MIL_ID ContextOrResult3dregId, | //in |
MIL_INT64 Index, | //in |
MIL_INT64 InquireType, | //in |
void *UserVarPtr | //out |
This function inquires information about a pairwise 3D registration context or a pairwise 3D registration result buffer.
In addition, this function can inquire the settings for stop conditions for the registration operation executed by M3dregCalculate(). To inquire whether a stop condition was met, call M3dregGetResult() with M_STATUS.
Note that for a 3D pairwise registration result buffer, this function only retrieves information about the buffer's settings (set using M3dregAllocResult() or M3dregControl()). To retrieve results from the registration result buffer, use M3dregGetResult().
Specifies the identifier of the 3D pairwise registration context or a pairwise 3D registration result buffer to inquire. The pairwise 3D registration context is allocated with M3dregAlloc(), and the pairwise 3D registration result buffer is allocated with M3dregAllocResult().
Specifies to inquire a pairwise 3D registration context, an individual registration element (or all registration elements), or a pairwise 3D registration result buffer. Set this parameter to one of the following values:
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Specifies the default behavior. If ContextOrResult3dregId specifies a pairwise 3D registration context, then M_DEFAULT is the same as M_CONTEXT. If ContextOrResult3dregId specifies a pairwise 3D registration result buffer, then M_DEFAULT is the same as M_GENERAL. (summarize)Specifies the default behavior. (more details...) |
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Specifies to inquire all registration elements of a pairwise 3D registration context or all registration result elements of a pairwise 3D registration result buffer. |
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Specifies to inquire a pairwise 3D registration context. |
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Specifies to inquire a pairwise 3D registration result buffer. |
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![]() ![]() M3dregInquire(ContextOrResult3dregId, M_NUMBER_OF_REGISTRATION_ELEMENTS) |
Specifies the index of the registration element or registration result element to inquire. |
Specifies the type of setting about which to inquire.
See the Parameter associations section for possible values that can be specified.
Specifies the address in which to write the requested information. Since the M3dregInquire() function also returns the requested information, you can set this parameter to M_NULL.
See the Parameter associations section for possible values that can be returned.
The tables below list possible values for the InquireType parameter and possible values returned to the UserVarPtr parameter.
For the following inquire types, the ContextOrResult3dregId parameter must specify a 3D registration context or a 3D registration result buffer. The Index parameter must be set to M_CONTEXT or M_GENERAL, for a 3D registration context or 3D registration result buffer respectively.
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Description | ||||||||||||||||||||||||||||||||||||||
UserVarPtr - Possible values returned |
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Inquires the number of registration elements in the 3D registration context, or the number of registration result elements in the 3D registration result buffer. SET (summarize)Inquires the number of registration elements in the 3D registration context, or the number of registration result elements in the 3D registration result buffer. SET (more details...) |
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Data type info: Data
type: address of a MIL_INT
Data type info: Data
type: address of a MIL_INT
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Specifies the number of registration elements or registration result elements. The default value is 2. (summarize)Specifies the number of registration elements or registration result elements. (more details...) |
For a pairwise 3D registration context, when Index is set to M_CONTEXT, the InquireType parameter can be set to one of the following:
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UserVarPtr - Possible values returned |
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Inquires the technique for performing the pairwise comparison during each iteration of the registration operation, and establishes how to compute the RMS error. The best technique for a given registration depends on how many large and flat surfaces the object represented by the point cloud has. Using the correct setting can help avoid registration sliding (when multiple different registration are possible because of large planar surfaces) or diverging (when the registration operation results in the point clouds moving apart). SET (summarize)Inquires the technique for performing the pairwise comparison during each iteration of the registration operation, and establishes how to compute the RMS error. SET (more details...) |
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Data type info: Data
type: address of a MIL_INT
Data type info: Data
type: address of a MIL_INT
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Specifies to calculate the RMS error using the shortest distance between the point (in the reference point cloud), and the plane tangent to the other paired point. The tangent plane is calculated using the normal of the latter point. This setting improves the speed of registering organized point clouds where the normal at a given point is not similar to the normal at nearby points. This implies that the object represented by the point cloud has a large range of surface directions, and no relatively large flat surfaces. Large surfaces can result in the registration sliding or diverging. This is the default value. (summarize)Specifies to calculate the RMS error using the shortest distance between the point (in the reference point cloud), and the plane tangent to the other paired point. (more details...) |
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Specifies to calculate the RMS error using the distance between the paired points. This setting is better suited to registering point clouds that represent objects with large planar surfaces, and will avoid registration sliding or diverging. (summarize)Specifies to calculate the RMS error using the distance between the paired points. (more details...) |
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Inquires a stop condition for the iterative registration operation. If the maximum number of iterations is reached, the registration operation stops. To inquire whether this stop condition was met, call M3dregGetResult() with M_STATUS. Note that preregistration constitutes the first iteration. SET (summarize)Inquires a stop condition for the iterative registration operation. SET (more details...) |
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Data type info: Data
type: address of a MIL_INT
Data type info: Data
type: address of a MIL_INT
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Specifies the maximum number of iterations in the registration operation. The default value is 20. (summarize)Specifies the maximum number of iterations in the registration operation. (more details...) |
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Inquires how to perform the preregistration step. SET (summarize)Inquires how to perform the preregistration step. SET (more details...) |
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Data type info: Data
type: address of a MIL_INT
Data type info: Data
type: address of a MIL_INT
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Specifies to apply the preregistration transformation matrix, specified using M3dregSetLocation(); then automatically register the centroids (center of mass) of the two point clouds. By default, the registration of the centroids is a translation only and does not include any rotation. (summarize)Specifies to apply the preregistration transformation matrix, specified using M3dregSetLocation(); then automatically register the centroids (center of mass) of the two point clouds. (more details...) |
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Specifies to apply the preregistration transformation matrix in the first iteration of the registration operation. This is the default value. (summarize)Specifies to apply the preregistration transformation matrix in the first iteration of the registration operation. (more details...) |
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Inquires the stop condition for the registration operation that tests the percentage change of the root-mean-square (RMS) error of successive iterations. The RMS error is calculated from the distance between all paired points. You can control how the distance is calculated using M_ERROR_MINIMIZATION_METRIC. If this stop condition is met, the registration is typically considered correct. Note that the specified value represents a percentage, so the default value of 0.1 represents 0.1%, not 10%. SET (summarize)Inquires the stop condition for the registration operation that tests the percentage change of the root-mean-square (RMS) error of successive iterations. SET (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
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Specifies the relative RMS error threshold. The default value is 0.1. (summarize)Specifies the relative RMS error threshold. (more details...) |
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Inquires the stop condition for the registration operation that tests the root-mean-square (RMS) error of successive iterations. The RMS error is calculated from the distance between all paired points. You can control how the distance is calculated using M_ERROR_MINIMIZATION_METRIC. If this stop condition is met, the registration is typically considered correct. SET (summarize)Inquires the stop condition for the registration operation that tests the root-mean-square (RMS) error of successive iterations. SET (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
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Specifies the RMS error threshold. The default value is 0.0. (summarize)Specifies the RMS error threshold. (more details...) |
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Inquires whether to enable subsampling before applying the registration. Settings for subsampling techniques are defined in a subsampling context. Every registration context contains a subsampling context. To change the settings of the subsampling context, call M3dregInquire() with M_SUBSAMPLE_CONTEXT_ID to first get the MIL identifier of the subsampling context. The subsampling context can then be controlled using M3dimControl() (see the settings available for Subsample context ID). SET (summarize)Inquires whether to enable subsampling before applying the registration. SET (more details...) |
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Data type info: Data
type: address of a MIL_INT
Data type info: Data
type: address of a MIL_INT
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Specifies to disable subsampling before applying the registration. This is the default value. (summarize)Specifies to disable subsampling before applying the registration. (more details...) |
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Specifies to enable subsampling before applying the registration. |
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Inquires the ID of the subsampling context within the specified registration context. (summarize)Inquires the ID of the subsampling context within the specified registration context. (more details...) |
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Data type info: Data
type: address of a MIL_ID
Data type info: Data
type: address of a MIL_ID
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Specifies the MIL identifier of the subsampling context. |
For a 3D pairwise registration context, when Index is set to an index value or M_ALL, the InquireType parameter can be set to one of the following:
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UserVarPtr - Possible values returned |
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Sets the percentage of all possible point pairings to use in a single iteration of the registration operation. For example, if you specify 80%, then during each iteration, the top 80% of point pairings are used to generate an RMS error and are used to calculate a transformation. This excludes the 20% worst point pairings, which often contains outliers in the reference point cloud. These outliers are typically caused by image noise, occlusion, or object deformity. Typically, if there are fewer points in the reference point cloud than in the point cloud that will be registered to it, the overlap should roughly equal the ratio of the points in the reference point cloud to the points in the other point cloud. If the density of points is the same in both point clouds, this ratio could be set to the exact ratio between the two. For example, if there are 100 points in the reference point cloud, 200 points in the point cloud that will be registered to it, and they have a similar density, then the overlap can be set to 50%. If there are more points in the reference point cloud, this value should be set to a little under 100%. In this case, you should use as many of the points in the reference point cloud as possible while still accounting for outliers. SET (summarize)Sets the percentage of all possible point pairings to use in a single iteration of the registration operation. SET (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
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Specifies the percentage of possible paired points included in each iteration of the registration operation. The default value is 80.0. (summarize)Specifies the percentage of possible paired points included in each iteration of the registration operation. (more details...) |
For a 3D pairwise registration result buffer, when Index is set to an index value or M_ALL, the InquireType parameter can be set to one of the following:
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Description | ||||||||||||||||||||||||||||||||||||||
UserVarPtr - Possible values returned |
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Inquires the index of the iteration from which to copy the transformation matrix or get results. SET (summarize)Inquires the index of the iteration from which to copy the transformation matrix or get results. SET (more details...) |
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Data type info: Data
type: address of a MIL_INT
Data type info: Data
type: address of a MIL_INT
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Specifies the final iteration of the registration operation. This is the default value. (summarize)Specifies the final iteration of the registration operation. (more details...) |
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Specifies the iteration index. |
You can add one of the following values to the above-mentioned values to get information about the default value of an inquire type, regardless of the current value of the inquire type.
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Description | ||||||||||||||||||||||||||||||||||||||
UserVarPtr - Possible values returned |
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Inquires the default value of the specified inquire type. (summarize)Inquires the default value of the specified inquire type. (more details...) |
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Data type info: Data
type: defined elsewhere
Data type info: Data
type: defined elsewhere
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Inquires whether the specified inquire type is set to its default value. (summarize)Inquires whether the specified inquire type is set to its default value. (more details...) |
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Data type info: Data
type: address of a MIL_INT
Data type info: Data
type: address of a MIL_INT
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Specifies that the inquire type is not set to its default value. |
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Specifies that the inquire type is set to its default value. |
You can add the following value to the above-mentioned values to determine whether an inquire type is supported.
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Description | ||||||||||||||||||||||||||||||||||||||
UserVarPtr - Possible values returned |
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Inquires whether the specified inquire type is supported for the 3D registration context. (summarize)Inquires whether the specified inquire type is supported for the 3D registration context. (more details...) |
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Data type info: Data
type: address of a MIL_INT
Data type info: Data
type: address of a MIL_INT
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Specifies that the inquire type is not supported. |
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Specifies that the inquire type is supported. |
You can add one of the following values to the above-mentioned values to cast the requested information to a required data type.
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Description | ||||||||||||||||||||||||||||||||||||||
UserVarPtr - Possible values returned |
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Casts the requested information to a MIL_DOUBLE. (summarize)Casts the requested information to a MIL_DOUBLE. (more details...) |
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Data type info: Data
type: address of a
MIL_DOUBLE
Data type info: Data
type: address of a
MIL_DOUBLE
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Casts the requested information to a MIL_FLOAT. (summarize)Casts the requested information to a MIL_FLOAT. (more details...) |
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Data type info: Data
type: address of a
MIL_FLOAT
Data type info: Data
type: address of a
MIL_FLOAT
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Casts the requested information to a MIL_INT. (summarize)Casts the requested information to a MIL_INT. (more details...) |
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Data type info: Data
type: address of a MIL_INT
Data type info: Data
type: address of a MIL_INT
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Casts the requested information to a MIL_INT32. (summarize)Casts the requested information to a MIL_INT32. (more details...) |
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Data type info: Data
type: address of a
MIL_INT32
Data type info: Data
type: address of a
MIL_INT32
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Casts the requested information to a MIL_INT64. (summarize)Casts the requested information to a MIL_INT64. (more details...) |
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Data type info: Data
type: address of a
MIL_INT64
Data type info: Data
type: address of a
MIL_INT64
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Header | Include mil.h. |
Library | Use mil.lib; mil3dreg.lib. |
DLL | Requires mil.dll; mil3dreg.dll. |