get_deep_matching_3d_param🔗
Short description🔗
get_deep_matching_3d_param — Read a parameter from a Deep 3D Matching model.
Signature🔗
get_deep_matching_3d_param( deep_matching_3d Deep3DMatchingModel, attribute.name GenParamName, out attribute.value GenParamValue )
Description🔗
The operator get_deep_matching_3d_param returns the parameter values
of GenParamName for the Deep 3D Matching model Deep3DMatchingModel
in GenParamValue.
The following table gives an overview, which parameters can be set
using set_deep_matching_3d_param and which can be
retrieved using get_deep_matching_3d_param.
GenParamName |
set |
get |
|
|---|---|---|---|
| 'camera_parameter N' | x |
x |
|
| 'camera_pose N' | x |
x |
|
| 'delete_cameras' | x |
||
| 'dl_model_detection' | x |
x |
|
| 'dl_model_pose_estimation' | x |
x |
|
| 'min_num_views' | x |
x |
|
| 'sort_single_views_last' | x |
x |
|
| 'min_score' | x |
x |
|
| 'num_matches' | x |
x |
|
| 'orig_3d_model' | x |
||
| 'symmetry_type' | x |
||
| 'symmetry_poses' | x |
In the following the parameters are described:
-
'camera_parameter N', 'camera_pose N', 'delete_cameras': These parameters control the camera setup used for matching, i.e., the camera poses and the camera parameters. 'delete_cameras' can be set with an empty tuple as value to delete all cameras from a Deep 3D Matching model.
The keys for accessing the parameters of the N’th camera are 'camera_parameter N' and 'camera_pose N', where N is the zero-based index of the camera. For example, to access the parameters of the first camera, use 'camera_parameter 0' and 'camera_pose 0'. Note that cameras must be added in order.
Further note that the camera parameters should not contain too much of a distortion. Small distortions can be handled by the model. If the camera distortion is high, it is recommended to remove any distortion from the camera parameters and images beforehand, using, for example,
change_radial_distortion_cam_parin combination withchange_radial_distortion_imageorgen_radial_distortion_mapandmap_image.The camera pose is the pose of the camera in an arbitrary world coordinate system. The poses of detected objects are returned in that world coordinate system. The angles must be passed in degrees and the translations need to be in the same unit as the 3D CAD model of the Deep 3D Matching model.
-
'dl_model_detection', 'dl_model_pose_estimation': The deep learning models used for Deep 3D Matching. They can be obtained and written back in order to train them using
train_dl_model_batch, optimize them usingoptimize_dl_model_for_inferenceor change the device on which they are executed.Note that for setting a 3D pose estimation model, the model has to contain 3D information which was attached to a backbone in
create_deep_matching_3d. -
'min_num_views': This parameter determines the minimum number of cameras in which an instance must be visible in order to be returned by
apply_deep_matching_3d. The parameter can be either an integer larger than zero, or the string 'auto'. If 'auto', instances must be visible in a single camera if only a single camera is used, and in at least two cameras otherwise.Suggested values: 'auto', 2, 3
Value range: \(\geq\) 0
Default: 'auto'
-
'sort_single_views_last': If this parameter is set to 'true' (default value) and 'min_num_views' is set to 1, instances that were only seen from a single camera will be sorted to the back of the result list, even if they have a higher score than instances that were seen from more than one camera. Internally, this causes instances seen from more cameras to be preferred during deduplication. This mode is mainly intended so that applications receive both “more certain” matches (seen from more than one camera) and “uncertain” results (seen from only one camera), without the uncertain results influencing the more certain ones. The uncertain results can, for example, be incorporated into the path planning of a robot.
Suggested values: 'true', 'false'
Default: 'true'
-
'min_score': This parameter determines the minimum score of detected instances. In other words,
apply_deep_matching_3dignores all detected instances with a score smaller than this value. The score computed by the Deep 3D Matching model lies between 0 and 1, where 0 indicates a bad match and 1 is a very good match.Value range: [0, .., 1]
Default: 0.2
-
'num_matches': This parameter determines the maximum number of matches to return by
apply_deep_matching_3d. If the operator finds more instances than set in 'num_matches', only the 'num_matches' instances with the highest scores are returned. This parameter can be set to zero, in which case all instances above 'min_score' are returned.Value range: \(\geq\) 0
Default: 0
-
'orig_3d_model': This parameter returns the original 3D CAD model used for creating the Deep 3D Matching model, see
create_deep_matching_3d. It can be used to visualize detection results. -
'symmetry_type': This parameter returns the symmetry type of the original 3D CAD model used for creating the Deep 3D Matching model, see
create_deep_matching_3d. -
'symmetry_poses': For Deep 3D Matching models of 'symmetry_type' 'discrete', this parameter returns the symmetry poses of the original 3D CAD model used for creating the Deep 3D Matching model, see
create_deep_matching_3d.
Attention🔗
Deep 3D Matching requires images to not have too much of a distortion.
Small distortions can be handled by the model. If the camera distortion is high,
it is recommended to remove any distortion from the camera parameters and images
beforehand, using, for example, change_radial_distortion_cam_par
in combination with change_radial_distortion_image or
gen_radial_distortion_map and map_image.
Execution information🔗
Execution information
-
Multithreading type: reentrant (runs in parallel with non-exclusive operators).
-
Multithreading scope: global (may be called from any thread).
-
Automatically parallelized on internal data level.
Parameters🔗
Deep3DMatchingModel (input_control) deep_matching_3d → (handle)
Deep 3D Matching model.
GenParamName (input_control) attribute.name(-array) → (string)
Name of parameter.
Default: 'min_score'
Suggested values: 'min_score', 'num_matches', 'orig_3d_model', 'min_num_views', 'dl_model_detection', 'dl_model_pose_estimation', 'camera_parameter', 'camera_pose', 'symmetry_type', 'symmetry_poses', 'sort_single_views_last'
GenParamValue (output_control) attribute.value(-array) → (string / real / integer / handle)
Obtained value of parameter.
Module🔗
3D Metrology