refine_surface_model_pose_imageT_refine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image (Operator)
refine_surface_model_pose_imageT_refine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image — Refine the pose of a surface model in a 3D scene and in images.
Signature
Herror T_refine_surface_model_pose_image(const Hobject Image, const Htuple SurfaceModelID, const Htuple ObjectModel3D, const Htuple InitialPose, const Htuple MinScore, const Htuple ReturnResultHandle, const Htuple GenParamName, const Htuple GenParamValue, Htuple* Pose, Htuple* Score, Htuple* SurfaceMatchingResultID)
void RefineSurfaceModelPoseImage(const HObject& Image, const HTuple& SurfaceModelID, const HTuple& ObjectModel3D, const HTuple& InitialPose, const HTuple& MinScore, const HTuple& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Pose, HTuple* Score, HTuple* SurfaceMatchingResultID)
HPoseArray HObjectModel3D::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HPoseArray& InitialPose, const HTuple& MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResultArray* SurfaceMatchingResultID) const
HPose HObjectModel3D::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HPose& InitialPose, double MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
HPose HObjectModel3D::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HPose& InitialPose, double MinScore, const char* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
HPose HObjectModel3D::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HPose& InitialPose, double MinScore, const wchar_t* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
(
Windows only)
HPoseArray HSurfaceModel::RefineSurfaceModelPoseImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, const HPoseArray& InitialPose, const HTuple& MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResultArray* SurfaceMatchingResultID) const
HPose HSurfaceModel::RefineSurfaceModelPoseImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
HPose HSurfaceModel::RefineSurfaceModelPoseImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const char* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
HPose HSurfaceModel::RefineSurfaceModelPoseImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const wchar_t* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const
(
Windows only)
static HPoseArray HSurfaceMatchingResult::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, const HPoseArray& InitialPose, const HTuple& MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResultArray* SurfaceMatchingResultID)
HPose HSurfaceMatchingResult::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score)
HPose HSurfaceMatchingResult::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const char* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score)
HPose HSurfaceMatchingResult::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const wchar_t* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score)
(
Windows only)
static void HOperatorSet.RefineSurfaceModelPoseImage(HObject image, HTuple surfaceModelID, HTuple objectModel3D, HTuple initialPose, HTuple minScore, HTuple returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple pose, out HTuple score, out HTuple surfaceMatchingResultID)
HPose[] HObjectModel3D.RefineSurfaceModelPoseImage(HImage image, HSurfaceModel surfaceModelID, HPose[] initialPose, HTuple minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult[] surfaceMatchingResultID)
HPose HObjectModel3D.RefineSurfaceModelPoseImage(HImage image, HSurfaceModel surfaceModelID, HPose initialPose, double minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult surfaceMatchingResultID)
HPose[] HSurfaceModel.RefineSurfaceModelPoseImage(HImage image, HObjectModel3D objectModel3D, HPose[] initialPose, HTuple minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult[] surfaceMatchingResultID)
HPose HSurfaceModel.RefineSurfaceModelPoseImage(HImage image, HObjectModel3D objectModel3D, HPose initialPose, double minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult surfaceMatchingResultID)
static HPose[] HSurfaceMatchingResult.RefineSurfaceModelPoseImage(HImage image, HSurfaceModel surfaceModelID, HObjectModel3D objectModel3D, HPose[] initialPose, HTuple minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult[] surfaceMatchingResultID)
HPose HSurfaceMatchingResult.RefineSurfaceModelPoseImage(HImage image, HSurfaceModel surfaceModelID, HObjectModel3D objectModel3D, HPose initialPose, double minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score)
def refine_surface_model_pose_image(image: HObject, surface_model_id: HHandle, object_model_3d: HHandle, initial_pose: Sequence[Union[float, int]], 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 refine_surface_model_pose_image_s(image: HObject, surface_model_id: HHandle, object_model_3d: HHandle, initial_pose: Sequence[Union[float, int]], 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]
Description
The operator refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image refines the approximate
pose InitialPoseInitialPoseInitialPoseinitialPoseinitial_pose of the surface model SurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelIDsurface_model_id in
the 3D scene comprised of the 3D surface in ObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d and the
images of the scene in ImageImageImageimageimage.
Note that the number of images passed in ImageImageImageimageimage must correspond
to the number of cameras set with set_surface_model_paramset_surface_model_paramSetSurfaceModelParamSetSurfaceModelParamset_surface_model_param.
Note also that the surface model must have been created by
create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelcreate_surface_model with the parameter 'train_3d_edges'"train_3d_edges""train_3d_edges""train_3d_edges""train_3d_edges"
enabled.
The refinement simultaneously optimizes the alignment of the
model with the 3D scene as well as the alignment of the reprojected edges
with edges in the passed images. The domain of the images is ignored.
In addition to the parameters documented in
refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose, refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image
also supports the generic parameters 'min_contrast'"min_contrast""min_contrast""min_contrast""min_contrast" and
'max_deformation'"max_deformation""max_deformation""max_deformation""max_deformation", documented in find_surface_model_imagefind_surface_model_imageFindSurfaceModelImageFindSurfaceModelImagefind_surface_model_image.
Execution Information
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
This operator returns a handle. Note that the state of an instance of this handle type may be changed by specific operators even though the handle is used as an input parameter by those operators.
This operator supports canceling timeouts and interrupts.
Parameters
ImageImageImageimageimage (input_object) (multichannel-)image(-array) → objectHImageHObjectHObjectHobject (byte / uint2)
Images of the scene.
SurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelIDsurface_model_id (input_control) surface_model → HSurfaceModel, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)
Handle of the surface model.
ObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d (input_control) object_model_3d → HObjectModel3D, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)
Handle of the 3D object model containing the
scene.
InitialPoseInitialPoseInitialPoseinitialPoseinitial_pose (input_control) pose(-array) → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Initial pose of the surface model in the scene.
MinScoreMinScoreMinScoreminScoremin_score (input_control) real(-array) → HTupleMaybeSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Minimum score of the returned poses.
Default:
0
Restriction:
MinScore >= 0
GenParamNameGenParamNameGenParamNamegenParamNamegen_param_name (input_control) attribute.name-array → HTupleSequence[str]HTupleHtuple (string) (string) (HString) (char*)
Names of the generic parameters.
Default:
[]
List of values:
'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_edges'"3d_edges""3d_edges""3d_edges""3d_edges", 'max_deformation'"max_deformation""max_deformation""max_deformation""max_deformation", 'min_contrast'"min_contrast""min_contrast""min_contrast""min_contrast", '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_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_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_use_scene_normals'"pose_ref_use_scene_normals""pose_ref_use_scene_normals""pose_ref_use_scene_normals""pose_ref_use_scene_normals", '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_view_based'"use_view_based""use_view_based""use_view_based""use_view_based", 'viewpoint'"viewpoint""viewpoint""viewpoint""viewpoint"
GenParamValueGenParamValueGenParamValuegenParamValuegen_param_value (input_control) attribute.value-array → HTupleSequence[Union[str, float, int]]HTupleHtuple (string / real / integer) (string / double / int / long) (HString / double / Hlong) (char* / double / Hlong)
Values of the generic parameters.
Default:
[]
Suggested values:
0, 1, 'true'"true""true""true""true", 'false'"false""false""false""false", 0.005, 0.01, 0.03, 0.05, 0.1
PosePosePoseposepose (output_control) 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.
ScoreScoreScorescorescore (output_control) real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Score of the found instances of the model.
Result
refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image returns 2 (
H_MSG_TRUE)
if all parameters are
correct. If necessary, an exception is raised.
Possible Predecessors
read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dread_object_model_3d,
xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dxyz_to_object_model_3d,
get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsget_object_model_3d_params,
read_surface_modelread_surface_modelReadSurfaceModelReadSurfaceModelread_surface_model,
create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelcreate_surface_model,
get_surface_model_paramget_surface_model_paramGetSurfaceModelParamGetSurfaceModelParamget_surface_model_param,
find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelfind_surface_model,
edges_object_model_3dedges_object_model_3dEdgesObjectModel3dEdgesObjectModel3dedges_object_model_3d
Possible Successors
get_surface_matching_resultget_surface_matching_resultGetSurfaceMatchingResultGetSurfaceMatchingResultget_surface_matching_result,
clear_surface_matching_resultclear_surface_matching_resultClearSurfaceMatchingResultClearSurfaceMatchingResultclear_surface_matching_result,
clear_object_model_3dclear_object_model_3dClearObjectModel3dClearObjectModel3dclear_object_model_3d
Alternatives
find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelfind_surface_model,
refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose,
find_surface_model_imagefind_surface_model_imageFindSurfaceModelImageFindSurfaceModelImagefind_surface_model_image
See also
create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelcreate_surface_model,
find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelfind_surface_model,
refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose
Module
3D Metrology