create_deformable_surface_modelT_create_deformable_surface_modelCreateDeformableSurfaceModelCreateDeformableSurfaceModelcreate_deformable_surface_model (算子)

名称

create_deformable_surface_modelT_create_deformable_surface_modelCreateDeformableSurfaceModelCreateDeformableSurfaceModelcreate_deformable_surface_model — 创建执行基于可变形表面的匹配所需的数据结构。

签名

描述

算子 create_deformable_surface_modelcreate_deformable_surface_modelCreateDeformableSurfaceModelCreateDeformableSurfaceModelCreateDeformableSurfaceModelcreate_deformable_surface_model creates a model for deformable surface-based matching for the 3D object stored in the 3D object model ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d. The 3D object model can, for example, have been read previously from a file by using read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3dread_object_model_3d or it can have been created by using xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3dxyz_to_object_model_3d。The created surface model is returned in DeformableSurfaceModelDeformableSurfaceModelDeformableSurfaceModelDeformableSurfaceModeldeformableSurfaceModeldeformable_surface_model。

The creation of the deformable surface model requires that the 3D object model contains points and normals. The following combinations are possible:

• points and point normals, e.g., from a call to surface_normals_object_model_3dsurface_normals_object_model_3dSurfaceNormalsObjectModel3dSurfaceNormalsObjectModel3dSurfaceNormalsObjectModel3dsurface_normals_object_model_3d

• points and a triangular or polygon mesh, e.g., from a CAD file

• points and a 2D-Mapping, e.g., from an XYZ image triple converted with xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3dxyz_to_object_model_3d

Note that the direction and orientation (inward or outward) of the normals of the model are important for matching.

The deformable surface model is created by sampling the 3D object model with a certain distance. The sampling distance must be specified in the parameter RelSamplingDistanceRelSamplingDistanceRelSamplingDistanceRelSamplingDistancerelSamplingDistancerel_sampling_distance and is parametrized relative to the diameter of the axis-parallel bounding box of the 3D object model. For example, if RelSamplingDistanceRelSamplingDistanceRelSamplingDistanceRelSamplingDistancerelSamplingDistancerel_sampling_distance is set to 0.05 and the diameter of ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d is 10 cm, the points sampled from the object's surface will be approximately 5 mm apart. The sampled points can be obtained with the operator get_deformable_surface_model_paramget_deformable_surface_model_paramGetDeformableSurfaceModelParamGetDeformableSurfaceModelParamGetDeformableSurfaceModelParamget_deformable_surface_model_param using the value 'sampled_model'"sampled_model""sampled_model""sampled_model""sampled_model""sampled_model". Note that outlier points in the object model should be avoided, as they would corrupt the diameter. Reducing RelSamplingDistanceRelSamplingDistanceRelSamplingDistanceRelSamplingDistancerelSamplingDistancerel_sampling_distance leads to more points, and in turn to a more stable but slower matching. Increasing RelSamplingDistanceRelSamplingDistanceRelSamplingDistanceRelSamplingDistancerelSamplingDistancerel_sampling_distance leads to less points, and in turn to a less stable but faster matching.

By default, deformable surface models created with create_deformable_surface_modelcreate_deformable_surface_modelCreateDeformableSurfaceModelCreateDeformableSurfaceModelCreateDeformableSurfaceModelcreate_deformable_surface_model can handle a moderate amount of deformation. The operator add_deformable_surface_model_sampleadd_deformable_surface_model_sampleAddDeformableSurfaceModelSampleAddDeformableSurfaceModelSampleAddDeformableSurfaceModelSampleadd_deformable_surface_model_sample can be used to add additional training samples, thus expanding the range of possible deformations. The amount of deformation that can be found can also be controlled with the generic parameters 'scale_min'"scale_min""scale_min""scale_min""scale_min""scale_min", 'scale_max'"scale_max""scale_max""scale_max""scale_max""scale_max" and 'bending_max'"bending_max""bending_max""bending_max""bending_max""bending_max" (see below).

The generic parameter pair GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name and GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value is used to set additional parameters for the model generation. GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name contains the tuple of parameter names that shall be set and GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value contains the corresponding values. The following values are possible for GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name:

'model_invert_normals'"model_invert_normals""model_invert_normals""model_invert_normals""model_invert_normals""model_invert_normals"：

Invert the orientation of the surface normals of the model. The normal orientation needs to be known for the model generation. If both the model and the scene are acquired with the same setup, the normals will already point in the same direction. If the model was loaded from a CAD file, the normals might point into the opposite direction. If you experience the effect that the model is found on the 'outside' of the scene surface and the model was created from a CAD file, try to set this parameter to 'true'"true""true""true""true""true". Also, make sure that the normals in the CAD file all point either outward or inward, i.e., are oriented consistently.

Possible values: 'false'"false""false""false""false""false", 'true'"true""true""true""true""true"

默认值： 'false'"false""false""false""false""false"

'scale_min'"scale_min""scale_min""scale_min""scale_min""scale_min" and 'scale_max'"scale_max""scale_max""scale_max""scale_max""scale_max"：

The minimum and maximum allowed scaling of the model. Note that if you set one of the two parameters, the other one must be set too.

建议值： 0.8, 1, 1.2

默认值： No scaling

Assertion: 0 < 'scale_min'"scale_min""scale_min""scale_min""scale_min""scale_min" < 'scale_max'"scale_max""scale_max""scale_max""scale_max""scale_max"

'bending_max'"bending_max""bending_max""bending_max""bending_max""bending_max"：

Controls the maximum automatic deformation of the model. The model is deformed automatically by bending it with an angle up to the value of 'bending_max'"bending_max""bending_max""bending_max""bending_max""bending_max". This allows for deformations to be found that are within this bending range. The angle is passed in degrees.

建议值： 5, 10, 30

默认值： 20

Assertion: 0 <= 'bending_max'"bending_max""bending_max""bending_max""bending_max""bending_max" < 90

'stiffness'"stiffness""stiffness""stiffness""stiffness""stiffness"：

Control the stiffness of the model when performing the refinement. Larger values of this parameter lead to a more stiff model that can be less deformed. Smaller values lead to a less stiff model that allows more deformation.

建议值： 0.2, 0.5, 0.8

默认值： 0.5

Assertion: 0 < 'stiffness'"stiffness""stiffness""stiffness""stiffness""stiffness" <= 1

执行信息

• 多线程类型：可重入（与非独占算子并行运行）。
• 多线程作用域：全局（可从任何线程调用）。
• 在内部数据级别上自动并行化。

此算子返回一个句柄。请注意，即使该句柄被用作特定算子的输入参数，这些算子仍可能改变此句柄类型的实例状态。

此算子支持取消超时和中断。

参数

结果

create_deformable_surface_modelcreate_deformable_surface_modelCreateDeformableSurfaceModelCreateDeformableSurfaceModelCreateDeformableSurfaceModelcreate_deformable_surface_model 在所有参数正确时返回 2 ( H_MSG_TRUE )。如有必要，则抛出异常。

可能的前趋

read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3dread_object_model_3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3dxyz_to_object_model_3d, get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsGetObjectModel3dParamsget_object_model_3d_params

可能的后继

add_deformable_surface_model_sampleadd_deformable_surface_model_sampleAddDeformableSurfaceModelSampleAddDeformableSurfaceModelSampleAddDeformableSurfaceModelSampleadd_deformable_surface_model_sample, add_deformable_surface_model_reference_pointadd_deformable_surface_model_reference_pointAddDeformableSurfaceModelReferencePointAddDeformableSurfaceModelReferencePointAddDeformableSurfaceModelReferencePointadd_deformable_surface_model_reference_point, find_deformable_surface_modelfind_deformable_surface_modelFindDeformableSurfaceModelFindDeformableSurfaceModelFindDeformableSurfaceModelfind_deformable_surface_model, refine_deformable_surface_modelrefine_deformable_surface_modelRefineDeformableSurfaceModelRefineDeformableSurfaceModelRefineDeformableSurfaceModelrefine_deformable_surface_model, get_deformable_surface_model_paramget_deformable_surface_model_paramGetDeformableSurfaceModelParamGetDeformableSurfaceModelParamGetDeformableSurfaceModelParamget_deformable_surface_model_param, write_deformable_surface_modelwrite_deformable_surface_modelWriteDeformableSurfaceModelWriteDeformableSurfaceModelWriteDeformableSurfaceModelwrite_deformable_surface_model, clear_deformable_surface_modelclear_deformable_surface_modelClearDeformableSurfaceModelClearDeformableSurfaceModelClearDeformableSurfaceModelclear_deformable_surface_model

替代

read_deformable_surface_modelread_deformable_surface_modelReadDeformableSurfaceModelReadDeformableSurfaceModelReadDeformableSurfaceModelread_deformable_surface_model

另见

find_deformable_surface_modelfind_deformable_surface_modelFindDeformableSurfaceModelFindDeformableSurfaceModelFindDeformableSurfaceModelfind_deformable_surface_model, refine_deformable_surface_modelrefine_deformable_surface_modelRefineDeformableSurfaceModelRefineDeformableSurfaceModelRefineDeformableSurfaceModelrefine_deformable_surface_model, read_deformable_surface_modelread_deformable_surface_modelReadDeformableSurfaceModelReadDeformableSurfaceModelReadDeformableSurfaceModelread_deformable_surface_model, add_deformable_surface_model_sampleadd_deformable_surface_model_sampleAddDeformableSurfaceModelSampleAddDeformableSurfaceModelSampleAddDeformableSurfaceModelSampleadd_deformable_surface_model_sample, add_deformable_surface_model_reference_pointadd_deformable_surface_model_reference_pointAddDeformableSurfaceModelReferencePointAddDeformableSurfaceModelReferencePointAddDeformableSurfaceModelReferencePointadd_deformable_surface_model_reference_point, write_deformable_surface_modelwrite_deformable_surface_modelWriteDeformableSurfaceModelWriteDeformableSurfaceModelWriteDeformableSurfaceModelwrite_deformable_surface_model, clear_deformable_surface_modelclear_deformable_surface_modelClearDeformableSurfaceModelClearDeformableSurfaceModelClearDeformableSurfaceModelclear_deformable_surface_model

参考文献

Bertram Drost, Slobodan Ilic: “Graph-Based Deformable 3D Object Matching.” Proceedings of the 37th German Conference on Pattern Recognition, pp. 222-233, 2015.

模块

三维计量