edges_object_model_3dT_edges_object_model_3dEdgesObjectModel3dEdgesObjectModel3dedges_object_model_3d (算子)

名称

edges_object_model_3dT_edges_object_model_3dEdgesObjectModel3dEdgesObjectModel3dedges_object_model_3d — 在三维对象模型中查找边缘。

签名

描述

edges_object_model_3dedges_object_model_3dEdgesObjectModel3dEdgesObjectModel3dEdgesObjectModel3dedges_object_model_3d finds 3D edges in the 3D object model ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d and returns them in the 3D object model ObjectModel3DEdgesObjectModel3DEdgesObjectModel3DEdgesObjectModel3DEdgesobjectModel3DEdgesobject_model_3dedges。

The operator supports edge extraction only from 3D object models that contain a XYZ mapping, such as models that were created with xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3dxyz_to_object_model_3d or that were obtained with a sensor that delivers the mapping. MinAmplitudeMinAmplitudeMinAmplitudeMinAmplitudeminAmplitudemin_amplitude defines the minimum amplitude of a discontinuity in order to be classified as an edge. It is given in the same unit as used in ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d。

The extracted edges are a subset of the points of the input object model. In addition to the coordinates of the edges, the point normal vectors in ObjectModel3DEdgesObjectModel3DEdgesObjectModel3DEdgesObjectModel3DEdgesobjectModel3DEdgesobject_model_3dedges contain the viewing direction of each 3D edge point from the viewpoint towards the edge point. Also, the attributes 'edge_dir_x'"edge_dir_x""edge_dir_x""edge_dir_x""edge_dir_x""edge_dir_x", 'edge_dir_y'"edge_dir_y""edge_dir_y""edge_dir_y""edge_dir_y""edge_dir_y" and 'edge_dir_z'"edge_dir_z""edge_dir_z""edge_dir_z""edge_dir_z""edge_dir_z" contain a vector that is perpendicular to the edge direction and to the viewing direction. The attributes are set such that the 3D object model can be used for edge-supported surface-based matching in find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModelfind_surface_model。

Generic parameters can optionally be used to influence the edge extraction. If desired, these parameters and their corresponding values can be specified with GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name and GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value.GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name 的可能取值如下：

'max_gap'"max_gap""max_gap""max_gap""max_gap""max_gap"：

This parameter specifies the maximum gap size in pixels in the XYZ-images that are closed. Gaps larger than this value will contain edges at their boundary, while gaps smaller than this value will not. This suppresses edges around smaller patches that were not reconstructed by the sensor as well as edges at the more distant part of a discontinuity. For sensors with very large resolutions, the value should be increased to avoid spurious edges.

默认值： 30.

'estimate_viewpose'"estimate_viewpose""estimate_viewpose""estimate_viewpose""estimate_viewpose""estimate_viewpose"：

This parameter can be used to turn off the automatic viewpose estimation and set a manual viewpoint.

默认值： 'true'"true""true""true""true""true".

'viewpoint'"viewpoint""viewpoint""viewpoint""viewpoint""viewpoint"：

This parameter only has an effect when 'estimate_viewpose'"estimate_viewpose""estimate_viewpose""estimate_viewpose""estimate_viewpose""estimate_viewpose" is set to 'false'"false""false""false""false""false". It specifies the viewpoint from which the 3D data is seen. It is used to determine the viewing directions and edge directions. It defaults to the origin '0 0 0'"0 0 0""0 0 0""0 0 0""0 0 0""0 0 0" of the 3D data. If the projection center is at a different location, for example, if the 3D object model was transformed with rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d or if the 3D sensor performed a similar transformation, the original viewpoint must be set. For this, GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value must contain a string consisting of the three coordinates (x, y and z) of the viewpoint, separated by spaces. The viewpoint is defined in the same coordinate frame as ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d. Note that for use of this parameter, the values in the X-, Y-, and Z- images obtained from object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyzObjectModel3dToXyzobject_model_3d_to_xyz must have increasing values from left to right, top to bottom, and for object parts further away from the camera, respectively.

默认值： '0 0 0'"0 0 0""0 0 0""0 0 0""0 0 0""0 0 0".

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。

此算子支持取消超时和中断。

参数

结果

edges_object_model_3dedges_object_model_3dEdgesObjectModel3dEdgesObjectModel3dEdgesObjectModel3dedges_object_model_3d 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

可能的后继

find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModelfind_surface_model, find_surface_model_imagefind_surface_model_imageFindSurfaceModelImageFindSurfaceModelImageFindSurfaceModelImagefind_surface_model_image, refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose, refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image

模块

三维计量