If an empty tuple is given for PosePosePoseposepose, disp_object_model_3ddisp_object_model_3dDispObjectModel3dDispObjectModel3ddisp_object_model_3d
estimates a pose, such that all 3D object models are visible.
Position of the light source. Must be given as a string
containing four space separated floating point numbers.
If the fourth number is 0.0, a directional light source is
used (the first three components represent the direction),
otherwise a point light source is used (with the first
three components representing the position).
List of values:
'true'"true""true""true""true", 'false'"false""false""false""false".
Default:
'false'"false""false""false""false".
'quality'"quality""quality""quality""quality":
Must be set to 'low'"low""low""low""low" to enable faster rendering without
anti aliasing.
List of values:
'low'"low""low""low""low", 'high'"high""high""high""high".
Default:
'high'"high""high""high""high".
The following parameters can be set for all 3D object models in the scene or
for a specific 3D object model by appending the index of the 3D object model
to the parameter name (e.g., 'color_0'"color_0""color_0""color_0""color_0" to set the color of the
first 3D object model).
Explicitly select in which way a 3D object model is visualized.
List of values:
'auto'"auto""auto""auto""auto", 'faces'"faces""faces""faces""faces",
'primitive'"primitive""primitive""primitive""primitive", 'points'"points""points""points""points",
'lines'"lines""lines""lines""lines".
Default:
'auto'"auto""auto""auto""auto".
'color'"color""color""color""color":
Color of the 3D object models. The available colors can be queried
with the operator query_colorquery_colorQueryColorQueryColorquery_color. In addition, the color may
be specified as an RGB triplet in the form '#rrggbb'"#rrggbb""#rrggbb""#rrggbb""#rrggbb",
where 'rr', 'gg', and 'bb' are hexadecimal numbers between '00'
and 'ff', respectively.
Translucency of the 3D object models. Displaying 3D object models
with translucency set to less than 1.0 may significantly increase
the runtime of disp_object_model_3ddisp_object_model_3dDispObjectModel3dDispObjectModel3ddisp_object_model_3d.
Value range:
[0.0 (fully transparent) ...
1.0 (fully opaque)].
Color of the lines if 'disp_lines'"disp_lines""disp_lines""disp_lines""disp_lines" is set to
'true'"true""true""true""true". The available colors can be queried with the
operator query_colorquery_colorQueryColorQueryColorquery_color. In addition, the color may be
specified as an RGB triplet in the form '#rrggbb'"#rrggbb""#rrggbb""#rrggbb""#rrggbb",
where 'rr', 'gg', and 'bb' are hexadecimal numbers.
Color of the visualized normals if 'disp_normals'"disp_normals""disp_normals""disp_normals""disp_normals" is set
to 'true'"true""true""true""true". The available colors can be queried with the
operator query_colorquery_colorQueryColorQueryColorquery_color. In addition, the color may be
specified as an RGB triplet in the form '#rrggbb'"#rrggbb""#rrggbb""#rrggbb""#rrggbb",
where 'rr', 'gg', and 'bb' are hexadecimal numbers.
Sets the LUT that transforms the values of the attribute set with
'color_attrib'"color_attrib""color_attrib""color_attrib""color_attrib" into a color.
See set_lutset_lutSetLutSetLutset_lut for available LUTs. If 'lut'"lut""lut""lut""lut" is set to
anything but 'default'"default""default""default""default", 'color'"color""color""color""color" is ignored.
Name of a point attribute that is used for false color visualization.
If an attribute is set, the color of the displayed 3D points is
determined by the point's attribute value and the currently set
LUT (see 'lut'"lut""lut""lut""lut"). This way, it is possible to visualize
attributes in false colors.
Example: If 'color_attrib'"color_attrib""color_attrib""color_attrib""color_attrib" is set to 'coord_z'"coord_z""coord_z""coord_z""coord_z", and
'lut'"lut""lut""lut""lut" is set to 'color1'"color1""color1""color1""color1", the z-coordinates will be
color coded from red to blue.
If 'lut'"lut""lut""lut""lut" is set to 'default'"default""default""default""default", the attribute values are
used to scale the color that was set by the parameter 'color'"color""color""color""color".
If 'lut'"lut""lut""lut""lut" is set to a different value, the attribute values of
all points are internally scaled to the interval [0,255] and used as
input value for the LUT function.
The mapping is also controlled by the parameters
'color_attrib_start'"color_attrib_start""color_attrib_start""color_attrib_start""color_attrib_start" and 'color_attrib_end'"color_attrib_end""color_attrib_end""color_attrib_end""color_attrib_end" (see below).
If faces are displayed, their color is interpolated between the
color of the corner points.
Suggested values:
'none'"none""none""none""none", '&distance'"&distance""&distance""&distance""&distance",
'coord_x'"coord_x""coord_x""coord_x""coord_x", 'coord_y'"coord_y""coord_y""coord_y""coord_y",
'coord_z'"coord_z""coord_z""coord_z""coord_z",
user defined point attributes, or any other
point attribute available.
The range of interest of the values of the attribute set with
'color_attrib'"color_attrib""color_attrib""color_attrib""color_attrib".
The attribute values between 'color_attrib_start'"color_attrib_start""color_attrib_start""color_attrib_start""color_attrib_start" and
'color_attrib_end'"color_attrib_end""color_attrib_end""color_attrib_end""color_attrib_end" are scaled to the start and end of the
selected LUT. Attribute values outside the selected range are clipped.
This allows to use a fixed color mapping which will not be distorted by
outliers.
If set to 'auto'"auto""auto""auto""auto", the minimum attribute value is mapped to the
start of the LUT, the maximum is mapped to the end of the LUT,
except if 'color_attrib'"color_attrib""color_attrib""color_attrib""color_attrib" is 'normal_x'"normal_x""normal_x""normal_x""normal_x",
'normal_y'"normal_y""normal_y""normal_y""normal_y", or 'normal_z'"normal_z""normal_z""normal_z""normal_z".
In this case, start and end are automatically set to -1 and
1.
It is possible to enter start value that is higher than the end value.
This will in effect flip the used LUT.
Name of a point attribute that is used for the red, green, or blue
color channel.
This is most useful when used with a group of three connected
attributes, like RGB colors or normal vectors.
This way it is possible to display points in colored texture, e.g.,
display the object model with overlayed RGB-sensor data, or display
point normals in false colors.
To display only a single attribute in false colors, please use
'color_attrib'"color_attrib""color_attrib""color_attrib""color_attrib" (see above).
By default, the attribute values are assumed to lie between
0 and 255.
If the attributes have a different range, you additionally have to set
the parameters 'rgb_channel_attrib_start'"rgb_channel_attrib_start""rgb_channel_attrib_start""rgb_channel_attrib_start""rgb_channel_attrib_start" and
'rgb_channel_attrib_end'"rgb_channel_attrib_end""rgb_channel_attrib_end""rgb_channel_attrib_end""rgb_channel_attrib_end" (see below).
If only 1 or 2 channels are set, the remaining channels use the RGB
value of the color set with 'color'"color""color""color""color".
If faces are displayed, their color is interpolated between the
color of the corner points.
Suggested values:
'none'"none""none""none""none", '&red'"&red""&red""&red""&red",
'&green'"&green""&green""&green""&green", '&blue'"&blue""&blue""&blue""&blue",
'normal_x'"normal_x""normal_x""normal_x""normal_x", 'normal_y'"normal_y""normal_y""normal_y""normal_y",
'normal_z'"normal_z""normal_z""normal_z""normal_z", user defined point
attributes, or any other point
attribute available.
The range of interest of the values of attributes set with
'red_channel_attrib'"red_channel_attrib""red_channel_attrib""red_channel_attrib""red_channel_attrib", 'green_channel_attrib'"green_channel_attrib""green_channel_attrib""green_channel_attrib""green_channel_attrib", and
'blue_channel_attrib'"blue_channel_attrib""blue_channel_attrib""blue_channel_attrib""blue_channel_attrib".
These parameters define the value range that is scaled to the full RGB
channels. This is useful, if the input attribute values are not in the
interval [0,255].
If set to 'auto'"auto""auto""auto""auto", the minimum attribute value is mapped to
0, the maximum is mapped to 255, except
if the attribute is 'normal_x'"normal_x""normal_x""normal_x""normal_x", 'normal_y'"normal_y""normal_y""normal_y""normal_y",
or 'normal_z'"normal_z""normal_z""normal_z""normal_z".
In this case, start and end are automatically set to -1 and
1.
It is possible to enter start value that is higher than the end value.
This will in effect invert the displayed RGB colors.
The range can be set for the channels individually by replacing
'rgb'"rgb""rgb""rgb""rgb" in the parameter name with the channel name, e.g.,
'green_channel_attrib_start'"green_channel_attrib_start""green_channel_attrib_start""green_channel_attrib_start""green_channel_attrib_start".
disp_object_model_3ddisp_object_model_3dDispObjectModel3dDispObjectModel3ddisp_object_model_3d requires OpenGL 2.1, GLSL 1.2, and the OpenGL
extensions GL_EXT_framebuffer_object and GL_EXT_framebuffer_blit.
Otherwise the compatibility mode is automatically enabled.
On graphics cards with low memory the following error messages could occur
if rendering in a window with high resolution:
Low level error: 'Incomplete attachment'
Unhanded Exception: 'Required framebuffer object is unsupported'
Solutions:
Set the parameter 'quality'"quality""quality""quality""quality" to 'low'"low""low""low""low" or use the
compatibility mode to reduce the requirements of the graphics card.
The system variable (see set_systemset_systemSetSystemSetSystemset_system)
'opengl_compatibility_mode_enable'"opengl_compatibility_mode_enable""opengl_compatibility_mode_enable""opengl_compatibility_mode_enable""opengl_compatibility_mode_enable" can be set to 'true'"true""true""true""true"
to permanently enable the visualization in compatibility mode with lower
OpenGL requirements.
This mode requires OpenGL 1.1.
In compatibility mode the parameters 'object_index_persistence'"object_index_persistence""object_index_persistence""object_index_persistence""object_index_persistence",
'depth_persistence'"depth_persistence""depth_persistence""depth_persistence""depth_persistence" and 'quality'"quality""quality""quality""quality" are not used.
On Linux Remote Desktop 'disp_background'"disp_background""disp_background""disp_background""disp_background" is not supported.
Attention
Cameras with hypercentric lenses are not supported.
For displaying large faces (or primitives) with a non-zero distortion
in CamParamCamParamCamParamcamParamcam_param, note that the distortion is only applied to the
points of the model. In the projection, these points are subsequently
connected by straight lines. For a good approximation of the distorted
lines, please use a triangulation with sufficiently small triangles.
Execution Information
Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
List of values:
'auto'"auto""auto""auto""auto", 'blue'"blue""blue""blue""blue", 'coord_x'"coord_x""coord_x""coord_x""coord_x", 'coord_y'"coord_y""coord_y""coord_y""coord_y", 'coord_z'"coord_z""coord_z""coord_z""coord_z", 'faces'"faces""faces""faces""faces", 'false'"false""false""false""false", 'green'"green""green""green""green", 'lines'"lines""lines""lines""lines", 'normal_x'"normal_x""normal_x""normal_x""normal_x", 'normal_y'"normal_y""normal_y""normal_y""normal_y", 'normal_z'"normal_z""normal_z""normal_z""normal_z", 'points'"points""points""points""points", 'primitive'"primitive""primitive""primitive""primitive", 'red'"red""red""red""red", 'true'"true""true""true""true"
Result
disp_object_model_3ddisp_object_model_3dDispObjectModel3dDispObjectModel3ddisp_object_model_3d returns 2 (
H_MSG_TRUE)
if all parameters are
correct. If necessary, an exception is raised.
If the image rendering exceeds the available memory of the graphics card, the
error 5188 is raised.