M3dmapInquire
| Board | Supported |
|---|---|
| Host System | Yes |
| V4L2 | Yes |
| Clarity UHD | Yes |
| Concord PoE | No |
| GenTL | Yes |
| GevIQ | Yes |
| GigE Vision | Yes |
| Indio | No |
| Iris GTX | Yes |
| Radient eV-CL | Yes |
| Rapixo CL | Yes |
| Rapixo CoF | Yes |
| Rapixo CXP | Yes |
| USB3 Vision | Yes |
Inquire about a 3D alignment context, profiling 3D reconstruction context, draw 3D reconstruction context, or 3D reconstruction result buffer.
Syntax
AIL_INT M3dmapInquire(
AIL_ID ContextOrResult3dmapId, //in
AIL_INT LabelOrIndex, //in
AIL_INT64 InquireType, //in
void * UserVarPtr //out
)
Description
This function inquires about a specified setting of a 3D alignment context, profiling 3D reconstruction context, draw 3D reconstruction context, or 3D reconstruction result buffer.
If the inquired setting is set to M_DEFAULT, M3dmapInquire will return M_DEFAULT. To inquire the actual default value, add M_DEFAULT to the InquireType parameter.
An M_POINT_CLOUD_RESULT 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.
Parameters
ContextOrResult3dmapId (in, AIL_ID)
Specifies the identifier of the 3D alignment context, profiling 3D reconstruction context, draw 3D reconstruction context, or 3D reconstruction result buffer about which to inquire information.
LabelOrIndex (in, AIL_INT)
Specifies the point cloud(s) in the result buffer about which to inquire, or specifies the entire result buffer itself. Only 3D reconstruction result buffers allocated using M_POINT_CLOUD_RESULT have point clouds that can be specified using this parameter. For other types of 3D reconstruction contexts and result buffers, as well as for 3D draw contexts, set this parameter to M_DEFAULT.
For specifying the point cloud(s) or point cloud result buffer
| Value | Description |
|---|---|
M_POINT_CLOUD_INDEX | Specifies the index of a point cloud in the specified 3D reconstruction result buffer about which to inquire. |
M_POINT_CLOUD_LABEL | Specifies the label of a point cloud in the specified 3D reconstruction result buffer about which to inquire. |
M_ALL | Specifies to inquire all point clouds in the specified 3D reconstruction result buffer. |
M_GENERAL | Specifies to inquire the specified 3D reconstruction result buffer allocated using M_POINT_CLOUD_RESULT. |
InquireType (in, AIL_INT64)
Specifies the setting to inquire.
UserVarPtr *(out, void)
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.
Parameter Associations
For inquiring about the system
To inquire about the system on which the profiling 3D reconstruction context, draw 3D reconstruction context, or result buffer has been allocated, set the InquireType parameter to the value below.
M_OWNER_SYSTEM
Inquires the identifier of the system on which the profiling 3D reconstruction context, draw 3D reconstruction context, or result buffer has been allocated.
| Value | Description |
|---|---|
M_DEFAULT_HOST | Specifies the default Host system of the current Aurora Imaging Library application. |
System identifier | Specifies a valid system identifier, previously allocated using MsysAlloc. |
For a 3D alignment context
For a 3D alignment context, the InquireType parameter can be set to one of the following:
M_ALIGN_X_POSITION
Inquires whether to calculate the transformation required to align the origin of the working coordinate system with the center of the alignment object along the X-axis.
| Value | Description |
|---|---|
M_DEFAULT | |
M_OBJECT_ORIGIN | Specifies to calculate the transformation to align the origin of the working coordinate system with the origin of the alignment object along the X-axis. |
M_SAME (default) | Specifies not to calculate the transformation to align the origin of the working coordinate system along the X-axis. |
M_ALIGN_XY_DIRECTION
Inquires the direction of the X- and Y-axes of the working coordinate system relative to its original direction.
| Value | Description |
|---|---|
M_DEFAULT | |
M_AUTO (default) | Specifies to calculate the transformation to align with default direction; this is specific to the type of alignment object. |
M_OBJECT_REVERSE_X | Specifies to calculate the transformation to align the X-axis of the working coordinate system with the reverse direction of the X-axis of the alignment pyramid. |
M_OBJECT_REVERSE_Y | Specifies to calculate the transformation to align the Y-axis of the working coordinate system with the reverse direction of the Y-axis of the alignment pyramid. |
M_OBJECT_SAME_X | Specifies to calculate the transformation to align the X-axis of the working coordinate system with the direction of the X-axis of the alignment pyramid. |
M_OBJECT_SAME_Y | Specifies to calculate the transformation to align the Y-axis of the working coordinate system with the direction of the Y-axis of the alignment pyramid. |
M_REVERSE_X | Specifies to calculate the transformation required to reverse the direction of the X-axis of the working coordinate system. |
M_REVERSE_Y | Specifies to calculate the transformation required to reverse the direction of the Y-axis of the working coordinate system. |
M_SAME_X | Specifies to maintain the current direction of the X-axis of the working coordinate system. |
M_SAME_Y | Specifies to maintain the current direction of the Y-axis of the working coordinate system. |
M_ALIGN_Y_POSITION
Inquires whether to calculate the transformation required to align the origin of the working coordinate system with the center of the alignment object along the Y-axis.
| Value | Description |
|---|---|
M_DEFAULT | |
M_OBJECT_ORIGIN | Specifies to calculate the transformation to align the origin of the working coordinate system with the origin of the alignment object along the Y-axis. |
M_SAME (default) | Specifies not to calculate the transformation to align the origin of the working coordinate system along the Y-axis. |
M_ALIGN_Z_DIRECTION
Inquires the direction of the Z-axis of the working coordinate system.
| Value | Description |
|---|---|
M_DEFAULT | |
M_REVERSE | Specifies to calculate the transformation required to reverse the direction of the Z-axis, relative to its original direction. |
M_SAME (default) | Specifies not to calculate the transformation required to change the direction of the Z-axis. |
M_Z_DOWN | Specifies to calculate the transformation required to point the Z-axis downwards. |
M_Z_UP | Specifies to calculate the transformation required to point the Z-axis upwards. |
M_ALIGN_Z_POSITION
Inquires whether to calculate the transformation required to align the origin of the working coordinate system with respect to the top or bottom of the alignment object.
| Value | Description |
|---|---|
M_DEFAULT | |
M_OBJECT_BOTTOM (default) | Specifies to calculate the transformation to align the origin of the working coordinate system with the bottom of the alignment object along the Z-axis. |
M_OBJECT_TOP | Specifies to calculate the transformation to align the origin of the working coordinate system with the top of the alignment object along the Z-axis. |
M_SAME | Specifies not to calculate the transformation to align the origin of the working coordinate system along the Z-axis. |
M_CAMERA_TILT_X
Inquires whether to enable camera tilt correction around the X-axis, and in which direction to enable the correction.
| Value | Description |
|---|---|
M_DEFAULT | |
M_NEGATIVE | Specifies that the camera tilt is in the negative direction around the X-axis. |
M_POSITIVE | Specifies that the camera tilt is in the positive direction around the X-axis. |
M_ZERO (default) | Specifies that there is no camera tilt around the X-axis. |
M_DIAMETER
Inquires the diameter of the alignment disk.
| Value | Description |
|---|---|
M_DEFAULT | |
M_UNKNOWN (default) | Specifies that the diameter of the alignment disk is unknown. |
Value > 0.0 | Specifies the diameter of the alignment disk. |
M_HEIGHT
Inquires the height of the alignment object that was specified with M_OBJECT_SHAPE.
| Value | Description |
|---|---|
M_DEFAULT | |
Value >= 0.0 (default) | Specifies the height of the alignment object. |
M_OBJECT_SHAPE
Inquires the type of alignment object.
| Value | Description |
|---|---|
M_DEFAULT | |
M_DISK (default) | Specifies a disk-type object for alignment (alignment disk). |
M_FLAT_SURFACE | Specifies a flat-surface-type object for alignment (alignment surface). |
M_PYRAMID | Specifies a pyramid-type object for alignment (alignment pyramid). |
M_PYRAMID_BASE_LENGTH
Inquires the length of the pyramid's bottom base for the alignment pyramid.
| Value | Description |
|---|---|
M_DEFAULT | |
M_UNKNOWN (default) | Specifies that the length of the truncated pyramid's bottom base is unknown. |
Value > 0.0 | Specifies the length of the truncated pyramid's bottom base. |
M_PYRAMID_TOP_FACE_LENGTH
Inquires the length of the pyramid's top base (top face) for the alignment pyramid.
| Value | Description |
|---|---|
M_DEFAULT | |
M_UNKNOWN (default) | Specifies that the length of the truncated pyramid's top base is unknown. |
Value > 0.0 | Specifies the length of the truncated pyramid's top base. |
M_STEP_LENGTH
Inquires the step length (scan step). The step length is distance between the scan lines.
| Value | Description |
|---|---|
M_DEFAULT | |
Value > 0.0 (default) | Specifies the step length value. |
M_STEP_LENGTH_MODE
Inquires the step length (scan step) mode. The step length is distance between the scan lines.
| Value | Description |
|---|---|
M_DEFAULT | |
M_PIXEL_SIZE_Y | Specifies that the step length is provided with the container that stores the point cloud of the alignment object. |
M_UNKNOWN (default) | Specifies that the step length is unknown. |
M_USER_DEFINED | Specifies that the step length is explicitly set with M_STEP_LENGTH. |
For 3D reconstruction contexts used for laser line profiling
For a profiling 3D reconstruction context of type M_LASER, the InquireType parameter can be set to one of the following:
M_CALIBRATION_DEPTHS
Inquires the calibration depths used to calibrate the profiling 3D reconstruction context. These are the values given specified using M3dmapControl with M_CORRECTED_DEPTH before each call to M3dmapAddScan.
| Value | Description |
|---|---|
Value | Specifies the calibration depths used to calibrate the profiling 3D reconstruction context. |
M_CALIBRATION_STATUS
Inquires the status of the profiling 3D reconstruction calibration.
| Value | Description |
|---|---|
M_CALIBRATED | Specifies that a successful call to M3dmapCalibrate has been made and the context can now be used to produce calibrated data. |
M_GLOBAL_OPTIMIZATION_ERROR | Specifies that the global optimization phase of M3dmapCalibrateMultiple failed because of a mathematical exception. |
M_INTERNAL_ERROR | Specifies that an unexpected error occurred. |
M_LASER_LINE_NOT_DETECTED | Specifies that the laser line could not be extracted from the image passed as input to M3dmapAddScan. |
M_MATHEMATICAL_EXCEPTION | Specifies that M3dmapCalibrate could not calibrate properly. Verify that all function parameters, control type settings, and images are consistent. |
M_NOT_ENOUGH_MEMORY | Specifies that there was not enough memory for M3dmapCalibrate to complete its task. |
M_NOT_INITIALIZED | Specifies that the context is not calibrated. M3dmapCalibrate has not been called. |
M_CAMERA_IMAGE_SIZE_X
Inquires the X-size of the image(s) with which this profiling 3D reconstruction context was calibrated. This inquire type is valid only after a successful call to M3dmapCalibrate on this profiling 3D reconstruction context.
| Value | Description |
|---|---|
Value > 0 | Specifies the width of the image with which this profiling 3D reconstruction context was calibrated. The width is rounded to the nearest integer. |
M_CAMERA_IMAGE_SIZE_Y
Inquires the Y-size of the image(s) with which this profiling 3D reconstruction context was calibrated. This inquire type is valid only after a successful call to M3dmapCalibrate on this profiling 3D reconstruction context.
| Value | Description |
|---|---|
Value > 0 | Specifies the height of the image with which this profiling 3D reconstruction context was calibrated. The height is rounded to the nearest integer. |
M_CORRECTED_DEPTH
Inquires depth information about the next laser line image added. For a profiling 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 profiling 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.
| Value | Description |
|---|---|
M_DEFAULT | |
0 <= GrayValue <= 254 (default) | 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. |
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. |
ZCoordinateValue | Specifies the Z-coordinate (in world units) of the next reference plane. |
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.
| Value | Description |
|---|---|
M_DEFAULT | |
0 <= Value <= 7 (default) | Specifies the number of binary digits used for the fractional part of gray level values. |
M_LASER_CONTEXT_TYPE
Inquires the profiling 3D reconstruction mode, which determines whether the context can associate with a camera calibration and create a fully corrected depth map.
| Value | Description |
|---|---|
M_CALIBRATED_CAMERA_LINEAR_MOTION | Specifies that the 3D reconstruction context will include camera calibration information and depth correction information. |
M_DEPTH_CORRECTION | Specifies that the 3D reconstruction context will include depth correction information, but will not include camera calibration information. |
M_CAMERA_LABEL | Specifies the label for the camera used by this 3D reconstruction context. |
M_LASER_LABEL | Specifies the label for the laser used by this 3D reconstruction context. |
M_LOCATE_PEAK_1D_CONTEXT_ID
Inquires the identifier of the internal locate peak 1D context within the profiling 3D reconstruction context.
M_NUMBER_OF_CALIBRATION_DEPTHS
Inquires the number of calibration depths used to calibrate the profiling 3D reconstruction context. This inquire type is valid only after a successful call to M3dmapCalibrate.
| Value | Description |
|---|---|
Value > 0 | Specifies the number of calibration depths used to calibrate the profiling 3D reconstruction context. Only integer values are accepted. |
For profiling 3D reconstruction contexts set to
For profiling 3D reconstruction contexts set to M_CALIBRATED_CAMERA_LINEAR_MOTION, the InquireType parameter can be set to one of the following:
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.
| Value | Description |
|---|---|
M_FALSE | Specifies that the laser plane was not assumed perpendicular to the object's motion. |
M_TRUE | Specifies that the laser plane was assumed perpendicular to the object's motion. |
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.
| Value | Description |
|---|---|
M_DEFAULT | |
Value > 0 (default) | Specifies the X-offset, in pixels. |
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.
| Value | Description |
|---|---|
M_DEFAULT | |
Value > 0 (default) | Specifies the Y-offset, in pixels. |
M_EXTRACTION_RANGE_Z
Inquires the mode that helps determine the range of valid Z-coordinates for extracted points when using M3dmapAddScan.
| Value | Description |
|---|---|
M_GREATER | Specifies that the Z-axis range is defined by a lower limit corresponding to M_EXTRACTION_RANGE_Z_LIMIT1. |
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. |
M_INFINITE (default) | Specifies that the range covers the entire Z-axis, so all points are kept. |
M_LESS | Specifies that the Z-axis range is defined by a upper limit corresponding to M_EXTRACTION_RANGE_Z_LIMIT1. |
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. |
M_EXTRACTION_RANGE_Z_LIMIT1
Inquires the first limit value that determines the range of valid Z-coordinates for extracted points.
| Value | Description |
|---|---|
Value (default) | Specifies the first limit value, which can be either the lower limit or upper limit. |
M_EXTRACTION_RANGE_Z_LIMIT2
Inquires the first limit value that determines the range of valid Z-coordinates for extracted points.
| Value | Description |
|---|---|
Value (default) | Specifies the second limit value, which can be either the lower limit or upper limit. |
M_FIT_RMS_ERROR
Inquires the root mean squared error. 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 Inspecting laser line calibration. In this case, this inquire type is only supported after a successful call to M3dmapCalibrate.
| Value | Description |
|---|---|
Value >= 0.0 | Specifies the root mean square error. |
M_LASER_PLANE_A
Inquires the coefficient a of the laser plane equation, ax + by + cz + d = 0.
| Value | Description |
|---|---|
Value | Specifies the coefficient a of the laser plane equation. |
M_LASER_PLANE_B
Inquires the coefficient b of the laser plane equation, ax + by + cz + d = 0.
| Value | Description |
|---|---|
Value | Specifies the coefficient b of the laser plane equation. |
M_LASER_PLANE_C
Inquires the coefficient c of the laser plane equation, ax + by + cz + d = 0.
| Value | Description |
|---|---|
Value | Specifies the coefficient c of the laser plane equation. |
M_LASER_PLANE_D
Inquires the coefficient d of the laser plane equation, ax + by + cz + d = 0.
| Value | Description |
|---|---|
Value | Specifies the coefficient d of the laser plane equation. |
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.
| Value | Description |
|---|---|
M_DEFAULT | |
Value (default) | Specifies the speed, in world units per frame. |
For profiling 3D reconstruction contexts set to
For profiling 3D reconstruction contexts set to M_DEPTH_CORRECTION, the InquireType parameter can be set to one of the following:
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.
| Value | Description |
|---|---|
Value | Specifies the number of columns. |
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.
| Value | Description |
|---|---|
Value | Specifies the number of columns. |
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.
| Value | Description |
|---|---|
Value | Specifies the number of columns. |
M_NUMBER_OF_INVERSIONS_PER_COLUMN
Inquires the number of inversions, per column, in the uncorrected depth map used for calibration.
| Value | Description |
|---|---|
Value | Specifies the number of inversions per column. |
M_NUMBER_OF_MISSING_DATA_PER_COLUMN
Inquires the number of missing data points per column in the uncorrected depth map used for calibration.
| Value | Description |
|---|---|
Value | Specifies the number of missing data points per column. |
For a 3D reconstruction result buffer set to
For a point cloud container (3D reconstruction result buffer of type M_POINT_CLOUD_RESULT and LabelOrIndex set to M_GENERAL), the InquireType parameter can be set to one of the following:
M_NUMBER_OF_POINT_CLOUDS
Inquires the number of point clouds in the specified 3D reconstruction result buffer.
| Value | Description |
|---|---|
Value >= 0 | Specifies the number of point clouds. |
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.
| Value | Description |
|---|---|
M_DEFAULT | |
M_CURRENT | Specifies that the results include the ongoing Y-axis displacement. |
M_FIXED (default) | Specifies that the results do not include the ongoing Y-axis displacement. |
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.
| Value | Description |
|---|---|
M_DEFAULT | Specifies the default value; the default value is 0.0. |
Value | Specifies the Y-axis displacement. |
For a point cloud
For a point cloud (3D reconstruction result buffer of type M_POINT_CLOUD_RESULT 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:
M_CAMERA_LABEL_VALUE
Inquires the camera label of the 3D reconstruction context associated with the specified point cloud.
| Value | Description |
|---|---|
1 <= Value <= 1023 | Specifies the camera label value. The default value is 1. |
M_LASER_LABEL_VALUE
Inquires the laser label of the 3D reconstruction context associated with the specified point cloud.
| Value | Description |
|---|---|
1 <= Value <= 2047 | Specifies the laser label value. The default value is 1. |
M_POINT_CLOUD_INDEX_VALUE
Inquires the index of the point cloud with the specified label.
| Value | Description |
|---|---|
M_INVALID | Specifies that there is no point cloud in the 3D reconstruction result buffer with the specified label. |
0 <= Point cloud array index <= 134217726 | Specifies the index of the point cloud. |
M_POINT_CLOUD_LABEL_VALUE
Inquires the label of the point cloud with the specified index.
| Value | Description |
|---|---|
M_INVALID | Specifies that there is no point cloud in the 3D reconstruction result buffer with the specified index. |
1 <= Point cloud label <= 134217727 | Specifies the label of the point cloud. |
Combination Constants — For determining the required array size (number of elements) to store the returned values
Optional, cannot be used alone.
Usage: You can add one of the following values to the above-mentioned values to determine the required array size (number of elements) to store the returned values.
M_NB_ELEMENTS
Retrieves the required array size (number of elements) to store the returned values.
For a draw 3D reconstruction context
For a draw 3D reconstruction context.
M_DRAW_ABSOLUTE_COORDINATE_SYSTEM
Inquires whether to draw the absolute coordinate system's axes.
| Value | Description |
|---|---|
(see M_DRAW_ABSOLUTE_COORDINATE_SYSTEM) |
M_DRAW_CAMERA_COORDINATE_SYSTEM
Inquires whether to draw the camera coordinate system's axes.
| Value | Description |
|---|---|
(see M_DRAW_CAMERA_COORDINATE_SYSTEM) |
M_DRAW_CAMERA_COORDINATE_SYSTEM_NAME
Inquires the name to draw for the camera coordinate system; returns "Camera" if no name was specified.
M_DRAW_COORDINATE_SYSTEM_LENGTH
Inquires the drawn length of the specified coordinate system's axes.
| Value | Description |
|---|---|
(see M_DRAW_COORDINATE_SYSTEM_LENGTH) |
M_DRAW_FRUSTUM
Inquires whether to draw the frustum.
| Value | Description |
|---|---|
(see M_DRAW_FRUSTUM) |
M_DRAW_FRUSTUM_COLOR
Inquires the frustum's color.
| Value | Description |
|---|---|
(see M_DRAW_FRUSTUM_COLOR) |
M_DRAW_LASER_LINE_COORDINATE_SYSTEM
Inquires whether to draw the laser line coordinate system's axes.
| Value | Description |
|---|---|
M_DEFAULT | |
M_DISABLE | Specifies not to draw the laser line coordinate system's axes. |
M_ENABLE (default) | Specifies to draw the laser line coordinate system's axes. |
M_DRAW_LASER_PLANE
Inquires how to draw the laser plane.
| Value | Description |
|---|---|
M_DEFAULT | |
M_DISABLE | Specifies not to draw the laser plane. |
M_ENABLE (default) | Specifies to draw the laser plane. |
M_DRAW_LASER_PLANE_COLOR_FILL
Inquires the laser plane's fill color.
| Value | Description |
|---|---|
M_DEFAULT | |
M_AUTO_COLOR (default) | Specifies either the color red or the texture image. |
M_NO_COLOR | Specifies no color. |
M_TEXTURE_IMAGE | Specifies to use the image passed to M3dmapDraw3d with LaserPlaneTextureImageBufId, when drawing the laser plane. |
M_DRAW_LASER_PLANE_COLOR_OUTLINE
Inquires the laser plane's outline color.
| Value | Description |
|---|---|
M_DEFAULT | |
M_COLOR_WHITE (default) | Specifies the color white. |
M_NO_COLOR | Specifies no color. |
M_DRAW_LASER_PLANE_OPACITY
Inquires the laser plane's opacity.
| Value | Description |
|---|---|
M_DEFAULT | |
0.0 <= Value <= 100.0 (default) | Specifies the laser plane's opacity. |
Combination Constants — For getting the string size
Optional.
Usage: You can add one of the following values to the above-mentioned values to get the string's length.
M_STRING_SIZE
Retrieves the length of the string, including the terminating null character ("\0").
For inquiring the maximum number of frames
For a 3D reconstruction result buffer of type M_LASER_CALIBRATION_DATA, M_DEPTH_CORRECTED_DATA, or M_POINT_CLOUD_RESULT, the InquireType parameter can be set to one of the following:
M_MAX_FRAMES
Inquires the maximum number of scanned laser lines that the result buffer keeps internally. When you specify a result buffer of type M_POINT_CLOUD_RESULT 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 created in this 3D reconstruction result buffer.
| Value | Description |
|---|---|
M_DEFAULT | |
Value > 0 (default) | Specifies the maximum number of scanned laser lines to keep. |
Combination Constants — For inquiring the default value of an inquire type
Optional.
Usage: You can add one of the following values to the above-mentioned values to get the default value of an inquire type, regardless of the current value of the inquire type.
M_DEFAULT
Inquires the default value of the specified inquire type.
Combination Constants — For inquiring whether an inquire type is supported
Optional.
Usage: You can add one of the following values to the above-mentioned values to determine whether an inquire type is supported.
M_HAS_DEFAULT
Inquires whether the specified inquire type has a default value.
| Value | Description |
|---|---|
M_FALSE | Specifies that the inquire type does not have a default value. |
M_TRUE | Specifies that the inquire type has a default value. |
M_SUPPORTED
Inquires whether the specified inquire type is supported.
| Value | Description |
|---|---|
M_FALSE | Specifies that the inquire type is not supported. |
M_TRUE | Specifies that the inquire type is supported. |
Combination Constants — For specifying the data type
Optional.
Usage: You can add one of the following values to the above-mentioned values to cast the requested information to the required data type.
M_TYPE_AIL_DOUBLE
Casts the requested information to an AIL_DOUBLE.
M_TYPE_AIL_FLOAT
Casts the requested information to an AIL_FLOAT.
M_TYPE_AIL_ID
Casts the requested information to an AIL_ID.
M_TYPE_AIL_INT
Casts the requested information to an AIL_INT.
M_TYPE_AIL_INT16
Casts the requested results to an AIL_INT16.
M_TYPE_AIL_INT32
Casts the requested information to an AIL_INT32.
M_TYPE_AIL_INT64
Casts the requested information to an AIL_INT64.
Return Value
Type: AIL_INT
The returned value is the requested information, cast to an AIL_INT. If the requested information does not fit into an AIL_INT, this function will return M_NULLor truncate the information.
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.
This inquire type is only supported after a successful call to M3dmapCalibrate or M3dmapCalibrateMultiple.