find_surface_model_imageT_find_surface_model_imageFindSurfaceModelImageFindSurfaceModelImagefind_surface_model_image (算子)
名称
find_surface_model_imageT_find_surface_model_imageFindSurfaceModelImageFindSurfaceModelImagefind_surface_model_image — 在三维场景和图像中查找表面模型的最佳匹配。
签名
Herror T_find_surface_model_image(const Hobject Image, const Htuple SurfaceModelID, const Htuple ObjectModel3D, const Htuple RelSamplingDistance, const Htuple KeyPointFraction, const Htuple MinScore, const Htuple ReturnResultHandle, const Htuple GenParamName, const Htuple GenParamValue, Htuple* Pose, Htuple* Score, Htuple* SurfaceMatchingResultID)
void FindSurfaceModelImage(const HObject& Image, const HTuple& SurfaceModelID, const HTuple& ObjectModel3D, const HTuple& RelSamplingDistance, const HTuple& KeyPointFraction, const HTuple& MinScore, const HTuple& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Pose, HTuple* Score, HTuple* SurfaceMatchingResultID)
HPoseArray HObjectModel3D::FindSurfaceModelImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, double RelSamplingDistance, double KeyPointFraction, const HTuple& MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResultArray* SurfaceMatchingResultID) const
HPose HObjectModel3D::FindSurfaceModelImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, double RelSamplingDistance, double KeyPointFraction, double MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
HPose HObjectModel3D::FindSurfaceModelImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, double RelSamplingDistance, double KeyPointFraction, double MinScore, const char* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
HPose HObjectModel3D::FindSurfaceModelImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, double RelSamplingDistance, double KeyPointFraction, double MinScore, const wchar_t* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
(
Windows only)
HPoseArray HSurfaceModel::FindSurfaceModelImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, double KeyPointFraction, const HTuple& MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResultArray* SurfaceMatchingResultID) const
HPose HSurfaceModel::FindSurfaceModelImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, double KeyPointFraction, double MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
HPose HSurfaceModel::FindSurfaceModelImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, double KeyPointFraction, double MinScore, const char* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
HPose HSurfaceModel::FindSurfaceModelImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, double KeyPointFraction, double MinScore, const wchar_t* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
(
Windows only)
static HPoseArray HSurfaceMatchingResult::FindSurfaceModelImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, double KeyPointFraction, const HTuple& MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResultArray* SurfaceMatchingResultID)
HPose HSurfaceMatchingResult::FindSurfaceModelImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, double KeyPointFraction, double MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score)
HPose HSurfaceMatchingResult::FindSurfaceModelImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, double KeyPointFraction, double MinScore, const char* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score)
HPose HSurfaceMatchingResult::FindSurfaceModelImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, double KeyPointFraction, double MinScore, const wchar_t* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score)
(
Windows only)
static void HOperatorSet.FindSurfaceModelImage(HObject image, HTuple surfaceModelID, HTuple objectModel3D, HTuple relSamplingDistance, HTuple keyPointFraction, HTuple minScore, HTuple returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple pose, out HTuple score, out HTuple surfaceMatchingResultID)
HPose[] HObjectModel3D.FindSurfaceModelImage(HImage image, HSurfaceModel surfaceModelID, double relSamplingDistance, double keyPointFraction, HTuple minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult[] surfaceMatchingResultID)
HPose HObjectModel3D.FindSurfaceModelImage(HImage image, HSurfaceModel surfaceModelID, double relSamplingDistance, double keyPointFraction, double minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult surfaceMatchingResultID)
HPose[] HSurfaceModel.FindSurfaceModelImage(HImage image, HObjectModel3D objectModel3D, double relSamplingDistance, double keyPointFraction, HTuple minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult[] surfaceMatchingResultID)
HPose HSurfaceModel.FindSurfaceModelImage(HImage image, HObjectModel3D objectModel3D, double relSamplingDistance, double keyPointFraction, double minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult surfaceMatchingResultID)
static HPose[] HSurfaceMatchingResult.FindSurfaceModelImage(HImage image, HSurfaceModel surfaceModelID, HObjectModel3D objectModel3D, double relSamplingDistance, double keyPointFraction, HTuple minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult[] surfaceMatchingResultID)
HPose HSurfaceMatchingResult.FindSurfaceModelImage(HImage image, HSurfaceModel surfaceModelID, HObjectModel3D objectModel3D, double relSamplingDistance, double keyPointFraction, double minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score)
def find_surface_model_image(image: HObject, surface_model_id: HHandle, object_model_3d: HHandle, rel_sampling_distance: float, key_point_fraction: float, min_score: MaybeSequence[Union[float, int]], return_result_handle: str, gen_param_name: Sequence[str], gen_param_value: Sequence[Union[str, float, int]]) -> Tuple[Sequence[Union[float, int]], Sequence[float], Sequence[HHandle]]
def find_surface_model_image_s(image: HObject, surface_model_id: HHandle, object_model_3d: HHandle, rel_sampling_distance: float, key_point_fraction: float, min_score: MaybeSequence[Union[float, int]], return_result_handle: str, gen_param_name: Sequence[str], gen_param_value: Sequence[Union[str, float, int]]) -> Tuple[Sequence[Union[float, int]], Sequence[float], HHandle]
描述
算子 find_surface_model_imagefind_surface_model_imageFindSurfaceModelImageFindSurfaceModelImageFindSurfaceModelImagefind_surface_model_image finds the best matches of
the surface model SurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelIDsurface_model_id in the scene that is comprised
of the 3D surface in ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d and the images of the scene in
ImageImageImageImageimageimage.
Note that the number of images passed in ImageImageImageImageimageimage must correspond
to the number of cameras set with set_surface_model_paramset_surface_model_paramSetSurfaceModelParamSetSurfaceModelParamSetSurfaceModelParamset_surface_model_param。Note also that the surface model must have been created by
create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelCreateSurfaceModelcreate_surface_model with the parameter 'train_3d_edges'"train_3d_edges""train_3d_edges""train_3d_edges""train_3d_edges""train_3d_edges"
enabled.
The images are used only in the sparse and dense refinement step.
For this, the refinement simultaneously optimizes the alignment of the
model with the 3D scene as well as the alignment of the reprojected edges
of the model silhouette with edges in the passed images. The domain of
the images is ignored.
In addition to the parameters documented in
find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModelfind_surface_model, find_surface_model_imagefind_surface_model_imageFindSurfaceModelImageFindSurfaceModelImageFindSurfaceModelImagefind_surface_model_image also supports
the following generic parameters:
- 'min_contrast'"min_contrast""min_contrast""min_contrast""min_contrast""min_contrast"：
-
Sets the minimum contrast of the object in the search images. Edges
with a contrast below this threshold are ignored in the refinement.
建议值： 5, 10, 20
默认值： 10
Assertion: 'min_contrast'"min_contrast""min_contrast""min_contrast""min_contrast""min_contrast" >= 0
- 'max_deformation'"max_deformation""max_deformation""max_deformation""max_deformation""max_deformation"：
-
Sets the search range in pixels for corresponding edges in the image.
This parameter can be used if the shape of the object is slightly deformed
compared to the original 3D model used in create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelCreateSurfaceModelcreate_surface_model。Note that increasing this parameter can have a significant impact on the
runtime of the refinement.
建议值： 0, 1, 5
默认值： 1
Assertion: 'max_deformation'"max_deformation""max_deformation""max_deformation""max_deformation""max_deformation" >= 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
ImageImageImageImageimageimage (输入对象) (multichannel-)image(-array) → objectHImageHObjectHImageHobject (byte / uint2)
Images of the scene.
SurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelIDsurface_model_id (输入控制) surface_model → HSurfaceModel, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)
Handle of the surface model.
ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d (输入控制) object_model_3d → HObjectModel3D, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)
Handle of the 3D object model containing the
scene.
RelSamplingDistanceRelSamplingDistanceRelSamplingDistanceRelSamplingDistancerelSamplingDistancerel_sampling_distance (输入控制) real → HTuplefloatHTupleHtuple (real) (double) (double) (double)
Scene sampling distance relative to the diameter
of the surface model.
默认值：
0.05
建议值：
0.1, 0.07, 0.05, 0.04, 0.03
限制：
0 < RelSamplingDistance < 1
KeyPointFractionKeyPointFractionKeyPointFractionKeyPointFractionkeyPointFractionkey_point_fraction (输入控制) real → HTuplefloatHTupleHtuple (real) (double) (double) (double)
Fraction of sampled scene points used as
key points.
默认值：
0.2
建议值：
0.3, 0.2, 0.1, 0.05
限制：
0 < KeyPointFraction <= 1
MinScoreMinScoreMinScoreMinScoreminScoremin_score (输入控制) real(-array) → HTupleMaybeSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Minimum score of the returned poses.
默认值：
0
限制：
MinScore >= 0
GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name (输入控制) attribute.name-array → HTupleSequence[str]HTupleHtuple (string) (string) (HString) (char*)
通用参数的名称。
默认值：
[]
值列表：
'3d_edge_min_amplitude_abs'"3d_edge_min_amplitude_abs""3d_edge_min_amplitude_abs""3d_edge_min_amplitude_abs""3d_edge_min_amplitude_abs""3d_edge_min_amplitude_abs", '3d_edge_min_amplitude_rel'"3d_edge_min_amplitude_rel""3d_edge_min_amplitude_rel""3d_edge_min_amplitude_rel""3d_edge_min_amplitude_rel""3d_edge_min_amplitude_rel", '3d_edges'"3d_edges""3d_edges""3d_edges""3d_edges""3d_edges", 'dense_pose_refinement'"dense_pose_refinement""dense_pose_refinement""dense_pose_refinement""dense_pose_refinement""dense_pose_refinement", 'max_deformation'"max_deformation""max_deformation""max_deformation""max_deformation""max_deformation", 'max_gap'"max_gap""max_gap""max_gap""max_gap""max_gap", 'max_overlap_dist_abs'"max_overlap_dist_abs""max_overlap_dist_abs""max_overlap_dist_abs""max_overlap_dist_abs""max_overlap_dist_abs", 'max_overlap_dist_rel'"max_overlap_dist_rel""max_overlap_dist_rel""max_overlap_dist_rel""max_overlap_dist_rel""max_overlap_dist_rel", 'min_contrast'"min_contrast""min_contrast""min_contrast""min_contrast""min_contrast", 'num_matches'"num_matches""num_matches""num_matches""num_matches""num_matches", 'pose_ref_dist_threshold_abs'"pose_ref_dist_threshold_abs""pose_ref_dist_threshold_abs""pose_ref_dist_threshold_abs""pose_ref_dist_threshold_abs""pose_ref_dist_threshold_abs", 'pose_ref_dist_threshold_rel'"pose_ref_dist_threshold_rel""pose_ref_dist_threshold_rel""pose_ref_dist_threshold_rel""pose_ref_dist_threshold_rel""pose_ref_dist_threshold_rel", 'pose_ref_num_steps'"pose_ref_num_steps""pose_ref_num_steps""pose_ref_num_steps""pose_ref_num_steps""pose_ref_num_steps", 'pose_ref_scoring_dist_abs'"pose_ref_scoring_dist_abs""pose_ref_scoring_dist_abs""pose_ref_scoring_dist_abs""pose_ref_scoring_dist_abs""pose_ref_scoring_dist_abs", 'pose_ref_scoring_dist_rel'"pose_ref_scoring_dist_rel""pose_ref_scoring_dist_rel""pose_ref_scoring_dist_rel""pose_ref_scoring_dist_rel""pose_ref_scoring_dist_rel", 'pose_ref_sub_sampling'"pose_ref_sub_sampling""pose_ref_sub_sampling""pose_ref_sub_sampling""pose_ref_sub_sampling""pose_ref_sub_sampling", 'pose_ref_use_scene_normals'"pose_ref_use_scene_normals""pose_ref_use_scene_normals""pose_ref_use_scene_normals""pose_ref_use_scene_normals""pose_ref_use_scene_normals", 'scene_invert_normals'"scene_invert_normals""scene_invert_normals""scene_invert_normals""scene_invert_normals""scene_invert_normals", 'scene_normal_computation'"scene_normal_computation""scene_normal_computation""scene_normal_computation""scene_normal_computation""scene_normal_computation", 'sparse_pose_refinement'"sparse_pose_refinement""sparse_pose_refinement""sparse_pose_refinement""sparse_pose_refinement""sparse_pose_refinement", 'use_3d_edges'"use_3d_edges""use_3d_edges""use_3d_edges""use_3d_edges""use_3d_edges", 'use_self_similar_poses'"use_self_similar_poses""use_self_similar_poses""use_self_similar_poses""use_self_similar_poses""use_self_similar_poses", 'use_view_based'"use_view_based""use_view_based""use_view_based""use_view_based""use_view_based", 'viewpoint'"viewpoint""viewpoint""viewpoint""viewpoint""viewpoint"
GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value (输入控制) attribute.value-array → HTupleSequence[Union[str, float, int]]HTupleHtuple (string / real / integer) (string / double / int / long) (HString / double / Hlong) (char* / double / Hlong)
通用参数的值。
默认值：
[]
建议值：
0, 1, 'true'"true""true""true""true""true", 'false'"false""false""false""false""false", 0.005, 0.01, 0.03, 0.05, 0.1, 'num_scene_points'"num_scene_points""num_scene_points""num_scene_points""num_scene_points""num_scene_points", 'model_point_fraction'"model_point_fraction""model_point_fraction""model_point_fraction""model_point_fraction""model_point_fraction", 'num_model_points'"num_model_points""num_model_points""num_model_points""num_model_points""num_model_points", 'fast'"fast""fast""fast""fast""fast", 'mls'"mls""mls""mls""mls""mls"
PosePosePosePoseposepose (输出控制) pose(-array) → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
3D pose of the surface model in the scene.
ScoreScoreScoreScorescorescore (输出控制) real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Score of the found instances of the surface
model.
结果
find_surface_model_imagefind_surface_model_imageFindSurfaceModelImageFindSurfaceModelImageFindSurfaceModelImagefind_surface_model_image 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,
read_surface_modelread_surface_modelReadSurfaceModelReadSurfaceModelReadSurfaceModelread_surface_model,
create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelCreateSurfaceModelcreate_surface_model,
get_surface_model_paramget_surface_model_paramGetSurfaceModelParamGetSurfaceModelParamGetSurfaceModelParamget_surface_model_param,
edges_object_model_3dedges_object_model_3dEdgesObjectModel3dEdgesObjectModel3dEdgesObjectModel3dedges_object_model_3d
可能的后继
refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose,
get_surface_matching_resultget_surface_matching_resultGetSurfaceMatchingResultGetSurfaceMatchingResultGetSurfaceMatchingResultget_surface_matching_result,
clear_surface_matching_resultclear_surface_matching_resultClearSurfaceMatchingResultClearSurfaceMatchingResultClearSurfaceMatchingResultclear_surface_matching_result,
clear_object_model_3dclear_object_model_3dClearObjectModel3dClearObjectModel3dClearObjectModel3dclear_object_model_3d
替代
refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose,
find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModelfind_surface_model,
refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image
另见
refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose,
find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModelfind_surface_model
模块
三维计量