find_calib_descriptor_modelT_find_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelfind_calib_descriptor_model (算子)

名称

find_calib_descriptor_modelT_find_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelfind_calib_descriptor_model — 在图像中找到标定描述符模型的最佳匹配，并返回它们的三维姿态。

签名

find_calib_descriptor_model(Image : : ModelID, DetectorParamName, DetectorParamValue, DescriptorParamName, DescriptorParamValue, MinScore, NumMatches, CamParam, ScoreType : Pose, Score)

描述

算子 find_calib_descriptor_modelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelFindCalibDescriptorModelfind_calib_descriptor_model finds the best NumMatchesNumMatchesNumMatchesNumMatchesnumMatchesnum_matches matches of the descriptor model ModelIDModelIDModelIDModelIDmodelIDmodel_id in ImageImageImageImageimageimage. The descriptor model must have been created previously by calling create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModelCreateCalibDescriptorModelcreate_calib_descriptor_model or read_descriptor_modelread_descriptor_modelReadDescriptorModelReadDescriptorModelReadDescriptorModelread_descriptor_model。

The operator returns the 3D PosePosePosePoseposepose (in camera coordinate system) of the template object found in the search ImageImageImageImageimageimage. As two different cameras can be used for the model generation and the online search, the camera parameters of the camera used to create ImageImageImageImageimageimage have to be set in CamParamCamParamCamParamCamParamcamParamcam_param。

The point correspondences for each object can be queried with get_descriptor_model_pointsget_descriptor_model_pointsGetDescriptorModelPointsGetDescriptorModelPointsGetDescriptorModelPointsget_descriptor_model_points。

注意

Note that the domain of the search image should contain the whole object to be searched for because interest points are only extracted inside the domain of the search image. This means that if the domain does not contain the full object to be searched for, the resulting ScoreScoreScoreScorescorescore will decrease. Note also that matches may be found even if the reference point (origin) of the model lies outside of the domain of the search image. Both is in contrast to shape-based matching, where the domain of the search image defines the search space for the reference point of the model.

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）。
未采用并行化处理。

参数

ImageImageImageImageimageimage (输入对象) singlechannelimage → object (byte / uint2)

Input image where the model should be found.

ModelIDModelIDModelIDModelIDmodelIDmodel_id (输入控制) descriptor_model → (handle)

The handle to the descriptor model.

DetectorParamNameDetectorParamNameDetectorParamNameDetectorParamNamedetectorParamNamedetector_param_name (输入控制) attribute.name-array → (string)

The detector's parameter names.

默认值： []

值列表： 'alpha'"alpha""alpha""alpha""alpha""alpha", 'check_neighbor'"check_neighbor""check_neighbor""check_neighbor""check_neighbor""check_neighbor", 'mask_size_grd'"mask_size_grd""mask_size_grd""mask_size_grd""mask_size_grd""mask_size_grd", 'mask_size_smooth'"mask_size_smooth""mask_size_smooth""mask_size_smooth""mask_size_smooth""mask_size_smooth", 'min_check_neighbor_diff'"min_check_neighbor_diff""min_check_neighbor_diff""min_check_neighbor_diff""min_check_neighbor_diff""min_check_neighbor_diff", 'min_score'"min_score""min_score""min_score""min_score""min_score", 'radius'"radius""radius""radius""radius""radius", 'sigma_grad'"sigma_grad""sigma_grad""sigma_grad""sigma_grad""sigma_grad", 'sigma_smooth'"sigma_smooth""sigma_smooth""sigma_smooth""sigma_smooth""sigma_smooth", 'subpix'"subpix""subpix""subpix""subpix""subpix", 'threshold'"threshold""threshold""threshold""threshold""threshold"

DetectorParamValueDetectorParamValueDetectorParamValueDetectorParamValuedetectorParamValuedetector_param_value (输入控制) attribute.value-array → (integer / real / string)

Values of the detector's parameters.

默认值： []

建议值： 0.08, 1, 1.2, 3, 15, 30, 1000, 'on'"on""on""on""on""on", 'off'"off""off""off""off""off"

DescriptorParamNameDescriptorParamNameDescriptorParamNameDescriptorParamNamedescriptorParamNamedescriptor_param_name (输入控制) attribute.name-array → (string)

The descriptor's parameter names.

默认值： []

值列表： 'guided_matching'"guided_matching""guided_matching""guided_matching""guided_matching""guided_matching", 'min_score_descr'"min_score_descr""min_score_descr""min_score_descr""min_score_descr""min_score_descr"

DescriptorParamValueDescriptorParamValueDescriptorParamValueDescriptorParamValuedescriptorParamValuedescriptor_param_value (输入控制) attribute.value-array → (real / integer / string)

Values of the descriptor's parameters.

默认值： []

建议值： 0.0, 0.001, 0.005, 0.01, 'on'"on""on""on""on""on", 'off'"off""off""off""off""off"

MinScoreMinScoreMinScoreMinScoreminScoremin_score (输入控制) real(-array) → (real)

Minimum score of the instances of the models to be found.

默认值： 0.2

建议值： 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

值范围： 0 ≤ MinScore MinScore MinScore MinScore minScore min_score ≤ 1

NumMatchesNumMatchesNumMatchesNumMatchesnumMatchesnum_matches (输入控制) integer → (integer)

Maximal number of found instances.

默认值： 1

建议值： 1, 2, 3, 4

限制： NumMatches >= 1

CamParamCamParamCamParamCamParamcamParamcam_param (输入控制) campar → (real / integer / string)

Camera parameter (inner orientation) obtained from camera calibration.

ScoreTypeScoreTypeScoreTypeScoreTypescoreTypescore_type (输入控制) string(-array) → (string)

Score type to be evaluated in ScoreScoreScoreScorescorescore。

默认值： 'num_points' "num_points" "num_points" "num_points" "num_points" "num_points"

值列表： 'inlier_ratio'"inlier_ratio""inlier_ratio""inlier_ratio""inlier_ratio""inlier_ratio", 'num_points'"num_points""num_points""num_points""num_points""num_points"

PosePosePosePoseposepose (输出控制) pose(-array) → (real / integer)

3D pose of the object.

ScoreScoreScoreScorescorescore (输出控制) number(-array) → (real / integer)

Score of the found instances according to the ScoreType input.

示例（HDevelop）

*  Perform camera calibration (with standard calibration plate)
calibrate_cameras (CalibDataID, Error)
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
*  World coordinate system is defined by calibration plate in first image
get_calib_data (CalibDataID, 'calib_obj_pose',  [0,0], 'pose', \
                ObjInCameraPose)
*  Compensate thickness of plate
set_origin_pose(ObjInCameraPose, 0, 0, 0.0006, WorldPose)

* Create descriptor model:
create_calib_descriptor_model (Image,CamParam,WorldPose, \
                               'harris',[],[],[],[],42,ModelID)

get_descriptor_model_params (ModelID,DetectorType, \
                             DetectorParamName,DetectorParamValue, \
                             DescriptorParamName,DescriptorParamValue)
write_descriptor_model (ModelID,'simple_example.dsm')

read_descriptor_model ('simple_example.dsm',ModelID)
find_calib_descriptor_model (SearchImage,ModelID,[],[],[],[],0.2,1, \
                             CamParam,['num_points','inlier_ratio'], \
                             Pose,Score)

可能的前趋

create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModelCreateCalibDescriptorModelcreate_calib_descriptor_model, read_descriptor_modelread_descriptor_modelReadDescriptorModelReadDescriptorModelReadDescriptorModelread_descriptor_model

另见

vector_to_posevector_to_poseVectorToPoseVectorToPoseVectorToPosevector_to_pose, points_lepetitpoints_lepetitPointsLepetitPointsLepetitPointsLepetitpoints_lepetit, create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModelCreateCalibDescriptorModelcreate_calib_descriptor_model

模块

匹配

算子