M3dmodInquire
| 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 setting of a find 3D model finder context.
Syntax
AIL_INT64 M3dmodInquire(
AIL_ID Context3dmodId, //in
AIL_INT64 Index, //in
AIL_INT64 InquireType, //in
void * UserVarPtr //out
)
Description
This function inquires about a specified setting of a find 3D model finder context.
To inquire about draw 3D model finder context settings, use M3dmodInquireDraw instead.
Parameters
Context3dmodId (in, AIL_ID)
Specifies the identifier of the find 3D model finder context about which to inquire information. The find 3D model finder context must have been previously allocated on the required system using M3dmodAlloc with M_FIND_..._CONTEXT.
Index (in, AIL_INT64)
Specifies what to inquire. Set this parameter to one of the following values.
For specifying a general context or individual model
| Value | Description |
|---|---|
M_DEFAULT | |
M_CONTEXT (default) | Specifies to inquire information about the find 3D model finder context. |
0 | Specifies to inquire the 3D model defined in the context. Note that the model must have been added to the context, using M3dmodDefine, prior to calling M3dmodControl with this value. |
InquireType (in, AIL_INT64)
Specifies the type of setting about which to inquire.
UserVarPtr *(out, void)
Specifies the address in which to write the requested information. Since the M3dmodInquire function also returns the requested information, you can set this parameter to M_NULL.
Parameter Associations
For inquiring a find box, cylinder, rectangular plane, sphere, surface, or planar surface 3D model finder context
The following Context3dmodId and InquireType parameter settings can be specified for a 3D model finder context when Index is set to M_CONTEXT or M_DEFAULT.
Find box 3D model finder context ID
Specifies a find box 3D model finder context, allocated using M3dmodAlloc with M_FIND_BOX_CONTEXT, and used in M3dmodFind operations.
M_DIRECTION_MODE
Inquires how to interpret the reference direction (M_DIRECTION_REFERENCE_...). For a find box 3D model finder context, this is only used when M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_DIRECTION_MODE) |
M_DIRECTION_REFERENCE_X
Inquires the X-coordinate of the position, or the X-component of the vector, that determines the reference direction, depending on M_DIRECTION_MODE. For a find box 3D model finder context, this is only used when M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_DIRECTION_REFERENCE_X) |
M_DIRECTION_REFERENCE_Y
Inquires the Y-coordinate of the position, or the Y-component of the vector, that determines the reference direction, depending on M_DIRECTION_MODE. For a find box 3D model finder context, this is only used when M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_DIRECTION_REFERENCE_Y) |
M_DIRECTION_REFERENCE_Z
Inquires the Z-coordinate of the position, or the Z-component of the vector, that determines the reference direction, depending on M_DIRECTION_MODE. For a find box 3D model finder context, this is only used when M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_DIRECTION_REFERENCE_Z) |
M_FIT_DISTANCE
Inquires the fit distance when M_FIT_DISTANCE_MODE is set to M_USER_DEFINED.
| Value | Description |
|---|---|
(see M_FIT_DISTANCE) |
M_FIT_DISTANCE_MODE
Inquires how Aurora Imaging Library establishes the fit distance, which is used when determining whether points belong to a certain occurrence.
| Value | Description |
|---|---|
(see M_FIT_DISTANCE_MODE) |
M_FLOOR_DEFINED
Inquires whether a floor plane has been defined usingM3dmodCopy with M_FLOOR.
| Value | Description |
|---|---|
M_FALSE | Specifies that a floor plane has not been defined. |
M_TRUE | Specifies that a floor plane has been defined. |
M_NUMBER_MODELS
Inquires the number of models in the context.
| Value | Description |
|---|---|
Value | Specifies the number of models. |
M_PREPROCESSED
Inquires whether the find 3D model finder context is preprocessed. The context must be preprocessed (using M3dmodPreprocess) before calling M3dmodFind. After certain settings of the context are changed using M3dmodControl, a model is added or removed using M3dmodDefine, or a floor plane is copied to the context using M3dmodCopy, this inquire type will indicate that the context is no longer in its preprocessed state.
| Value | Description |
|---|---|
M_FALSE | Specifies that the context is not preprocessed. |
M_TRUE | Specifies that the context is preprocessed. |
M_SORT
Inquires the sorting key for result retrieval.
| Value | Description |
|---|---|
(see M_SORT) |
M_SORT_DIRECTION
Inquires whether results are sorted in ascending or descending order.
| Value | Description |
|---|---|
(see M_SORT_DIRECTION) |
M_TIMEOUT
Inquires the maximum amount of time for M3dmodFind to complete the 3D model finder operation before generating a time-out error.
| Value | Description |
|---|---|
(see M_TIMEOUT) |
Find cylinder 3D model finder context ID
Specifies a find cylinder 3D model finder context, allocated using M3dmodAlloc with M_FIND_CYLINDER_CONTEXT, and used in M3dmodFind operations.
M_FIT_DISTANCE
Inquires the fit distance when M_FIT_DISTANCE_MODE is set to M_USER_DEFINED.
| Value | Description |
|---|---|
(see M_FIT_DISTANCE) |
M_FIT_DISTANCE_MODE
Inquires how Aurora Imaging Library establishes the fit distance, which is used when determining whether points belong to a certain occurrence.
| Value | Description |
|---|---|
(see M_FIT_DISTANCE_MODE) |
M_FIT_NORMALS_DISTANCE
Inquires the acceptable deviation between a given point's normal vector and the normal vector of the model at the same point, to decide which points are used when fitting.
| Value | Description |
|---|---|
(see M_FIT_NORMALS_DISTANCE) |
M_NUMBER_MODELS
Inquires the number of models in the context.
| Value | Description |
|---|---|
Value | Specifies the number of models. |
M_PERSEVERANCE
Inquires the algorithm's search perseverance when searching for occurrences.
| Value | Description |
|---|---|
(see M_PERSEVERANCE) |
M_PREPROCESSED
Inquires whether the find 3D model finder context is preprocessed. The context must be preprocessed (using M3dmodPreprocess) before calling M3dmodFind. After certain settings of the context are changed using M3dmodControl, or a model is added or removed using M3dmodDefine, this inquire type will indicate that the context is no longer in its preprocessed state.
| Value | Description |
|---|---|
M_FALSE | Specifies that the context is not preprocessed. |
M_TRUE | Specifies that the context is preprocessed. |
M_SORT
Inquires the sorting key for result retrieval.
| Value | Description |
|---|---|
(see M_SORT) |
M_SORT_DIRECTION
Inquires whether results are sorted in ascending or descending order.
| Value | Description |
|---|---|
(see M_SORT_DIRECTION) |
M_TIMEOUT
Inquires the maximum amount of time for M3dmodFind to complete the 3D model finder operation before generating a time-out error.
| Value | Description |
|---|---|
(see M_TIMEOUT) |
Find rectangular plane 3D model finder context ID
Specifies a find rectangular plane 3D model finder context, allocated using M3dmodAlloc with M_FIND_RECTANGULAR_PLANE_CONTEXT, and used in M3dmodFind operations.
M_FIT_DISTANCE
Inquires the fit distance when M_FIT_DISTANCE_MODE is set to M_USER_DEFINED.
| Value | Description |
|---|---|
(see M_FIT_DISTANCE) |
M_FIT_DISTANCE_MODE
Inquires how Aurora Imaging Library establishes the fit distance, which is used when determining whether points belong to a certain occurrence.
| Value | Description |
|---|---|
(see M_FIT_DISTANCE_MODE) |
M_NUMBER_MODELS
Inquires the number of models in the context.
| Value | Description |
|---|---|
Value | Specifies the number of models. |
M_PREPROCESSED
Inquires whether the find 3D model finder context is preprocessed. The context must be preprocessed (using M3dmodPreprocess) before calling M3dmodFind. After certain settings of the context are changed using M3dmodControl, or a model is added or removed using M3dmodDefine, this inquire type will indicate that the context is no longer in its preprocessed state.
| Value | Description |
|---|---|
M_FALSE | Specifies that the context is not preprocessed. |
M_TRUE | Specifies that the context is preprocessed. |
M_SORT
Inquires the sorting key for result retrieval.
| Value | Description |
|---|---|
(see M_SORT) |
M_SORT_DIRECTION
Inquires whether results are sorted in ascending or descending order.
| Value | Description |
|---|---|
(see M_SORT_DIRECTION) |
M_TIMEOUT
Inquires the maximum amount of time for M3dmodFind to complete the 3D model finder operation before generating a time-out error.
| Value | Description |
|---|---|
(see M_TIMEOUT) |
Find sphere 3D model finder context ID
Specifies a find sphere 3D model finder context, allocated using M3dmodAlloc with M_FIND_SPHERE_CONTEXT, and used in M3dmodFind operations.
M_FIT_DISTANCE
Inquires the fit distance when M_FIT_DISTANCE_MODE is set to M_USER_DEFINED.
| Value | Description |
|---|---|
(see M_FIT_DISTANCE) |
M_FIT_DISTANCE_MODE
Inquires how Aurora Imaging Library establishes the fit distance, which is used when determining whether points belong to a certain occurrence.
| Value | Description |
|---|---|
(see M_FIT_DISTANCE_MODE) |
M_FIT_ITERATIONS_MAX
Inquires the maximum number of fit iterations to perform, when finding a sphere occurrence.
| Value | Description |
|---|---|
(see M_FIT_ITERATIONS_MAX) |
M_FIT_NORMALS_DISTANCE
Inquires the acceptable deviation between a given point's normal vector and the normal vector of the model at the same point, to decide which points are used when fitting.
| Value | Description |
|---|---|
(see M_FIT_NORMALS_DISTANCE) |
M_NUMBER_MODELS
Inquires the number of models in the context.
| Value | Description |
|---|---|
Value | Specifies the number of models. |
M_PERSEVERANCE
Inquires the algorithm's search perseverance when searching for occurrences.
| Value | Description |
|---|---|
(see M_PERSEVERANCE) |
M_PREPROCESSED
Inquires whether the find 3D model finder context is preprocessed. The context must be preprocessed (using M3dmodPreprocess) before calling M3dmodFind. After certain settings of the context are changed using M3dmodControl, or a model is added or removed using M3dmodDefine, this inquire type will indicate that the context is no longer in its preprocessed state.
| Value | Description |
|---|---|
M_FALSE | Specifies that the context is not preprocessed. |
M_TRUE | Specifies that the context is preprocessed. |
M_SORT
Inquires the sorting key for result retrieval.
| Value | Description |
|---|---|
(see M_SORT) |
M_SORT_DIRECTION
Inquires whether results are sorted in ascending or descending order.
| Value | Description |
|---|---|
(see M_SORT_DIRECTION) |
M_TIMEOUT
Inquires the maximum amount of time for M3dmodFind to complete the 3D model finder operation before generating a time-out error.
| Value | Description |
|---|---|
(see M_TIMEOUT) |
Find surface or planar surface 3D model finder context ID
Specifies a find surface or planar surface 3D model finder context, allocated using M3dmodAlloc with M_FIND_SURFACE_CONTEXT or M_FIND_PLANAR_SURFACE_CONTEXT, and used in M3dmodFind operations.
M_CONVERSION_GAMMA
Inquires whether to remove gamma correction before the match.
| Value | Description |
|---|---|
(see M_CONVERSION_GAMMA) |
M_DIRECTION_MODE
Inquires how to interpret the reference direction (M_DIRECTION_REFERENCE_...).
| Value | Description |
|---|---|
(see M_DIRECTION_MODE) |
M_DIRECTION_REFERENCE_X
Inquires the X-component of the vector that determines the reference direction, depending on M_DIRECTION_MODE.
| Value | Description |
|---|---|
(see M_DIRECTION_REFERENCE_X) |
M_DIRECTION_REFERENCE_Y
Inquires the Y-component of the vector that determines the reference direction, depending on M_DIRECTION_MODE.
| Value | Description |
|---|---|
(see M_DIRECTION_REFERENCE_Y) |
M_DIRECTION_REFERENCE_Z
Inquires the Z-component of the vector that determines the reference direction, depending on M_DIRECTION_MODE.
| Value | Description |
|---|---|
(see M_DIRECTION_REFERENCE_Z) |
M_EXHAUSTIVE_SEARCH
Inquires whether to perform very robust but slow exhaustive searching. Note that this inquire type is not available for find planar surface 3D model finder contexts.
| Value | Description |
|---|---|
(see M_EXHAUSTIVE_SEARCH) |
M_FIT_DISTANCE
Inquires the fit distance when M_FIT_DISTANCE_MODE is set to M_USER_DEFINED. Note that for a find surface or planar surface 3D model finder context, this is only used when M_FIT_DISTANCE_MODE is set to M_USER_DEFINED and M_SAVE_FIT_INFO is enabled.
| Value | Description |
|---|---|
(see M_FIT_DISTANCE) |
M_FIT_DISTANCE_MODE
Inquires how Aurora Imaging Library establishes the fit distance, which is used when determining whether points belong to a certain occurrence. > Note: Note that for a find surface or planar surface 3D model finder context, this is only used when M_SAVE_FIT_INFO is enabled.
| Value | Description |
|---|---|
(see M_FIT_DISTANCE_MODE) |
M_FLOOR_DEFINED
Inquires whether a floor plane has been defined usingM3dmodCopy with M_FLOOR.
| Value | Description |
|---|---|
M_FALSE | Specifies that a floor plane has not been defined. |
M_TRUE | Specifies that a floor plane has been defined. |
M_MODEL_NORMAL_SEARCH_MODE
Inquires the search mode for calculating model normals when the defined model has no normals component (M_COMPONENT_NORMALS_AIL).
| Value | Description |
|---|---|
(see M_MODEL_NORMAL_SEARCH_MODE) |
M_NUMBER_MODELS
Inquires the number of models in the context.
| Value | Description |
|---|---|
Value | Specifies the number of models. |
M_PERSEVERANCE
Inquires the algorithm's search perseverance when searching for occurrences. Note that this inquire type is not available for find planar surface 3D model finder contexts.
| Value | Description |
|---|---|
(see M_PERSEVERANCE) |
M_PREPROCESSED
Inquires whether the find 3D model finder context is preprocessed. The context must be preprocessed (using M3dmodPreprocess) before calling M3dmodFind. After certain settings of the context are changed using M3dmodControl, a model is added or removed using M3dmodDefine, or a floor plane or resting plane is copied to the context using M3dmodCopy, this inquire type will indicate that the context is no longer in its preprocessed state.
| Value | Description |
|---|---|
M_FALSE | Specifies that the context is not preprocessed. |
M_TRUE | Specifies that the context is preprocessed. |
M_REFINE_REGISTRATION
Inquires whether and how to perform refine registration of each occurrence found.
| Value | Description |
|---|---|
(see M_REFINE_REGISTRATION) |
M_REMOVE_BACKGROUND
Inquires whether to remove background points from the target point cloud before performing the match.
| Value | Description |
|---|---|
(see M_REMOVE_BACKGROUND) |
M_REMOVE_BACKGROUND_SEARCH_MODE
Inquires the search mode for finding the background points when M_REMOVE_BACKGROUND is enabled.
| Value | Description |
|---|---|
(see M_REMOVE_BACKGROUND_SEARCH_MODE) |
M_REMOVE_FLOOR
Inquires whether to remove floor points from the target point cloud before performing the match.
| Value | Description |
|---|---|
(see M_REMOVE_FLOOR) |
M_REMOVE_FLOOR_DIRECTION
Inquires the direction, relative to the defined floor plane, in which to remove points when M_REMOVE_FLOOR is enabled.
| Value | Description |
|---|---|
(see M_REMOVE_FLOOR_DIRECTION) |
M_REMOVE_FLOOR_EXPECTED_PERCENTAGE
Inquires the percentage of total points in the target point cloud that are expected to be floor points when M_REMOVE_FLOOR is enabled and M_REMOVE_FLOOR_OFFSET is set to M_AUTO_VALUE.
| Value | Description |
|---|---|
(see M_REMOVE_FLOOR_EXPECTED_PERCENTAGE) |
M_REMOVE_FLOOR_OFFSET
Inquires the offset, relative to the defined floor plane, within which to remove points when M_REMOVE_FLOOR is enabled.
| Value | Description |
|---|---|
(see M_REMOVE_FLOOR_OFFSET) |
M_REUSE_RESULT
Inquires whether to reuse the result of the previous search at the beginning of the current search.
| Value | Description |
|---|---|
(see M_REUSE_RESULT) |
M_SAVE_FIT_INFO
Inquires whether to enable the calculation of the root-mean square (RMS) error and the fit score.
| Value | Description |
|---|---|
(see M_SAVE_FIT_INFO) |
M_SCENE_COMPLEXITY
Inquires the complexity of the scene. Note that this inquire type is not available for find planar surface 3D model finder contexts.
| Value | Description |
|---|---|
(see M_SCENE_COMPLEXITY) |
M_SCENE_PROJECTION
Inquires whether to apply occlusion handling to the model, which discards points of the model that are not visible to the 3D sensor at the position of the occurrence.
| Value | Description |
|---|---|
(see M_SCENE_PROJECTION) |
M_SCORE_MODE
Inquires the mode with which to associate model and target points for score calculations.
| Value | Description |
|---|---|
(see M_SCORE_MODE) |
M_SORT
Inquires the sorting key for result retrieval.
| Value | Description |
|---|---|
(see M_SORT) |
M_SORT_DIRECTION
Inquires whether results are sorted in ascending or descending order.
| Value | Description |
|---|---|
(see M_SORT_DIRECTION) |
M_TIMEOUT
Inquires the maximum amount of time for M3dmodFind to complete the 3D model finder operation before generating a time-out error.
| Value | Description |
|---|---|
(see M_TIMEOUT) |
M_USE_COLOR
Inquires whether to use the color information of the model and scene when searching for surface occurrences.
| Value | Description |
|---|---|
(see M_USE_COLOR) |
M_USER_DEFINED_REGISTRATION_CONTEXT_ID
Inquires the identifier of the internal registration context to use for fine tuning when M_REFINE_REGISTRATIONis set toM_USER_DEFINED_REGISTRATION.
For inquiring the type of model in a find 3D model finder context
The following Context3dmodId and InquireType parameter settings can be specified for a model in a 3D model finder context when Index is set to 0.
Find 3D model finder context ID with a model
Specifies a find box, cylinder, rectangular plane, sphere, surface, or planar surface 3D model finder context, allocated using M3dmodAlloc with M_FIND_..._CONTEXT, and used in M3dmodFind operations. It must contain a model.
M_MODEL_TYPE
Inquires the type of model in the find 3D model finder context.
| Value | Description |
|---|---|
M_BOX | Specifies that the model is a nominal box model. |
M_BOX_RANGE | Specifies that the model is a range-type box model. |
M_CYLINDER | Specifies that the model is a nominal cylinder model. |
M_CYLINDER_RANGE | Specifies that the model is a range-type cylinder model. |
M_RECTANGLE | Specifies that the model is a nominal rectangular plane model. |
M_RECTANGLE_RANGE | Specifies that the model is a range-type rectangular-plane model. |
M_SPHERE | Specifies that the model is a nominal sphere model. |
M_SPHERE_RANGE | Specifies that the model is a range-type sphere model. |
M_SURFACE | Specifies that the model is a surface model, defined by a point cloud. |
For inquiring a box, cylinder, rectangular plane, sphere, or surface 3D model
The following Context3dmodId and InquireType parameter settings can be specified for a box, cylinder, rectangular plane, sphere, or surface 3D model when Index is set to 0.
Find box 3D model finder context ID with a box model
Specifies a find box 3D model finder context, allocated using M3dmodAlloc with M_FIND_BOX_CONTEXT, and used in M3dmodFind operations. It must contain a box model.
M_ACCEPTANCE
Inquires the acceptance level for the score.
| Value | Description |
|---|---|
(see M_ACCEPTANCE) |
M_BOX_FACE_PARALLELISM_THRESHOLD
Inquires the maximum shear angle allowed between adjacent rectangles for them to count as the same box.
| Value | Description |
|---|---|
(see M_BOX_FACE_PARALLELISM_THRESHOLD) |
M_BOX_FACE_PERPENDICULARITY_THRESHOLD
Inquires the maximum deviation from 90 degrees allowed between adjacent rectangles for them to count as the same box.
| Value | Description |
|---|---|
(see M_BOX_FACE_PERPENDICULARITY_THRESHOLD) |
M_CERTAINTY
Inquires the certainty level for the score.
| Value | Description |
|---|---|
(see M_CERTAINTY) |
M_COMPLETION_ANGLE_TOLERANCE
Inquires the completion angular tolerance, when only one box face (plane) is found. Note that the corresponding control type has no effect unless M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_COMPLETION_ANGLE_TOLERANCE) |
M_COMPLETION_SIZE_X
Inquires the length along X to use to establish the missing dimension, when only one box face (plane) is found. Note that the corresponding control type has no effect unless M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_COMPLETION_SIZE_X) |
M_COMPLETION_SIZE_Y
Inquires the length along Y to use to establish the missing dimension, when only one box face (plane) is found. Note that the corresponding control type has no effect unless M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_COMPLETION_SIZE_Y) |
M_COMPLETION_SIZE_Z
Inquires the length along Z to use to establish the missing dimension, when only one box face (plane) is found. Note that the corresponding control type has no effect unless M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_COMPLETION_SIZE_Z) |
M_COMPLETION_TO_BACKGROUND
Inquires whether the visible face could be extruded to a background plane to complete the box, when only one box face (plane) is found. Note that the corresponding control type has no effect unless M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_COMPLETION_TO_BACKGROUND) |
M_COMPLETION_TO_STAIRCASE
Inquires whether the visible face could be extruded to an edge of a staircase plane to complete the box, when only one box face (plane) is found. Note that the corresponding control type has no effect unless M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_COMPLETION_TO_STAIRCASE) |
M_COMPLETION_TO_USER_SIZE
Inquires whether the visible face could be extruded to the specified completion size to complete the box, when only one box face (plane) is found. Note that the corresponding control type has no effect unless M_NUMBER_OF_VISIBLE_FACES_MIN is set to 1.
| Value | Description |
|---|---|
(see M_COMPLETION_TO_USER_SIZE) |
M_COVERAGE_MAX
Inquires the maximum expected model coverage.
| Value | Description |
|---|---|
(see M_COVERAGE_MAX) |
M_ELONGATION_MAX
Inquires the maximum elongation of the box occurrence. The elongation is defined as the maximum side/minimum side.
| Value | Description |
|---|---|
(see M_ELONGATION_MAX) |
M_ELONGATION_MIN
Inquires the minimum elongation of the box occurrence. The elongation is defined as the maximum side/minimum side.
| Value | Description |
|---|---|
(see M_ELONGATION_MIN) |
M_NORMAL_ANGLE_TOLERANCE
Inquires the angular tolerance to use for M_NORMAL_CONDITION, when searching for box occurrences.
| Value | Description |
|---|---|
(see M_NORMAL_ANGLE_TOLERANCE) |
M_NORMAL_CONDITION
Inquires whether to find only box occurrences that satisfy the specified condition, relative to the vector M_NORMAL_..., or to find any box occurrence.
| Value | Description |
|---|---|
(see M_NORMAL_CONDITION) |
M_NORMAL_X
Inquires the X-component of the vector against which to compare box occurrences, as specified using M_NORMAL_CONDITION.
| Value | Description |
|---|---|
(see M_NORMAL_X) |
M_NORMAL_Y
Inquires the Y-component of the vector against which to compare box occurrences, as specified using M_NORMAL_CONDITION.
| Value | Description |
|---|---|
(see M_NORMAL_Y) |
M_NORMAL_Z
Inquires the Z-component of the vector against which to compare box occurrences, as specified using M_NORMAL_CONDITION.
| Value | Description |
|---|---|
(see M_NORMAL_Z) |
M_NUMBER
Inquires the maximum number of occurrences for which to search.
| Value | Description |
|---|---|
(see M_NUMBER) |
M_NUMBER_OF_POINTS_MIN
Inquires the minimum number of points per occurrence found.
| Value | Description |
|---|---|
(see M_NUMBER_OF_POINTS_MIN) |
M_NUMBER_OF_VISIBLE_FACES_MAX
Inquires the maximum number of visible faces (planes) required for a box occurrence to be accepted.
| Value | Description |
|---|---|
(see M_NUMBER_OF_VISIBLE_FACES_MAX) |
M_NUMBER_OF_VISIBLE_FACES_MIN
Inquires the minimum number of visible faces (planes) required for a box occurrence to be accepted. If set to 1, a box can be extruded from a single plane according to the completion constraints (M_COMPLETION_...) and the reference direction (M_DIRECTION_REFERENCE_...).
| Value | Description |
|---|---|
(see M_NUMBER_OF_VISIBLE_FACES_MIN) |
M_PLANE_ACCEPTANCE
Inquires the acceptance level used for individual faces of the box occurrence.
| Value | Description |
|---|---|
(see M_PLANE_ACCEPTANCE) |
M_PLANE_CERTAINTY
Inquires the certainty level for individual faces of the box occurrence.
| Value | Description |
|---|---|
(see M_PLANE_CERTAINTY) |
M_PLANE_MAX_COVERAGE
Inquires the maximum expected coverage for individual faces of the box occurrence.
| Value | Description |
|---|---|
(see M_PLANE_MAX_COVERAGE) |
M_POLARITY
Inquires whether the normals should point inside or outside the box occurrence.
| Value | Description |
|---|---|
(see M_POLARITY) |
M_SIZE_X
Inquires the size of a nominal box model (M_BOX) along its X-axis.
| Value | Description |
|---|---|
(see M_SIZE_X) |
M_SIZE_X_MAX
Inquires the maximum size of a range-type box model (M_BOX_RANGE) along its X-axis.
| Value | Description |
|---|---|
(see M_SIZE_X_MAX) |
M_SIZE_X_MIN
Inquires the minimum size of a range-type box model (M_BOX_RANGE) along its X-axis.
| Value | Description |
|---|---|
(see M_SIZE_X_MIN) |
M_SIZE_Y
Inquires the size of a nominal box model (M_BOX) along its Y-axis, changing its originally defined size.
| Value | Description |
|---|---|
(see M_SIZE_Y) |
M_SIZE_Y_MAX
Inquires the maximum size of a range-type box model (M_BOX_RANGE) along its Y-axis.
| Value | Description |
|---|---|
(see M_SIZE_Y_MAX) |
M_SIZE_Y_MIN
Inquires the minimum size of a range-type box model (M_BOX_RANGE) along its Y-axis.
| Value | Description |
|---|---|
(see M_SIZE_Y_MIN) |
M_SIZE_Z
Inquires the size of a nominal box model (M_BOX) along its Z-axis, changing its originally defined size.
| Value | Description |
|---|---|
(see M_SIZE_Z) |
M_SIZE_Z_MAX
Inquires the maximum size of a range-type box model (M_BOX_RANGE) along its Z-axis.
| Value | Description |
|---|---|
(see M_SIZE_Z_MAX) |
M_SIZE_Z_MIN
Inquires the minimum size of a range-type box model (M_BOX_RANGE) along its Z-axis.
| Value | Description |
|---|---|
(see M_SIZE_Z_MIN) |
M_TOLERANCE_X
Inquires the tolerance for the size of a nominal box model (M_BOX) along its X-axis.
| Value | Description |
|---|---|
(see M_TOLERANCE_X) |
M_TOLERANCE_Y
Inquires the tolerance for the size of a nominal box model (M_BOX) along its Y-axis.
| Value | Description |
|---|---|
(see M_TOLERANCE_Y) |
M_TOLERANCE_Z
Inquires the tolerance for the size of a nominal box model (M_BOX) along its Z-axis.
| Value | Description |
|---|---|
(see M_TOLERANCE_Z) |
Find cylinder 3D model finder context ID with a cylinder model
Specifies a find cylinder 3D model finder context, allocated using M3dmodAlloc with M_FIND_CYLINDER_CONTEXT, and used in M3dmodFind operations. It must contain a cylinder model.
M_ACCEPTANCE
Inquires the acceptance level for the score.
| Value | Description |
|---|---|
(see M_ACCEPTANCE) |
M_BASES
Inquires whether the cylinder model includes bases.
| Value | Description |
|---|---|
(see M_BASES) |
M_CERTAINTY
Inquires the certainty level for the score.
| Value | Description |
|---|---|
(see M_CERTAINTY) |
M_COVERAGE_MAX
Inquires the maximum expected model coverage.
| Value | Description |
|---|---|
(see M_COVERAGE_MAX) |
M_LENGTH
Inquires the length of a nominal cylinder model (M_CYLINDER).
| Value | Description |
|---|---|
(see M_LENGTH) |
M_LENGTH_MAX
Inquires the maximum length of a range-type cylinder model (M_CYLINDER_RANGE).
| Value | Description |
|---|---|
(see M_LENGTH_MAX) |
M_LENGTH_MIN
Inquires the minimum length of a range-type cylinder model (M_CYLINDER_RANGE).
| Value | Description |
|---|---|
(see M_LENGTH_MIN) |
M_MIN_SEPARATION_DISTANCE
Inquires the minimum gap distance along the length of a cylinder before considering the cylinder as two separate occurrences of the cylinder model.
| Value | Description |
|---|---|
(see M_MIN_SEPARATION_DISTANCE) |
M_NUMBER
Inquires the maximum number of occurrences for which to search.
| Value | Description |
|---|---|
(see M_NUMBER) |
M_NUMBER_OF_POINTS_MIN
Inquires the minimum number of points per occurrence found.
| Value | Description |
|---|---|
(see M_NUMBER_OF_POINTS_MIN) |
M_RADIUS
Inquires the radius of a nominal cylinder model (M_CYLINDER).
| Value | Description |
|---|---|
(see M_RADIUS) |
M_RADIUS_MAX
Inquires the maximum radius of a range-type cylinder model (M_CYLINDER_RANGE).
| Value | Description |
|---|---|
(see M_RADIUS_MAX) |
M_RADIUS_MIN
Inquires the minimum radius of a range-type cylinder model (M_CYLINDER_RANGE).
| Value | Description |
|---|---|
(see M_RADIUS_MIN) |
M_RESERVED_POINTS_DISTANCE
Inquires the reserved distance around the occurrence, defined as a percentage of the radius. Points found in this area are not considered in the fit, and cannot be considered for other occurrences.
| Value | Description |
|---|---|
(see M_RESERVED_POINTS_DISTANCE) |
M_TOLERANCE_LENGTH
Inquires the tolerance for the length of a nominal cylinder model (M_CYLINDER).
| Value | Description |
|---|---|
(see M_TOLERANCE_LENGTH) |
M_TOLERANCE_RADIUS
Inquires the tolerance for the radius of a nominal cylinder model (M_CYLINDER).
| Value | Description |
|---|---|
(see M_TOLERANCE_RADIUS) |
Find rectangular plane 3D model finder context ID with a rectangular plane model
Specifies a find rectangular plane 3D model finder context, allocated using M3dmodAlloc with M_FIND_RECTANGULAR_PLANE_CONTEXT, and used in M3dmodFind operations. It must contain a rectangular plane model.
M_ACCEPTANCE
Inquires the acceptance level for the score.
| Value | Description |
|---|---|
(see M_ACCEPTANCE) |
M_CERTAINTY
Inquires the certainty level for the score.
| Value | Description |
|---|---|
(see M_CERTAINTY) |
M_COVERAGE_MAX
Inquires the maximum expected model coverage.
| Value | Description |
|---|---|
(see M_COVERAGE_MAX) |
M_ELONGATION_MAX
Inquires the maximum elongation of the rectangular plane occurrence. The elongation is defined as the maximum side/minimum side.
| Value | Description |
|---|---|
(see M_ELONGATION_MAX) |
M_ELONGATION_MIN
Inquires the minimum elongation of the rectangular plane occurrence. The elongation is defined as the maximum side/minimum side.
| Value | Description |
|---|---|
(see M_ELONGATION_MIN) |
M_NORMAL_ANGLE_TOLERANCE
Inquires the angular tolerance to use for M_NORMAL_CONDITION, when searching for rectangular plane occurrences.
| Value | Description |
|---|---|
(see M_NORMAL_ANGLE_TOLERANCE) |
M_NORMAL_CONDITION
Inquires whether to find only rectangular plane occurrences that satisfy the specified condition, relative to the vector M_NORMAL_..., or to find any rectangular plane occurrence.
| Value | Description |
|---|---|
(see M_NORMAL_CONDITION) |
M_NORMAL_X
Inquires the X-component of the vector against which to compare rectangular plane occurrences, as specified using M_NORMAL_CONDITION.
| Value | Description |
|---|---|
(see M_NORMAL_X) |
M_NORMAL_Y
Inquires the Y-component of the vector against which to compare rectangular plane occurrences, as specified using M_NORMAL_CONDITION.
| Value | Description |
|---|---|
(see M_NORMAL_Y) |
M_NORMAL_Z
Inquires the Z-component of the vector against which to compare rectangular plane occurrences, as specified using M_NORMAL_CONDITION.
| Value | Description |
|---|---|
(see M_NORMAL_Z) |
M_NUMBER
Inquires the maximum number of occurrences for which to search.
| Value | Description |
|---|---|
(see M_NUMBER) |
M_NUMBER_OF_POINTS_MIN
Inquires the minimum number of points per occurrence found.
| Value | Description |
|---|---|
(see M_NUMBER_OF_POINTS_MIN) |
M_SIZE_X
Inquires the size of a nominal rectangular plane model (M_RECTANGLE) along its X-axis.
| Value | Description |
|---|---|
(see M_SIZE_X) |
M_SIZE_X_MAX
Inquires the maximum size of a range-type rectangular plane model (M_RECTANGLE_RANGE) along its X-axis.
| Value | Description |
|---|---|
(see M_SIZE_X_MAX) |
M_SIZE_X_MIN
Inquires the minimum size of a range-type rectangular plane model (M_RECTANGLE_RANGE) along its X-axis.
| Value | Description |
|---|---|
(see M_SIZE_X_MIN) |
M_SIZE_Y
Inquires the size of a nominal rectangular plane model (M_RECTANGLE) along its Y-axis.
| Value | Description |
|---|---|
(see M_SIZE_Y) |
M_SIZE_Y_MAX
Inquires the maximum size of a range-type rectangular plane model (M_RECTANGLE_RANGE) along its Y-axis.
| Value | Description |
|---|---|
(see M_SIZE_Y_MAX) |
M_SIZE_Y_MIN
Inquires the minimum size of a range-type rectangular plane model (M_RECTANGLE_RANGE) along its Y-axis.
| Value | Description |
|---|---|
(see M_SIZE_Y_MIN) |
M_TOLERANCE_X
Inquires the tolerance for the size of a nominal rectangular plane model (M_RECTANGLE) along its X-axis.
| Value | Description |
|---|---|
(see M_TOLERANCE_X) |
M_TOLERANCE_Y
Inquires the tolerance for the size of a nominal rectangular plane model (M_RECTANGLE) along its Y-axis.
| Value | Description |
|---|---|
(see M_TOLERANCE_Y) |
Find sphere 3D model finder context ID with a sphere model
Specifies a find sphere 3D model finder context, allocated using M3dmodAlloc with M_FIND_SPHERE_CONTEXT, and used in M3dmodFind operations. It must contain a sphere model.
M_ACCEPTANCE
Inquires the acceptance level for the score.
| Value | Description |
|---|---|
(see M_ACCEPTANCE) |
M_CERTAINTY
Inquires the certainty level for the score.
| Value | Description |
|---|---|
(see M_CERTAINTY) |
M_COVERAGE_MAX
Inquires the maximum expected model coverage.
| Value | Description |
|---|---|
(see M_COVERAGE_MAX) |
M_NUMBER
Inquires the maximum number of occurrences for which to search.
| Value | Description |
|---|---|
(see M_NUMBER) |
M_NUMBER_OF_POINTS_MIN
Inquires the minimum number of points per occurrence found.
| Value | Description |
|---|---|
(see M_NUMBER_OF_POINTS_MIN) |
M_RADIUS
Inquires the radius of a nominal sphere model (M_SPHERE).
| Value | Description |
|---|---|
(see M_RADIUS) |
M_RADIUS_MAX
Inquires the maximum radius of a range-type sphere model (M_SPHERE_RANGE).
| Value | Description |
|---|---|
(see M_RADIUS_MAX) |
M_RADIUS_MIN
Inquires the minimum radius of a range-type sphere model (M_SPHERE_RANGE).
| Value | Description |
|---|---|
(see M_RADIUS_MIN) |
M_RESERVED_POINTS_DISTANCE
Inquires the reserved distance around the occurrence, defined as a percentage of the radius. Points found in this area are not considered in the fit, and cannot be considered for other occurrences.
| Value | Description |
|---|---|
(see M_RESERVED_POINTS_DISTANCE) |
M_TOLERANCE_RADIUS
Inquires the tolerance for the radius of a nominal sphere model (M_SPHERE).
| Value | Description |
|---|---|
(see M_TOLERANCE_RADIUS) |
Find surface or planar surface 3D model finder context ID with a surface model
Specifies a find surface or planar surface 3D model finder context, allocated using M3dmodAlloc with M_FIND_SURFACE_CONTEXT or M_FIND_PLANAR_SURFACE_CONTEXT, and used in M3dmodFind operations. It must contain a surface model.
M_ACCEPTANCE
Inquires the acceptance level for the score.
| Value | Description |
|---|---|
(see M_ACCEPTANCE) |
M_ACCEPTANCE_COLOR
Inquires the acceptance level for the color score.
| Value | Description |
|---|---|
(see M_ACCEPTANCE_COLOR) |
M_ACCEPTANCE_TARGET
Inquires the acceptance level for the target score.
| Value | Description |
|---|---|
(see M_ACCEPTANCE_TARGET) |
M_CERTAINTY
Inquires the certainty level for the score.
| Value | Description |
|---|---|
(see M_CERTAINTY) |
M_COVERAGE_MAX
Inquires the maximum expected model coverage.
| Value | Description |
|---|---|
(see M_COVERAGE_MAX) |
M_FIT_SCORE_MIN
Inquires the minimum expected occurrence fit score. Note that the corresponding control type has no effect unless M_SAVE_FIT_INFOis set toM_ENABLE.
| Value | Description |
|---|---|
(see M_FIT_SCORE_MIN) |
M_MODEL_PLANES_OCCLUSION_MODE
Inquires the occlusion level of the planar regions of the model in the scene. Note that this inquire type is only available for find planar surface 3D model finder contexts.
| Value | Description |
|---|---|
(see M_MODEL_PLANES_OCCLUSION_MODE) |
M_MODEL_RANGE_SIZE_X
Inquires the size in X of the range component of the model point cloud. Note that you can use this value to allocate an image buffer of an appropriate size to pass to M3dmodCopy with M_GRIP_LABEL_IMAGE or M_WEIGHT_IMAGE. Note that this inquire type is not available for find planar surface 3D model finder contexts.
| Value | Description |
|---|---|
Value > 0 | Specifies the X-size, in pixels. |
M_MODEL_RANGE_SIZE_Y
Inquires the size in Y of the range component of the model point cloud. Note that you can use this value to allocate an image buffer of an appropriate size to pass to M3dmodCopy with M_GRIP_LABEL_IMAGE or M_WEIGHT_IMAGE. Note that this inquire type is not available for find planar surface 3D model finder contexts.
| Value | Description |
|---|---|
Value > 0 | Specifies the Y-size, in pixels. |
M_MODEL_RESOLUTION
Inquires the resolution of the model when it was originally defined (before preprocessing); the resolution is expressed as the average distance between points.
| Value | Description |
|---|---|
Value > 0.0 | Specifies the resolution of the defined model, where the resolution is expressed as the average distance between points. |
M_NUMBER
Inquires the maximum number of occurrences for which to search.
| Value | Description |
|---|---|
(see M_NUMBER) |
M_NUMBER_OF_POINTS_MIN
Inquires the minimum number of points per occurrence found.
| Value | Description |
|---|---|
(see M_NUMBER_OF_POINTS_MIN) |
M_NUMBER_RESTING_PLANE
Inquires the number of resting planes defined using M3dmodCopy with M_RESTING_PLANE.
| Value | Description |
|---|---|
0 <= Value <= 1 | Specifies the number of resting planes. |
M_REMOVE_OUTLIERS
Inquires whether to perform outlier removal on the model.
| Value | Description |
|---|---|
(see M_REMOVE_OUTLIERS) |
M_REMOVE_OUTLIERS_SEARCH_MODE
Inquires the search mode for finding outliers when M_REMOVE_OUTLIERS is enabled.
| Value | Description |
|---|---|
(see M_REMOVE_OUTLIERS_SEARCH_MODE) |
M_RESTING_PLANE_ANGLE_TOLERANCE
Inquires the angular tolerance for the resting plane constraint.
| Value | Description |
|---|---|
(see M_RESTING_PLANE_ANGLE_TOLERANCE) |
M_SEARCH_POINT_RESOLUTION
Inquires the resolution of the target point cloud (scene), where the resolution is expressed as the average distance between points.
| Value | Description |
|---|---|
(see M_SEARCH_POINT_RESOLUTION) |
M_TARGET_PLANES_OCCLUSION_MODE
Inquires the target occlusion level when a planar region of the model is a portion of a planar region of an object in the scene. Note that this inquire type is only available for find planar surface 3D model finder contexts.
| Value | Description |
|---|---|
(see M_TARGET_PLANES_OCCLUSION_MODE) |
Combination Constants — For inquiring about the default value
Optional.
Usage: 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.
M_DEFAULT
Inquires the default value of the specified inquire type.
M_IS_SET_TO_DEFAULT
Inquires whether the specified inquire type is set to its default value.
| Value | Description |
|---|---|
M_FALSE | Specifies that the inquire type is not set to its default value. |
M_TRUE | Specifies that the inquire type is set to its default value. |
Combination Constants — For inquiring whether an inquire type has a default value or whether it is supported
Optional.
Usage: You can add one of the following values to the above-mentioned values to determine whether an inquire type has a default value or whether it 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_INT
Casts the requested information to an AIL_INT.
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_INT64
The returned value is the requested information, cast to an AIL_INT64. If the requested information does not fit into an AIL_INT64, this function will return M_NULLor truncate the information.