get_shape_model_3d_params🔗
Short description🔗
get_shape_model_3d_params — Return the parameters of a 3D shape model.
Signature🔗
get_shape_model_3d_params( shape_model_3d ShapeModel3DID, attribute.name GenParamName, out attribute.name GenParamValue )
Description🔗
The operator get_shape_model_3d_params allows to query
parameters of the 3D shape model. The names of the desired
parameters are passed in the generic parameter
GenParamName, the corresponding values are returned in
GenParamValue.
The following parameters can be queried:
-
'cam_param': Internal parameters of the camera that is used for the matching.
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'ref_rot_x': Reference orientation: Rotation around x-axis or x component of the Rodriguez vector (in radians or without unit).
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'ref_rot_y': Reference orientation: Rotation around y-axis or y component of the Rodriguez vector (in radians or without unit).
-
'ref_rot_z': Reference orientation: Rotation around z-axis or z component of the Rodriguez vector (in radians or without unit).
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'order_of_rotation': Meaning of the rotation values of the reference orientation.
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'longitude_min': Minimum longitude of the model views.
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'longitude_max': Maximum longitude of the model views.
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'latitude_min': Minimum latitude of the model views.
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'latitude_max': Maximum latitude of the model views.
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'cam_roll_min': Minimum camera roll angle of the model views.
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'cam_roll_max': Maximum camera roll angle of the model views.
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'dist_min': Minimum camera-object-distance of the model views.
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'dist_max': Maximum camera-object-distance of the model views.
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'min_contrast': Minimum contrast of the objects in the search images.
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'num_levels': User-specified number of pyramid levels.
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'num_levels_max': Maximum number of used pyramid levels over all model views.
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'optimization': Kind of optimization by reducing the number of model points.
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'metric': Match metric.
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'part_size': Size of the model parts that is used when 'metric' is set to 'ignore_part_polarity'.
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'min_face_angle': Minimum 3D face angle for which 3D object model edges are included in the 3D shape model.
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'min_size': Minimum size of the projected 3D object model edge (in number of pixels) to include the projected edge in the 3D shape model.
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'model_tolerance': Maximum acceptable tolerance of the projected 3D object model edges (in pixels).
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'num_views_per_level': Number of model views per pyramid level. For each pyramid level the number of views that are stored in the 3D shape model are returned. Thus, the number of returned elements corresponds to the number of used pyramid levels, which can be queried with 'num_levels_max'. Note that for pyramid levels below 'lowest_model_level' (see documentation of
create_shape_model_3d), the value 0 is returned. -
'reference_pose': Reference position and orientation of the 3d shape model. The returned pose is in the form \(\mvPoseVar{rcs}{mcs}\), where rcs denotes the reference coordinates system and mcs the model coordinate system (which is a 3D world coordinate system), see Transformations / Poses and
“Solution Guide III-C - 3D Vision”. Hence, it describes the pose of the coordinate system that is used in the underlying 3D object model relative to the internally used reference coordinate system of the 3D shape model. With this pose, points given in the object coordinate system can be transformed into the reference coordinate system. -
'reference_point': 3D coordinates of the reference point of the underlying 3D object model.
-
'bounding_box1': Smallest enclosing axis-parallel cuboid of the underlying 3D object model in the following order: [min_x, min_y, min_z, max_x, max_y, max_z].
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'fast_pose_refinement': Describes whether the pose refinement during the search is performed in a sped up mode ('true') or in the conventional mode ('false').
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'lowest_model_level': Lowest pyramid level down to which views are stored in the model.
-
'union_adjacent_contours': Describes whether in
project_shape_model_3dadjacent contours should be joined or not.
A detailed description of the parameters can be looked up with the
operator create_shape_model_3d.
It is possible to query the values of several parameters with a
single operator call by passing a tuple containing the names of all
desired parameters to GenParamName. As a result a tuple of
the same length with the corresponding values is returned in
GenParamValue. Note that this is solely possible for
parameters that return only a single value.
Execution information🔗
Execution information
-
Multithreading type: reentrant (runs in parallel with non-exclusive operators).
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Multithreading scope: global (may be called from any thread).
-
Processed without parallelization.
Parameters🔗
ShapeModel3DID (input_control) shape_model_3d → (handle)
Handle of the 3D shape model.
GenParamName (input_control) attribute.name(-array) → (string)
Names of the generic parameters that are to be queried for the 3D shape model.
Default: 'num_levels_max'
List of values: 'bounding_box1', 'cam_param', 'cam_roll_max', 'cam_roll_min', 'dist_max', 'dist_min', 'fast_pose_refinement', 'latitude_max', 'latitude_min', 'longitude_max', 'longitude_min', 'lowest_model_level', 'metric', 'min_contrast', 'min_face_angle', 'min_size', 'model_tolerance', 'num_levels', 'num_levels_max', 'num_views_per_level', 'optimization', 'order_of_rotation', 'part_size', 'ref_rot_x', 'ref_rot_y', 'ref_rot_z', 'reference_point', 'reference_pose', 'union_adjacent_contours'
GenParamValue (output_control) attribute.name(-array) → (string / integer / real)
Values of the generic parameters.
Result🔗
If the parameters are valid, the operator
get_shape_model_3d_params returns the value 2 (H_MSG_TRUE). If
necessary an exception is raised.
Combinations with other operators🔗
Combinations
Possible predecessors
create_shape_model_3d, read_shape_model_3d
Possible successors
See also
convert_point_3d_cart_to_spher, convert_point_3d_spher_to_cart, create_cam_pose_look_at_point, trans_pose_shape_model_3d
Module🔗
3D Metrology