project_shape_model_3dT_project_shape_model_3dProjectShapeModel3dProjectShapeModel3dproject_shape_model_3d (算子)

名称

project_shape_model_3dT_project_shape_model_3dProjectShapeModel3dProjectShapeModel3dproject_shape_model_3d — 将三维形状模型的边缘投影到图像坐标中。

签名

描述

算子 project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3dproject_shape_model_3d projects the edges of the 3D object model that was used to create the 3D shape model ShapeModel3DIDShapeModel3DIDShapeModel3DIDShapeModel3DIDshapeModel3DIDshape_model_3did into the image coordinate system and returns the projected edges in ModelContoursModelContoursModelContoursModelContoursmodelContoursmodel_contours. The coordinates of the 3D object model are given in the 3D world coordinate system (mcs). First, they are transformed into the camera coordinate system (ccs) using the external camera parameters given in PosePosePosePoseposepose. Then, these coordinates are projected into the image coordinate system based on the internal camera parameters CamParamCamParamCamParamCamParamcamParamcam_param。

The internal camera parameters CamParamCamParamCamParamCamParamcamParamcam_param describe the projection characteristics of the camera (see 标定). The PosePosePosePoseposepose is in the form , see Transformations / Poses and “Solution Guide III-C - 3D Vision”. Hence, it describes the position and orientation of the model coordinate system defined by the 3D object model relative to the camera coordinate system.

The parameter HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemovalhidden_surface_removal can be used to switch on or to switch off the removal of hidden surfaces. If HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemovalhidden_surface_removal is set to 'true'"true""true""true""true""true", only those projected edges are returned that are not hidden by faces of the 3D object model. If HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemovalhidden_surface_removal is set to 'false'"false""false""false""false""false", all projected edges are returned. This is faster than a projection with HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemovalhidden_surface_removal set to 'true'"true""true""true""true""true".

If the system variable (see set_systemset_systemSetSystemSetSystemSetSystemset_system) 'opengl_hidden_surface_removal_enable'"opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable" is set to 'true'"true""true""true""true""true" (which is default if it is available) and HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemovalhidden_surface_removal is set to 'true'"true""true""true""true""true", the projection of the model is accelerated using the graphics card. Depending on the graphics card this is significantly faster than the non accelerated algorithm. Be aware that the results of the OpenGL projection are slightly different compared to the analytic projection. Notable, only the contours visible through CamParamCamParamCamParamCamParamcamParamcam_param are projected in this mode.

3D edges are only projected if the angle between the two 3D faces that are incident with the 3D edge is at least MinFaceAngleMinFaceAngleMinFaceAngleMinFaceAngleminFaceAnglemin_face_angle. If MinFaceAngleMinFaceAngleMinFaceAngleMinFaceAngleminFaceAnglemin_face_angle is set to 0.0, all edges are projected. If MinFaceAngleMinFaceAngleMinFaceAngleMinFaceAngleminFaceAnglemin_face_angle is set to (equivalent to 180 degrees), only the silhouette of the 3D object model is returned. This parameter can be used to suppress edges within curved surfaces, e.g., the surface of a cylinder.

If for the model creation with create_shape_model_3dcreate_shape_model_3dCreateShapeModel3dCreateShapeModel3dCreateShapeModel3dcreate_shape_model_3d the parameter 'union_adjacent_contours'"union_adjacent_contours""union_adjacent_contours""union_adjacent_contours""union_adjacent_contours""union_adjacent_contours" was activated, adjacent contours are joined.

project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3dproject_shape_model_3d and project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3dproject_object_model_3d return the same result if the 3D object model that was used to create the 3D shape model is passed to project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3dproject_object_model_3d。

project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3dproject_shape_model_3d is especially useful in order to visualize the matches that are returned by find_shape_model_3dfind_shape_model_3dFindShapeModel3dFindShapeModel3dFindShapeModel3dfind_shape_model_3d in the case that the underlying 3D object model is no longer available.

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

结果

如果参数有效，算子 project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3dproject_shape_model_3d 返回值 2 ( H_MSG_TRUE )。如有必要，则抛出异常。

可能的前趋

create_shape_model_3dcreate_shape_model_3dCreateShapeModel3dCreateShapeModel3dCreateShapeModel3dcreate_shape_model_3d, read_shape_model_3dread_shape_model_3dReadShapeModel3dReadShapeModel3dReadShapeModel3dread_shape_model_3d, get_shape_model_3d_paramsget_shape_model_3d_paramsGetShapeModel3dParamsGetShapeModel3dParamsGetShapeModel3dParamsget_shape_model_3d_params, find_shape_model_3dfind_shape_model_3dFindShapeModel3dFindShapeModel3dFindShapeModel3dfind_shape_model_3d

替代

project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3dproject_object_model_3d

另见

convert_point_3d_cart_to_spherconvert_point_3d_cart_to_spherConvertPoint3dCartToSpherConvertPoint3dCartToSpherConvertPoint3dCartToSpherconvert_point_3d_cart_to_spher, convert_point_3d_spher_to_cartconvert_point_3d_spher_to_cartConvertPoint3dSpherToCartConvertPoint3dSpherToCartConvertPoint3dSpherToCartconvert_point_3d_spher_to_cart, create_cam_pose_look_at_pointcreate_cam_pose_look_at_pointCreateCamPoseLookAtPointCreateCamPoseLookAtPointCreateCamPoseLookAtPointcreate_cam_pose_look_at_point, trans_pose_shape_model_3dtrans_pose_shape_model_3dTransPoseShapeModel3dTransPoseShapeModel3dTransPoseShapeModel3dtrans_pose_shape_model_3d

模块

三维计量

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