiling context with only depth correction information
  • 3D geometry object
  • 3D pairwise alignment context
  • 3D reconstruction result buffer
    • For depth corrected data
    • For laser calibration data
    • For a point cloud container object
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M3dmapInquire


Function Map
Syntax
Description
Parameters
- M3dmapId
- LabelOrIndex
Table: For specifying the point cloud(s) or point cloud container
- InquireType
- UserVarPtr
Parameter Associations
Table: For inquiring about the system
Table: For 3D reconstruction contexts used for laser line profiling
Table: For 3D reconstruction contexts set to M_CALIBRATED_CAMERA_LINEAR_MOTION
Table: For 3D reconstruction contexts set to M_DEPTH_CORRECTION
Table: For a pairwise 3D alignment context
+ combination: To specify the model or scene normals
Table: For a successfully fitted geometry object or for a calibrated context of type M_CALIBRATED_CAMERA_LINEAR_MOTION
Table: For an allocated geometry object
Table: For a successfully defined geometry object
Table: For a 3D reconstruction result buffer set to M_POINT_CLOUD_CONTAINER
Table: For a 3D reconstruction result buffer set to M_POINT_CLOUD_CONTAINER with a defined extraction box
Table: For a point cloud
Table: For a 3D reconstruction result buffer used to collect laser data
Table: For inquiring the maximum number of frames
+ combination: For inquiring the default value of an inquire type
+ combination: For inquiring whether an inquire type is supported
+ combination: For specifying the data type
Return value
Compilation information
Synopsis
Inquire about a 3D reconstruction context, a 3D reconstruction result buffer, or a geometry object setting.
Syntax
MIL_INT M3dmapInquire(
MIL_ID M3dmapId, //in
MIL_INT LabelOrIndex, //in
MIL_INT64 InquireType, //in
void *UserVarPtr //out
)
Description

This function inquires about a specified setting of a 3D reconstruction context, 3D reconstruction result buffer, or geometry object.

If the inquired setting is set to M_DEFAULT (for example, in M3dmapControl()), M3dmapInquire() will return M_DEFAULT. To inquire the actual default value, add M_DEFAULT to the InquireType parameter.

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
M3dmapId

Specifies the identifier of the 3D reconstruction context, result buffer, or geometry object about which to inquire information.

LabelOrIndex

Specifies the point cloud(s) in the specified 3D reconstruction result buffer, or the entire result buffer itself. 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 contexts and result buffers, set this parameter to M_DEFAULT.

function map For specifying the point cloud(s) or point cloud container
Click to summarizeValue Description
Click to summarize

Specifies the index of a point cloud in the specified 3D reconstruction result buffer.

(summarize)
Parameters

Specifies the index of an existing point cloud.
Click to summarize

Specifies the label for a point cloud in the specified 3D reconstruction result buffer.

(summarize)
Parameters

Specifies the label of an existing point cloud.
Click to summarize M_ALL

Specifies to inquire all point clouds in the specified 3D reconstruction result buffer.
Click to summarize M_GENERAL

Specifies to inquire the specified 3D reconstruction result buffer (point cloud container) allocated using M_POINT_CLOUD_CONTAINER.
InquireType

Specifies the setting to inquire.

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

UserVarPtr
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 requested information. Since the M3dmapInquire() function also returns the requested information, you can set this parameter to M_NULL.

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 InquireType parameter and possible values returned to the UserVarPtr parameter.

To inquire about the system on which the 3D reconstruction context, result buffer, or geometry object has been allocated, set the InquireType parameter to the value below.

function map For inquiring about the system
Click to summarizeInquireType Description
UserVarPtr
- Possible values returned
Click to summarize M_OWNER_SYSTEM +

Inquires the identifier of the system on which the 3D reconstruction context, result buffer, or geometry object has been allocated. SET SET

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE (more details...)
Click to summarize M_DEFAULT_HOST

Specifies the default Host system of the current MIL application.
Click to summarize MIL system identifier

Specifies a valid system identifier, previously allocated using MsysAlloc().

For a 3D reconstruction context of type M_LASER, the InquireType parameter can be set to one of the following:

function map For 3D reconstruction contexts used for laser line profiling
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_CALIBRATION_DEPTHS +

Inquires the calibration depths used to calibrate the 3D reconstruction context. These are the values given specified using M3dmapControl() with M_CORRECTED_DEPTH before each call to M3dmapAddScan().

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: array of type MIL_DOUBLE (more details...)
Click to summarize Value

Specifies the calibration depths used to calibrate the 3D reconstruction context.
Click to summarize M_CALIBRATION_STATUS +

Inquires the status of the 3D reconstruction calibration.

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_CALIBRATED

Specifies that a successful call to M3dmapCalibrate() has been made and the context can now be used to produce calibrated data.
Click to summarize M_GLOBAL_OPTIMIZATION_ERROR

Specifies that the global optimization phase of M3dmapCalibrateMultiple() failed because of a mathematical exception.
Click to summarize M_INTERNAL_ERROR

Specifies that an unexpected error occurred.
Click to summarize M_LASER_LINE_NOT_DETECTED

Specifies that the laser line could not be extracted from the image passed as input to M3dmapAddScan().
Click to summarize M_MATHEMATICAL_EXCEPTION

Specifies that M3dmapCalibrate() could not calibrate properly. Verify that all function parameters, control type settings, and images are consistent.

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Click to summarize M_NOT_ENOUGH_MEMORY

Specifies that there was not enough memory for M3dmapCalibrate() to complete its task.
Click to summarize M_NOT_INITIALIZED

Specifies that the context is not calibrated. M3dmapCalibrate() has not been called.

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Click to summarize M_CAMERA_IMAGE_SIZE_X +

Inquires the X-size of the image(s) with which this 3D reconstruction context was calibrated. This inquire type is valid only after a successful call to M3dmapCalibrate() on this 3D reconstruction context.

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value > 0

Specifies the width of the image with which this 3D reconstruction context was calibrated. The width is rounded to the nearest integer.

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Click to summarize M_CAMERA_IMAGE_SIZE_Y +

Inquires the Y-size of the image(s) with which this 3D reconstruction context was calibrated. This inquire type is valid only after a successful call to M3dmapCalibrate() on this 3D reconstruction context.

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value > 0

Specifies the height of the image with which this 3D reconstruction context was calibrated. The height is rounded to the nearest integer.

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Click to summarize M_CORRECTED_DEPTH +

Inquires depth information about the next laser line image added.

For a 3D reconstruction context allocated using M3dmapAlloc() with M_DEPTH_CORRECTION, this inquire type inquires the gray level corresponding to the depth represented by the next laser line image added (using M3dmapAddScan()) when calibrating your 3D reconstruction setup.

For a 3D reconstruction context allocated using M3dmapAlloc() with M_CALIBRATED_CAMERA_LINEAR_MOTION, this inquire type inquires the depth in world units represented by the next laser line image added (using M3dmapAddScan()) when calibrating your 3D reconstruction setup. SET

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 0.
Click to summarize 0 <= GrayValue <= 254

Specifies the gray level that will be used to represent the height of the next reference plane, when M3dmapAlloc() is set to M_DEPTH_CORRECTION. INFO
Click to summarize 0 <= GrayValue <= 65534

Specifies the gray level that will be used to represent the height of the next reference plane, when M3dmapAlloc() is set to M_DEPTH_CORRECTION. INFO
Click to summarize ZCoordinateValue

Specifies the Z-coordinate (in world units) of the next reference plane. INFO
Click to summarize M_EXTRACTION_FIXED_POINT +

Inquires the number of binary digits used for the fractional part of the gray level in the uncorrected depth map, when using M3dmapAddScan() with M_LINE_ALREADY_EXTRACTED. SET

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 0.
Click to summarize 0 <= Value <= 7

Specifies the number of binary digits used for the fractional part of gray level values.
Click to summarize M_EXTRACTION_RANGE_Z +

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

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_GREATER

Specifies that the Z-axis range is defined by a lower limit corresponding to M_EXTRACTION_RANGE_Z_LIMIT1. INFO
Click to summarize M_IN_RANGE

Specifies that the Z-axis range is defined by the inside range of a lower limit and a upper limit corresponding to M_EXTRACTION_RANGE_Z_LIMIT1 and M_EXTRACTION_RANGE_Z_LIMIT2. INFO
Click to summarize M_INFINITE

Specifies that the range covers the entire Z-axis, so all points are kept.
Click to summarize M_LESS

Specifies that the Z-axis range is defined by a upper limit corresponding to M_EXTRACTION_RANGE_Z_LIMIT1. INFO
Click to summarize M_OUT_RANGE

Specifies that the Z-axis range is defined by the outside range of a lower limit and a upper limit corresponding to M_EXTRACTION_RANGE_Z_LIMIT1 and M_EXTRACTION_RANGE_Z_LIMIT2. INFO
Click to summarize M_EXTRACTION_RANGE_Z_LIMIT1 +

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

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the first limit value, which can be either the lower limit or upper limit. INFO
Click to summarize M_EXTRACTION_RANGE_Z_LIMIT2 +

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

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the second limit value, which can be either the lower limit or upper limit. INFO
Click to summarize M_LASER_CONTEXT_TYPE +

Inquires the 3D reconstruction mode, which determines whether the context can associate with a camera calibration and create a fully corrected depth map. SET

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_CALIBRATED_CAMERA_LINEAR_MOTION

Specifies that the 3D reconstruction context will include camera calibration information and depth correction information. INFO
Click to summarize M_DEPTH_CORRECTION

Specifies that the 3D reconstruction context will include depth correction information, but will not include camera calibration information. INFO
Click to summarize M_LOCATE_PEAK_1D_CONTEXT_ID +

Inquires the identifier of the internal locate peak 1D context within the 3D reconstruction context.

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_ID
Click to summarize M_NUMBER_OF_CALIBRATION_DEPTHS +

Inquires the number of calibration depths used to calibrate the 3D reconstruction context. This inquire type is valid only after a successful call to M3dmapCalibrate().

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value > 0

Specifies the number of calibration depths used to calibrate the 3D reconstruction context. Only integer values are accepted.

(summarize)

For 3D reconstruction contexts set to M_CALIBRATED_CAMERA_LINEAR_MOTION, the InquireType parameter can be set to one of the following:

function map For 3D reconstruction contexts set to M_CALIBRATED_CAMERA_LINEAR_MOTION
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_ASSUMED_PERPENDICULAR_TO_MOTION +

Inquires whether the laser plane was assumed to be perpendicular to the object's motion because a single reference plane was provided.

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_FALSE

Specifies that the laser plane was not assumed perpendicular to the object's motion.
Click to summarize M_TRUE

Specifies that the laser plane was assumed perpendicular to the object's motion.
Click to summarize M_EXTRACTION_CHILD_OFFSET_X +

Inquires 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. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 0.
Click to summarize Value > 0

Specifies the X-offset, in pixels.
Click to summarize M_EXTRACTION_CHILD_OFFSET_Y +

Inquires 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. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 0.
Click to summarize Value > 0

Specifies the Y-offset, in pixels.
Click to summarize M_LASER_PLANE_A +

Inquires the coefficient a of the laser plane equation, ax + by + cz + d = 0.

This inquire type is only supported after a successful call to M3dmapCalibrate() or M3dmapCalibrateMultiple().

Note that the variables x, y, z, and d are expressed in world units in the absolute coordinate system, while the coefficients a, b, and c are dimensionless.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coefficient a of the laser plane equation.
Click to summarize M_LASER_PLANE_B +

Inquires the coefficient b of the laser plane equation, ax + by + cz + d = 0.

This inquire type is only supported after a successful call to M3dmapCalibrate() or M3dmapCalibrateMultiple().

Note that the variables x, y, z, and d are expressed in world units in the absolute coordinate system, while the coefficients a, b, and c are dimensionless.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coefficient b of the laser plane equation.
Click to summarize M_LASER_PLANE_C +

Inquires the coefficient c of the laser plane equation, ax + by + cz + d = 0.

This inquire type is only supported after a successful call to M3dmapCalibrate() or M3dmapCalibrateMultiple().

Note that the variables x, y, z, and d are expressed in world units in the absolute coordinate system, while the coefficients a, b, and c are dimensionless.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coefficient c of the laser plane equation.
Click to summarize M_LASER_PLANE_D +

Inquires the coefficient d of the laser plane equation, ax + by + cz + d = 0.

This inquire type is only supported after a successful call to M3dmapCalibrate() or M3dmapCalibrateMultiple().

Note that the variables x, y, z, and d are expressed in world units in the absolute coordinate system, while the coefficients a, b, and c are dimensionless.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coefficient d of the laser plane equation.
Click to summarize M_SCAN_SPEED +

Inquires the speed of the object being scanned. Note that this value is negative if the object is moving away from the camera. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 1.0.
Click to summarize Value

Specifies the speed, in world units per frame. INFO

For 3D reconstruction contexts set to M_DEPTH_CORRECTION, the InquireType parameter can be set to one of the following:

function map For 3D reconstruction contexts set to M_DEPTH_CORRECTION
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_NUMBER_OF_COLUMNS +

Inquires the number of columns in the uncorrected depth map used for calibration. This corresponds to either the X-size or Y-size of the laser line images passed to the 3D reconstruction result buffer, depending on the M_SCAN_LANE_DIRECTION setting.

This inquire type is only supported after a successful call to M3dmapCalibrate() or M3dmapCalibrateMultiple().

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_INT
Click to summarize Value

Specifies the number of columns.
Click to summarize M_NUMBER_OF_COLUMNS_WITH_INVERSIONS +

Inquires the number of columns in the uncorrected depth map used for calibration, for which at least one inversion occurred.

To determine the fraction of columns or rows of the camera image that were not ideally calibrated because of inversions, divide the value returned using M_NUMBER_OF_COLUMNS_WITH_INVERSIONS by M_NUMBER_OF_COLUMNS.

This inquire type is only supported after a successful call to M3dmapCalibrate() or M3dmapCalibrateMultiple().

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_INT
Click to summarize Value

Specifies the number of columns.
Click to summarize M_NUMBER_OF_COLUMNS_WITH_MISSING_DATA +

Inquires the number of columns in the uncorrected depth map used for calibration, for which at least one calibration laser line was not detected.

To determine the fraction of columns or rows of the camera image that were not ideally calibrated because of missing data, divide the value returned using M_NUMBER_OF_COLUMNS_WITH_MISSING_DATA by M_NUMBER_OF_COLUMNS.

This inquire type is only supported after a successful call to M3dmapCalibrate() or M3dmapCalibrateMultiple().

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_INT
Click to summarize Value

Specifies the number of columns.
Click to summarize M_NUMBER_OF_INVERSIONS_PER_COLUMN +

Inquires the number of inversions, per column, in the uncorrected depth map used for calibration.

This inquire type is only supported after a successful call to M3dmapCalibrate() or M3dmapCalibrateMultiple().

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: array of type MIL_INT (more details...)
Click to summarize Value

Specifies the number of inversions per column.
Click to summarize M_NUMBER_OF_MISSING_DATA_PER_COLUMN +

Inquires the number of missing data points per column in the uncorrected depth map used for calibration.

This inquire type is only supported after a successful call to M3dmapCalibrate() or M3dmapCalibrateMultiple().

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: array of type MIL_INT (more details...)
Click to summarize Value

Specifies the number of missing data points per column.

For a pairwise 3D alignment context allocated using M3dmapAlloc() with M_PAIRWISE_ALIGNMENT_CONTEXT, the InquireType parameter can be set to one of the following:

function map For a pairwise 3D alignment context
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_ALIGN_RMS_ERROR_RELATIVE_THRESHOLD +

Inquires the stop condition for the pairwise 3D alignment iterative process that tests the percentile change of the RMS error of successive iterations. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 0.1.
Click to summarize Value >= 0.0

Specifies the RMS relative threshold. INFO
Click to summarize M_ALIGN_RMS_ERROR_THRESHOLD +

Inquires the stop condition for the pairwise 3D alignment iterative process that tests the RMS error of successive iterations. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 0.0.
Click to summarize Value >= 0.0

Specifies the RMS threshold.
Click to summarize M_DECIMATION_STEP_MODEL +

Inquires the decimation level applied to the model point cloud during the pairwise 3D alignment process. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 1.
Click to summarize Value > 0

Specifies the decimation level.
Click to summarize M_DECIMATION_STEP_SCENE +

Inquires the decimation level applied to the scene point cloud during the pairwise 3D alignment process. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 1.
Click to summarize Value > 0

Specifies the decimation level.
Click to summarize M_ERROR_MINIMIZATION_METRIC +

Inquires the method the alignment algorithm uses to minimize the RMS error. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_POINT_TO_PLANE +

Specifies that the technique minimizes the distance between the points in one point cloud and the surface of the tangent planes of the other point cloud. INFO


This value is combined with a value from the following table:
(summarize)
Click to summarize M_POINT_TO_POINT

Specifies that the technique minimizes the Euclidean distance between the points in the model and scene point clouds, with no special consideration to the normals to the surface of the point clouds. INFO
Click to summarize M_EXTRACTION_BOX_MODEL +

Inquires whether the extraction box of the model point cloud is used to limit the points used during pairwise 3D alignment. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_IGNORE

Specifies to ignore the extraction box and use all points in the model point cloud.
Click to summarize M_USE

Specifies to use the model point cloud's extraction box to limit the points used during pairwise 3D alignment.
Click to summarize M_EXTRACTION_BOX_SCENE +

Inquires whether the extraction box of the scene point cloud is used to limit the points used during pairwise 3D alignment. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_IGNORE

Specifies to ignore the extraction box and use all points in the scene point cloud.
Click to summarize M_USE

Specifies to use the scene point cloud's extraction box to limit the points used during pairwise 3D alignment.
Click to summarize M_MAX_ITERATIONS +

Inquires the stop condition for the pairwise 3D alignment iterative process that tests the total number of iterations performed. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 20.
Click to summarize Value > 0

Specifies the maximum number of iterations.
Click to summarize M_MODEL_OVERLAP +

Inquires the percentage of the points in the model point cloud that are paired with points in the scene cloud during each iteration of the alignment process. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 80.0.
Click to summarize 0.0 < Value <= 100.0

Specifies the percentage of points in the model point cloud that are paired with points in the scene point cloud during each iteration.
Click to summarize M_PREALIGNMENT_MODE +

Inquires how to perform the prealignment step. SET

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_CENTROID

Specifies to automatically align the centroids (center of mass) of the two point clouds. INFO
Click to summarize M_USER_DEFINED

Specifies that the prealignment iteration performs the transformation defined by the prealignment transformation matrix passed to M3dmapAlign().
Combination values for M_POINT_TO_PLANE (when InquireType=M_ERROR_MINIMIZATION_METRIC and UserVarPtr=M_POINT_TO_PLANE).

One of the following values is combined with the above-mentioned value to specify whether to use the normals of the model or scene point cloud.

function map To specify the model or scene normals
Click to summarizeCombination value Description
Click to summarize M_USE_MODEL_NORMALS

Specifies to measure the distance between the tangent planes (normals) of the surface of the model point cloud and the points of the scene point cloud.

Note that unlike the tangent planes of the scene point cloud, the planes of the model point cloud must be calculated and so specifying this combination will require additional processing time. The tangent planes of the scene point cloud are already calculated during the alignment process and so require no additional processing time.

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Click to summarize M_USE_SCENE_NORMALS

Specifies to measure the distance between the tangent planes (normals) of the surface of the scene point cloud and the points of the model point cloud.

This is the default value.

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For a geometry object that has been successfully defined using M3dmapSetGeometry() with M_FIT or for a calibrated context of type M_CALIBRATED_CAMERA_LINEAR_MOTION, the InquireType parameter can be set to one of the following:

function map For a successfully fitted geometry object or for a calibrated context of type M_CALIBRATED_CAMERA_LINEAR_MOTION
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_FIT_RMS_ERROR +

Inquires the root mean squared error.

For a calibrated context of type M_CALIBRATED_CAMERA_LINEAR_MOTION, this inquire type returns the root mean squared error of all inlier 3D points used to fit the laser plane to the calibration laser lines upon calling M3dmapCalibrate(). For more information, consult the Inspecting laser line calibration subsection of the Calibrating your 3D reconstruction setup to create a point cloud section of Chapter 20: 3D reconstruction using laser line profiling. In this case, this inquire type is only supported after a successful call to M3dmapCalibrate().

For a geometry object, this inquire type returns the root mean squared error of the fit operation used to define the geometry object.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value >= 0.0

Specifies the root mean square error.

For an allocated geometry object, the InquireType parameter can be set to one of the following:

function map For an allocated geometry object
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_STATUS +

Inquires the status of a geometry object previously allocated with M3dmapAlloc().

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_ALL_POINTS_COLINEAR

Specifies that the M_FIT operation failed because all valid points in the provided depth map were collinear (rather than spread over a plane). The geometry object remains undefined.

(summarize)
Click to summarize M_NOT_ENOUGH_VALID_DATA

Specifies that the M_FIT operation failed because there were not enough valid points in the provided depth map to properly fit the geometry object. The geometry object remains undefined.

(summarize)
Click to summarize M_NOT_INITIALIZED

Specifies that the geometry object has been allocated and it is yet to be defined.
Click to summarize M_SUCCESS

Specifies that the geometry object has been successfully defined using M3dmapSetGeometry() with M_FIT or M_PARAMETRIC.

For a successfully defined geometry object, the InquireType parameter can be set to one of the following:

function map For a successfully defined geometry object
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_FIT_PARAM_AX +

Inquires the coefficient A x of the arbitrary plane equation z(x,y) = z0 + Ax*x + Ay*y , if the M_PLANE geometry type was chosen when defining the geometry object.

Note that z(x, y), x, y, and z0 are expressed in world units in the relative coordinate system, while A x and A y are dimensionless coefficients. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Automatically calculated value

Specifies the coefficient A x of the plane equation computed by the 3D Reconstruction module, when defining the plane using the M_FIT operation.
Click to summarize Value

Specifies the value of the coefficient A x set using M3dmapSetGeometry() with M_PARAMETRIC, M_PLANE and the Param2 parameter.
Click to summarize M_FIT_PARAM_AY +

Inquires the coefficient A y of the arbitrary plane equation z(x,y) = z0 + Ax*x + Ay*y , if the M_PLANE geometry type was chosen when defining the geometry object.

Note that z(x, y), x, y, and z0 are expressed in world units in the relative coordinate system, while A x and A y are dimensionless coefficients. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Automatically calculated value

Specifies the coefficient A y of the plane equation computed by the 3D Reconstruction module, when defining the plane using the M_FIT operation.
Click to summarize Value

Specifies the value of the coefficient A y set using M3dmapSetGeometry() with M_PARAMETRIC, M_PLANE and the Param3 parameter.
Click to summarize M_FIT_PARAM_Z0 +

Inquires the coefficient z 0 (Z-intercept) of the horizontal plane equation z(x,y) = z0 , or of the arbitrary plane equation z(x,y) = z0 + Ax*x + Ay*y , depending on the geometry type chosen when defining the geometry object.

Note that z(x, y), x, y, and z0 are expressed in world units in the relative coordinate system, while A x and A y are dimensionless coefficients. SET SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Automatically calculated value

Specifies the coefficient z 0 of the plane equation computed by the 3D Reconstruction module, when defining the plane using the M_FIT operation.
Click to summarize Value

Specifies the value of the coefficient z 0 set using M3dmapSetGeometry() with M_PARAMETRIC, M_HORIZONTAL_PLANE or M_PLANE and the Param1 parameter.
Click to summarize M_GEOMETRY_DEFINITION_TYPE +

Inquires the operation type chosen when defining the geometry object with M3dmapSetGeometry(). SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_FIT

Specifies that the geometry is defined from the specified depth map. INFO
Click to summarize M_PARAMETRIC

Specifies that the geometry is explicitly defined. INFO
Click to summarize M_GEOMETRY_TYPE +

Inquires the geometry type chosen when defining the geometry object with M3dmapSetGeometry(). SET SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_HORIZONTAL_PLANE

Specifies a horizontal plane described by the equation z(x,y) = z0 . INFO
Click to summarize M_PLANE

Specifies an arbitrary plane described by the equation z(x,y) = z0 + Ax*x + Ay*y . INFO

For a point cloud container (3D reconstruction result buffer of type M_POINT_CLOUD_CONTAINER and LabelOrIndex set to M_GENERAL), the InquireType parameter can be set to one of the following:

function map For a 3D reconstruction result buffer set to M_POINT_CLOUD_CONTAINER
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_AUTO_SCALE_ASPECT_RATIO +

Inquires how the X and Y pixel sizes are adjusted in M3dmapExtract() when M_EXTRACTION_SCALE_MODE is set to M_AUTO_SCALE. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 1.0.
Click to summarize M_UNCONSTRAINED

Specifies that pixel sizes are chosen independently so that the extraction box fits exactly inside the depth map image buffer.
Click to summarize Value > 0.0

Specifies to choose pixel sizes such that M_PIXEL_SIZE_X / M_PIXEL_SIZE_Y equals the given aspect ratio.
Click to summarize M_AUTO_SCALE_XY +

Inquires how M3dmapExtract() adjusts the X and Y pixel sizes when M_EXTRACTION_SCALE_MODE is set to M_AUTO_SCALE and M_AUTO_SCALE_ASPECT_RATIO is not set to M_UNCONSTRAINED. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_FIT.
Click to summarize M_CLIP

Specifies pixel sizes such that all depth map pixels are inside the extraction box. INFO
Click to summarize M_FIT

Specifies pixel sizes such that the extraction box fits completely inside the depth map. INFO
Click to summarize M_AUTO_SCALE_Z +

Inquires how M3dmapExtract() determines the sign (direction) of the Z scale when M_EXTRACTION_SCALE_MODE is set to M_AUTO_SCALE. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_NEGATIVE.
Click to summarize M_NEGATIVE

Specifies a negative value for M_GRAY_LEVEL_SIZE_Z. INFO
Click to summarize M_POSITIVE

Specifies a positive value for M_GRAY_LEVEL_SIZE_Z. INFO
Click to summarize M_EXTRACTION_CUMULATIVE +

Inquires whether cumulative extraction mode is enabled. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_DISABLE.
Click to summarize M_DISABLE

Specifies to clear the image buffer before data is extracted for each call to M3dmapExtract().
Click to summarize M_ENABLE

Specifies to accumulate data with each successive call to M3dmapExtract() without clearing the image buffer. INFO
Click to summarize M_EXTRACTION_OVERLAP +

Inquires how to determine the gray level of a depth map pixel that corresponds to more than one 3D point. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_OVERWRITE.
Click to summarize M_MAX

Specifies to use the largest gray level of all the 3D points projected on a single depth map pixel.
Click to summarize M_MIN

Specifies to use the smallest gray level of all the 3D points projected on a single depth map pixel.
Click to summarize M_OVERWRITE

Specifies to use the last gray level of all the 3D points projected on a single depth map pixel. INFO
Click to summarize M_EXTRACTION_SATURATION +

Inquires the method for determining the gray value of a depth max pixel that corresponds to a 3D point that exists above the bounds of the depth map (typically the extraction box).

A depth map only projects points that exist inside the extraction box. A depth map looks down on an object, so points that exist on the sides of the extraction box make no appearance in the depth map. However, those points above the extraction box (higher on the z-axis) can cause problems because they occlude the points within the box. There are two options for how to display the points inside the extraction box that are hidden by points above them: by saturating the hidden points, or by labeling those points invalid.

By saturating the occluded points, the gray value will be the maximum or minimum value allowed for a depth map pixel. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_DISABLE.
Click to summarize M_DISABLE

Specifies to disable saturation. INFO
Click to summarize M_ENABLE

Specifies to enable saturation. INFO
Click to summarize M_EXTRACTION_SCALE_MODE +

Inquires how the scales of the X-, Y-, and Z-axes are selected before generating the depth map image. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_AUTO_SCALE.
Click to summarize M_AUTO_SCALE

Specifies to automatically determine the scales during M3dmapExtract() so that the current extraction box fits the destination image buffer. INFO
Click to summarize M_USE_DESTINATION_CALIBRATION

Specifies to use the scales stored in the depth map, previously set with an earlier call to M3dmapExtract(), or using McalUniform() and McalControl(). INFO
Click to summarize M_USER_DEFINED

Specifies to use the values of M_PIXEL_SIZE_X, M_PIXEL_SIZE_Y, and M_GRAY_LEVEL_SIZE_Z.
Click to summarize M_GRAY_LEVEL_SIZE_Z +

Inquires the depth, in world units, of one gray level in the Z-direction. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 1.0.
Click to summarize Value < 0.0

Specifies the length of one gray level, in world units. INFO
Click to summarize Value > 0.0

Specifies the length of one gray level, in world units. INFO
Click to summarize M_NUMBER_OF_POINT_CLOUDS +

Inquires the number of point clouds in the specified 3D reconstruction result buffer.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value >= 0

Specifies the number of point clouds.
Click to summarize M_PIXEL_SIZE_X +

Inquires the length in world units, in the X-direction, of one pixel. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 1.0.
Click to summarize Value > 0.0

Specifies the length of one pixel, in world units.
Click to summarize M_PIXEL_SIZE_Y +

Inquires the length in world units, in the Y-direction, of one pixel. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 1.0.
Click to summarize Value > 0.0

Specifies the length of one pixel, in world units.
Click to summarize M_RESULTS_DISPLACEMENT_MODE +

Inquires the displacement mode, which determines how the 3D coordinates of a scanned object are returned with respect to the ongoing movement (displacement) of the conveyor. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_FIXED.
Click to summarize M_CURRENT

Specifies that the results include the ongoing Y-axis displacement. INFO
Click to summarize M_FIXED

Specifies that the results do not include the ongoing Y-axis displacement. INFO
Click to summarize M_RESULTS_DISPLACEMENT_Y +

Inquires the specified Y-axis displacement added to resulting 3D coordinates when M_RESULTS_DISPLACEMENT_MODE is set to M_FIXED. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 0.0.
Click to summarize Value

Specifies the Y-axis displacement. INFO

For a point cloud container (3D reconstruction result buffer of type M_POINT_CLOUD_CONTAINER and LabelOrIndex set to M_GENERAL) with an extraction box defined using M3dmapSetBox(), the InquireType parameter can be set to one of the following:

function map For a 3D reconstruction result buffer set to M_POINT_CLOUD_CONTAINER with a defined extraction box
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_BOUNDING_BOX_ALGORITHM +

Inquires the algorithm used when calling M3dmapSetBox() with M_BOUNDING_BOX. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_ALL_POINTS.
Click to summarize M_ALL_POINTS

Specifies to compute the axis-aligned bounding box, which contains all the points.
Click to summarize M_ROBUST

Specifies to compute an axis-aligned box that contains most of the points, but rejects outliers.
Click to summarize M_BOUNDING_BOX_OUTLIER_RATIO_X +

Inquires the maximum ratio of the container points whose X coordinates can be considered outliers.

Used when calling M3dmapSetBox() with M_BOUNDING_BOX and M_BOUNDING_BOX_ALGORITHM is set to M_ROBUST. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 0.002.
Click to summarize 0.0 <= Value < 1.0

Specifies the ratio.
Click to summarize M_BOUNDING_BOX_OUTLIER_RATIO_Y +

Inquires the maximum ratio of the container points whose Y coordinates can be considered outliers.

Used when calling M3dmapSetBox() with M_BOUNDING_BOX and M_BOUNDING_BOX_ALGORITHM is set to M_ROBUST. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 0.002.
Click to summarize 0.0 <= Value < 1.0

Specifies the ratio.
Click to summarize M_BOUNDING_BOX_OUTLIER_RATIO_Z +

Inquires the maximum ratio of the container points whose Z coordinates can be considered outliers.

Used when calling M3dmapSetBox() with M_BOUNDING_BOX and M_BOUNDING_BOX_ALGORITHM is set to M_ROBUST. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 0.01.
Click to summarize 0.0 <= Value < 1.0

Specifies the ratio.
Click to summarize M_EXTRACTION_BOX_CENTER_X +

Inquires the X coordinate of the extraction box's center point in the relative coordinate system of the specified result buffer.

The inquired coordinate represents the extraction box's actual coordinate, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire a coordinate of the extraction box's center point.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coordinate. The specified value can include 0.0 and negative numbers.

(summarize)
Click to summarize M_EXTRACTION_BOX_CENTER_Y +

Inquires the Y coordinate of the extraction box's center point in the relative coordinate system of the specified result buffer.

The inquired coordinate represents the extraction box's actual coordinate, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire a coordinate of the extraction box's center point.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coordinate. The specified value can include 0.0 and negative numbers.

(summarize)
Click to summarize M_EXTRACTION_BOX_CENTER_Z +

Inquires the Z coordinate of the extraction box's center point in the relative coordinate system of the specified result buffer.

The inquired coordinate represents the extraction box's actual coordinate, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire a coordinate of the extraction box's center point.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coordinate. The specified value can include 0.0 and negative numbers.

(summarize)
Click to summarize M_EXTRACTION_BOX_DEFINED +

Inquires whether the extraction box is defined, using M3dmapSetBox().

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_FALSE

Specifies that there is no extraction box defined.

This is the default value.

(summarize)
Click to summarize M_TRUE

Specifies that there is an extraction box defined.
Click to summarize M_EXTRACTION_BOX_MAX_X +

Inquires the largest X coordinate of all the extraction box's points, in the relative coordinate system of the specified result buffer.

The inquired coordinate represents the extraction box's actual coordinate, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire a coordinate of the extraction box's center point.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coordinate. The specified value can include 0.0 and negative numbers.

(summarize)
Click to summarize M_EXTRACTION_BOX_MAX_Y +

Inquires the largest Y coordinate of all the extraction box's points, in the relative coordinate system of the specified result buffer.

The inquired coordinate represents the extraction box's actual coordinate, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire a coordinate of the extraction box's center point.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coordinate. The specified value can include 0.0 and negative numbers.

(summarize)
Click to summarize M_EXTRACTION_BOX_MAX_Z +

Inquires the largest Z coordinate of all the extraction box's points, in the relative coordinate system of the specified result buffer.

The inquired coordinate represents the extraction box's actual coordinate, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire a coordinate of the extraction box's center point.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coordinate. The specified value can include 0.0 and negative numbers.

(summarize)
Click to summarize M_EXTRACTION_BOX_MIN_X +

Inquires the smallest X coordinate of all the extraction box's points, in the relative coordinate system of the specified result buffer.

The inquired coordinate represents the extraction box's actual coordinate, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire a coordinate of the extraction box's center point.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coordinate. The specified value can include 0.0 and negative numbers.

(summarize)
Click to summarize M_EXTRACTION_BOX_MIN_Y +

Inquires the smallest Y coordinate of all the extraction box's points, in the relative coordinate system of the specified result buffer.

The inquired coordinate represents the extraction box's actual coordinate, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire a coordinate of the extraction box's center point.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coordinate. The specified value can include 0.0 and negative numbers.

(summarize)
Click to summarize M_EXTRACTION_BOX_MIN_Z +

Inquires the smallest Z coordinate of all the extraction box's points, in the relative coordinate system of the specified result buffer.

The inquired coordinate represents the extraction box's actual coordinate, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire a coordinate of the extraction box's center point.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value

Specifies the coordinate. The specified value can include 0.0 and negative numbers.

(summarize)
Click to summarize M_EXTRACTION_BOX_SIZE_X +

Inquires the size of the extraction box along the X-axis of the relative coordinate system of the specified result buffer.

The inquired size represents the extraction box's actual size, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire the size of the extraction box's side.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value >= 0

Specifies the size.
Click to summarize M_EXTRACTION_BOX_SIZE_Y +

Inquires the size of the extraction box along the Y-axis of the relative coordinate system of the specified result buffer.

The inquired size represents the extraction box's actual size, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire the size of the extraction box's side.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value >= 0

Specifies the size.
Click to summarize M_EXTRACTION_BOX_SIZE_Z +

Inquires the size of the extraction box along the Z-axis of the relative coordinate system of the specified result buffer.

The inquired size represents the extraction box's actual size, regardless of the value used to set the extraction box. For example, if the extraction box was set using two corner points (M3dmapSetBox() set to M_BOTH_CORNERS), you can still inquire the size of the extraction box's side.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize Value >= 0

Specifies the size.

For a point cloud (3D reconstruction result buffer of type M_POINT_CLOUD_CONTAINER and LabelOrIndex set to M_POINT_CLOUD_INDEX(), M_POINT_CLOUD_LABEL(), or M_ALL), the InquireType parameter can be set to one of the following:

function map For a point cloud
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_CAMERA_LABEL_VALUE +

Inquires the camera label of the 3D reconstruction context associated with the specified point cloud.

Note this inquire type is only available for point clouds of type M_LASER_SCAN. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE | array of type MIL_DOUBLE (more details...)
Click to summarize 1 <= Value <= 1023

Specifies the camera label value. The default value is 1.

(summarize)
Click to summarize M_LASER_LABEL_VALUE +

Inquires the laser label of the 3D reconstruction context associated with the specified point cloud.

Note this inquire type is only available for point clouds of type M_LASER_SCAN. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE | array of type MIL_DOUBLE (more details...)
Click to summarize 1 <= Value <= 2047

Specifies the laser label value. The default value is 1.

(summarize)
Click to summarize M_POINT_CLOUD_INDEX_VALUE +

Inquires the index of the point cloud with the specified label.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE | array of type MIL_DOUBLE (more details...)
Click to summarize M_INVALID

Specifies that there is no point cloud in the 3D reconstruction result buffer with the specified label.
Click to summarize 0 <= Point cloud array index <= 134217726

Specifies the index of the point cloud.
Click to summarize M_POINT_CLOUD_LABEL_VALUE +

Inquires the label of the point cloud with the specified index. SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE | array of type MIL_DOUBLE (more details...)
Click to summarize M_INVALID

Specifies that there is no point cloud in the 3D reconstruction result buffer with the specified index.
Click to summarize 1 <= Point cloud label <= 134217727

Specifies the label of the point cloud.
Click to summarize M_POINT_CLOUD_ORGANIZED +

Inquires whether the point cloud was created with a recognized organizational structure.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE | array of type MIL_DOUBLE (more details...)
Click to summarize M_FALSE

Specifies that the point cloud was not created with a recognized organizational structure.
Click to summarize M_TRUE

Specifies that the point cloud was created with a recognized organizational structure.
Click to summarize M_POINT_CLOUD_TYPE +

Inquires the type of the specified point cloud.

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE | array of type MIL_DOUBLE (more details...)
Click to summarize M_LASER_SCAN

Specifies that the point cloud is a laser-scan type.

A point cloud added to a result buffer using M3dmapAddScan() is a laser-scan type.

(summarize)
Click to summarize M_UNORGANIZED

Specifies that the point cloud is an unorganized type.

A point cloud added to a result buffer using M3dmapPut() or M3dmapImport() is an unorganized type.

(summarize)

For a 3D reconstruction result buffer of type M_LASER_CALIBRATION_DATA, M_DEPTH_CORRECTED_DATA, or a point cloud container (result buffer of type M_POINT_CLOUD_CONTAINER with LabelOrIndex set to M_GENERAL), the InquireType parameter can be set to one of the following:

function map For a 3D reconstruction result buffer used to collect laser data
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_FILL_MODE +

Inquires the mode used to fill gaps in depth maps obtained using M3dmapExtract(). SET

(summarize)
Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_DISABLE.
Click to summarize M_DISABLE

Specifies not to fill gaps (missing data points).
Click to summarize M_X_THEN_Y

Specifies that each depth map row is analyzed so that missing data points in each row are filled, and then each column is analyzed to fill the remaining missing data points. INFO
Click to summarize M_Y_THEN_X

Specifies that each depth map column is analyzed so that missing data points in each column are filled, and then each row is analyzed to fill the remaining missing data points. INFO
Click to summarize M_FILL_SHARP_ELEVATION +

Inquires the mode used to fill sharp elevation gaps in depth maps obtained using M3dmapExtract(). SET

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_DISABLE.
Click to summarize M_DISABLE

Specifies not to fill sharp elevation gaps.
Click to summarize M_MAX

Specifies that the destination pixel will be set to the maximum value of the two pixels on either side of the gap.
Click to summarize M_MIN

Specifies that the destination pixel will be set to the minimum value of the two pixels on either side of the gap.
Click to summarize M_FILL_SHARP_ELEVATION_DEPTH +

Inquires the threshold, in world units, used to differentiate between gradual elevation gaps and sharp elevation gaps. SET

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_INFINITE

Specifies that the threshold is infinite. INFO
Click to summarize Value >= 0.0

Specifies the threshold, in world units specified using M_GRAY_LEVEL_SIZE_Z. INFO
Click to summarize M_FILL_THRESHOLD_X +

Inquires the maximum X-size of gaps that are filled when you call M3dmapExtract(). SET

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_INFINITE.
Click to summarize M_INFINITE

Specifies no maximum in the X-direction.
Click to summarize Value >= 0.0

Specifies the maximum X-size. INFO
Click to summarize M_FILL_THRESHOLD_Y +

Inquires the maximum Y-size of gaps that are filled when you call M3dmapExtract(). SET

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Same as M_INFINITE.
Click to summarize M_INFINITE

Specifies no maximum in the Y-direction.
Click to summarize Value >= 0.0

Specifies the maximum Y-size. INFO

For a 3D reconstruction result buffer of type M_LASER_CALIBRATION_DATA, M_DEPTH_CORRECTED_DATA, or M_POINT_CLOUD_CONTAINER, the InquireType parameter can be set to one of the following:

function map For inquiring the maximum number of frames
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_MAX_FRAMES +

Inquires the maximum number of scanned laser lines that the result buffer keeps internally.

Note that for point clouds containers, you can only specify point clouds of type M_LASER_SCAN.

When you specify a point cloud container (result buffer of type M_POINT_CLOUD_CONTAINER with LabelOrIndex set to M_GENERAL), this inquire type returns the maximum number of scanned laser lines that will be used for each subsequent point cloud of type M_LASER_SCAN created in this container. SET

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_DEFAULT

Specifies the default value; the default value is 1024.
Click to summarize Value > 0

Specifies the maximum number of scanned laser lines to keep.
Combination value for the values listed in all the parameter association tables.

You can add the following value to the above-mentioned values to get the default value of an inquire type, regardless of the current value of the inquire type.

function map For inquiring the default value of an inquire type
Click to summarizeInquireType Description
UserVarPtr
- Possible values returned
Click to summarize M_DEFAULT

Inquires the default value of the specified inquire type.

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Combination value for the values listed in all the parameter association tables.

You can add the following value to the above-mentioned values to determine whether an inquire type is supported.

function map For inquiring whether an inquire type is supported
Click to summarizeInquireType Description
UserVarPtr
- Possible values returned
Click to summarize M_SUPPORTED

Inquires whether the specified inquire type is supported.

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE
Click to summarize M_FALSE

Specifies that the inquire type is not supported.
Click to summarize M_TRUE

Specifies that the inquire type is supported.
Combination values for 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 information to the required data type.

function map For specifying the data type
Click to summarize
InquireType		 Description
UserVarPtr
- Possible values returned
Click to summarize M_TYPE_CHAR

Casts the requested information to a char.

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Data type info: Data type: address of a char | array of type char (more details...)
Click to summarize M_TYPE_MIL_DOUBLE

Casts the requested information to a MIL_DOUBLE.

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_DOUBLE | array of type MIL_DOUBLE (more details...)
Click to summarize M_TYPE_MIL_FLOAT

Casts the requested information to a MIL_FLOAT.

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Data type info: Data type: address of a MIL_FLOAT | array of type MIL_FLOAT (more details...)
Click to summarize M_TYPE_MIL_ID

Casts the requested information to a MIL_ID.

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Data type info: Data type: address of a MIL_ID | array of type MIL_ID (more details...)
Click to summarize M_TYPE_MIL_INT

Casts the requested information to a MIL_INT.

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Data type info: Data type: address of a MIL_INT | array of type MIL_INT (more details...)
Click to summarize M_TYPE_MIL_INT16

Casts the requested results to a MIL_INT16.

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Data type info: Data type: address of a MIL_INT16 | array of type MIL_INT16 (more details...)
Click to summarize M_TYPE_MIL_INT32

Casts the requested information to a MIL_INT32.

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Data type info: Data type: address of a MIL_INT32 | array of type MIL_INT32 (more details...)
Click to summarize M_TYPE_MIL_INT64

Casts the requested information to a MIL_INT64.

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Expand data type infoCollapse data type info UserVarPtr extra info
Data type info: Data type: address of a MIL_INT64 | array of type MIL_INT64 (more details...)
Return value
The returned value is the requested information, cast to a MIL_INT. If the requested information does not fit into a MIL_INT, this function will return M_NULL or truncate the information.
Compilation information
Header Include mil.h.
Library Use mil.lib; mil3dmap.lib.
DLL Requires mil.dll; mil3dmap.dll.
ALL GENERAL OWNER SYSTEM DEFAULT HOST CALIBRATION DEPTHS CALIBRATION STATUS CALIBRATED GLOBAL OPTIMIZATION ERROR INTERNAL ERROR LASER LINE NOT DETECTED MATHEMATICAL EXCEPTION NOT ENOUGH MEMORY NOT INITIALIZED CAMERA IMAGE SIZE X CAMERA IMAGE SIZE Y CORRECTED DEPTH DEFAULT EXTRACTION FIXED POINT DEFAULT EXTRACTION RANGE Z GREATER IN RANGE INFINITE LESS OUT RANGE EXTRACTION RANGE Z LIMIT1 EXTRACTION RANGE Z LIMIT2 LASER CONTEXT TYPE CALIBRATED CAMERA LINEAR MOTION DEPTH CORRECTION LOCATE PEAK 1D CONTEXT ID NUMBER OF CALIBRATION DEPTHS ASSUMED PERPENDICULAR TO MOTION FALSE TRUE EXTRACTION CHILD OFFSET X DEFAULT EXTRACTION CHILD OFFSET Y DEFAULT LASER PLANE A LASER PLANE B LASER PLANE C LASER PLANE D SCAN SPEED DEFAULT NUMBER OF COLUMNS NUMBER OF COLUMNS WITH INVERSIONS NUMBER OF COLUMNS WITH MISSING DATA NUMBER OF INVERSIONS PER COLUMN NUMBER OF MISSING DATA PER COLUMN ALIGN RMS ERROR RELATIVE THRESHOLD DEFAULT ALIGN RMS ERROR THRESHOLD DEFAULT DECIMATION STEP MODEL DEFAULT DECIMATION STEP SCENE DEFAULT ERROR MINIMIZATION METRIC POINT TO PLANE POINT TO POINT EXTRACTION BOX MODEL IGNORE USE EXTRACTION BOX SCENE IGNORE USE MAX ITERATIONS DEFAULT MODEL OVERLAP DEFAULT PREALIGNMENT MODE CENTROID USER DEFINED USE MODEL NORMALS USE SCENE NORMALS FIT RMS ERROR STATUS ALL POINTS COLINEAR NOT ENOUGH VALID DATA NOT INITIALIZED SUCCESS FIT PARAM AX FIT PARAM AY FIT PARAM Z0 GEOMETRY DEFINITION TYPE FIT PARAMETRIC GEOMETRY TYPE HORIZONTAL PLANE HORIZONTAL PLANE PLANE PLANE AUTO SCALE ASPECT RATIO DEFAULT UNCONSTRAINED AUTO SCALE XY DEFAULT CLIP FIT AUTO SCALE Z DEFAULT NEGATIVE POSITIVE EXTRACTION CUMULATIVE DEFAULT DISABLE ENABLE EXTRACTION OVERLAP DEFAULT MAX MIN OVERWRITE EXTRACTION SATURATION DEFAULT DISABLE ENABLE EXTRACTION SCALE MODE DEFAULT AUTO SCALE USE DESTINATION CALIBRATION USER DEFINED GRAY LEVEL SIZE Z DEFAULT NUMBER OF POINT CLOUDS PIXEL SIZE X DEFAULT PIXEL SIZE Y DEFAULT RESULTS DISPLACEMENT MODE DEFAULT CURRENT FIXED RESULTS DISPLACEMENT Y DEFAULT BOUNDING BOX ALGORITHM DEFAULT ALL POINTS ROBUST BOUNDING BOX OUTLIER RATIO X DEFAULT BOUNDING BOX OUTLIER RATIO Y DEFAULT BOUNDING BOX OUTLIER RATIO Z DEFAULT EXTRACTION BOX CENTER X EXTRACTION BOX CENTER Y EXTRACTION BOX CENTER Z EXTRACTION BOX DEFINED FALSE TRUE EXTRACTION BOX MAX X EXTRACTION BOX MAX Y EXTRACTION BOX MAX Z EXTRACTION BOX MIN X EXTRACTION BOX MIN Y EXTRACTION BOX MIN Z EXTRACTION BOX SIZE X EXTRACTION BOX SIZE Y EXTRACTION BOX SIZE Z CAMERA LABEL VALUE LASER LABEL VALUE POINT CLOUD INDEX VALUE INVALID POINT CLOUD LABEL VALUE INVALID POINT CLOUD ORGANIZED FALSE TRUE POINT CLOUD TYPE LASER SCAN UNORGANIZED FILL MODE DEFAULT DISABLE X THEN Y Y THEN X FILL SHARP ELEVATION DEFAULT DISABLE MAX MIN FILL SHARP ELEVATION DEPTH INFINITE FILL THRESHOLD X DEFAULT INFINITE FILL THRESHOLD Y DEFAULT INFINITE MAX FRAMES DEFAULT DEFAULT SUPPORTED FALSE TRUE TYPE CHAR TYPE MIL DOUBLE TYPE MIL FLOAT TYPE MIL ID TYPE MIL INT TYPE MIL INT16 TYPE MIL INT32 TYPE MIL INT64 DEFAULT CALIBRATED CAMERA LINEAR MOTION DEFAULT DEPTH CORRECTION DEFAULT SUCCESS DEFAULT SUCCESS FIT DEFAULT DEFAULT DEFAULT DEFAULT DEFAULT GENERAL ALL ALL