get_surface_matching_resultGetSurfaceMatchingResultGetSurfaceMatchingResultget_surface_matching_resultT_get_surface_matching_result

HALCON ScriptCpp++.NETPythonC

Short description

get_surface_matching_resultGetSurfaceMatchingResultGetSurfaceMatchingResultget_surface_matching_resultT_get_surface_matching_result — Get details of a result from surface based matching.

Signature

get_surface_matching_result( surface_matching_result SurfaceMatchingResultID, string ResultName, integer ResultIndex, out integer ResultValue )void GetSurfaceMatchingResult( const HTuple& SurfaceMatchingResultID, const HTuple& ResultName, const HTuple& ResultIndex, HTuple* ResultValue )static void HOperatorSet.GetSurfaceMatchingResult( HTuple surfaceMatchingResultID, HTuple resultName, HTuple resultIndex, out HTuple resultValue )def get_surface_matching_result( surface_matching_result_id: HHandle, result_name: MaybeSequence[str], result_index: int ) -> Sequence[HTupleElementType]

def get_surface_matching_result_s( surface_matching_result_id: HHandle, result_name: MaybeSequence[str], result_index: int ) -> HTupleElementTypeHerror T_get_surface_matching_result( const Htuple SurfaceMatchingResultID, const Htuple ResultName, const Htuple ResultIndex, Htuple* ResultValue )

HTuple HSurfaceMatchingResult::GetSurfaceMatchingResult( const HTuple& ResultName, Hlong ResultIndex ) const

HTuple HSurfaceMatchingResult::GetSurfaceMatchingResult( const HString& ResultName, Hlong ResultIndex ) const

HTuple HSurfaceMatchingResult::GetSurfaceMatchingResult( const char* ResultName, Hlong ResultIndex ) const

HTuple HSurfaceMatchingResult::GetSurfaceMatchingResult( const wchar_t* ResultName, Hlong ResultIndex ) const (Windows only)

HTuple HSurfaceMatchingResult.GetSurfaceMatchingResult( HTuple resultName, int resultIndex )

HTuple HSurfaceMatchingResult.GetSurfaceMatchingResult( string resultName, int resultIndex )

Description

The operator get_surface_matching_resultGetSurfaceMatchingResult returns details about the results of surface based matching or the surface pose refinement. The results are stored in SurfaceMatchingResultIDsurfaceMatchingResultIDsurface_matching_result_id, which must have been created by find_surface_modelFindSurfaceModel or refine_surface_model_poseRefineSurfaceModelPose.

The parameter ResultNameresultNameresult_name is used to select which result detail shall be returned. If details about one of the results shall be retrieved, ResultIndexresultIndexresult_index selects the result index, where 00 selects the first result. ResultIndexresultIndexresult_index is ignored for certain values of ResultNameresultNameresult_name.

The following values are possible for ResultNameresultNameresult_name if SurfaceMatchingResultIDsurfaceMatchingResultIDsurface_matching_result_id was created by find_surface_modelFindSurfaceModel or find_surface_model_imageFindSurfaceModelImage:

• 'sampled_scene'"sampled_scene": A 3D object model handle is returned that contains the sampled scene points that were used in the approximate matching step. This is helpful for tuning the sampling distance for the matching (see parameter RelSamplingDistance of operator find_surface_modelFindSurfaceModel). The parameter ResultIndexresultIndexresult_index is ignored.

• 'key_points'"key_points": A 3D object model handle is returned that contains all points from the 3D scene that were used as key points in the matching process. This is helpful for tuning the sampling distance and key point rate for the matching (see parameter KeyPointFraction of operator find_surface_modelFindSurfaceModel). The parameter ResultIndexresultIndexresult_index is ignored. At least 10 key points should be on the object of interest for stable results.

• 'score_unrefined'"score_unrefined": The score of the result before the dense pose refinement is returned. If the sparse pose refinement was disabled, this is the score of the approximate matching. Otherwise the score of the sparse pose refinement is returned. See find_surface_modelFindSurfaceModel for details about the score. In ResultIndexresultIndexresult_index the index of the result must be specified. If SurfaceMatchingResultIDsurfaceMatchingResultIDsurface_matching_result_id was created by refine_surface_model_poseRefineSurfaceModelPose, 0 is returned.

• 'sampled_3d_edges'"sampled_3d_edges": If the surface model was trained with 'train_3d_edges'"train_3d_edges" enabled, a 3D object model handle is returned that contains the sampled 3D edge points that were used in the approximate matching step and in the sparse refinement step. The parameter ResultIndexresultIndexresult_index is ignored.

The following values are always possible for ResultNameresultNameresult_name, regardless the operator SurfaceMatchingResultIDsurfaceMatchingResultIDsurface_matching_result_id was created with:

• 'pose'"pose": Returns the pose of the matching or refinement result. In ResultIndexresultIndexresult_index the index of the result must be specified.

• 'score_refined'"score_refined": Returns the score of the result after the dense pose refinement. See find_surface_modelFindSurfaceModel for details about this score. In ResultIndexresultIndexresult_index the index of the result must be specified. If SurfaceMatchingResultIDsurfaceMatchingResultIDsurface_matching_result_id was created by find_surface_modelFindSurfaceModel and dense pose refinement was disabled, 00 is returned.

• 'score'"score": Returns the combined score of the result indexed in ResultIndexresultIndexresult_index, thus this parameter is equal to Scorescorescore returned in find_surface_modelFindSurfaceModel.

• 'score_surface'"score_surface": Returns the surface-based score of the result indexed in ResultIndexresultIndexresult_index. If not specifically set otherwise, this score is equal to 'score_refined'"score_refined".

• 'score_3d_edges'"score_3d_edges": Returns the 3D edge score of the result indexed in ResultIndexresultIndexresult_index. This score is only applicable for edged-supported surface-based matching.

• 'score_2d_edges'"score_2d_edges": Returns the 2D edge score of the result indexed in ResultIndexresultIndexresult_index. This score is only applicable for edged-supported surface-based matching.

• 'score_view_based'"score_view_based": Returns the view-based score of the result indexed in ResultIndexresultIndexresult_index. This score is only applicable if the surface model supports view-based score computation.

• 'all_scores'"all_scores": Returns for the result indexed in ResultIndexresultIndexresult_index the values of the five scores 'score'"score", 'score_surface'"score_surface", 'score_3d_edges'"score_3d_edges", 'score_2d_edges'"score_2d_edges", and 'score_view_based'"score_view_based". Thereby the scores have the same order as the thresholds given through the parameter MinScoreminScoremin_score in the matching and refinement operators.

Execution information

Execution information

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).

• Multithreading scope: global (may be called from any thread).

• Processed without parallelization.

Parameters

SurfaceMatchingResultIDsurfaceMatchingResultIDsurface_matching_result_id (input_control) surface_matching_result → (handle)HTuple (HHandle)HSurfaceMatchingResult, HTuple (IntPtr)HHandleHtuple (handle)

Handle of the surface matching result.

ResultNameresultNameresult_name (input_control) string(-array) → (string)HTuple (HString)HTuple (string)MaybeSequence[str]Htuple (char*)

Name of the result property.

Default: 'pose'"pose"
List of values: 'all_scores', 'key_points', 'pose', 'sampled_3d_edges', 'sampled_scene', 'score', 'score_2d_edges', 'score_3d_edges', 'score_refined', 'score_surface', 'score_unrefined', 'score_view_based'"all_scores", "key_points", "pose", "sampled_3d_edges", "sampled_scene", "score", "score_2d_edges", "score_3d_edges", "score_refined", "score_surface", "score_unrefined", "score_view_based"

ResultIndexresultIndexresult_index (input_control) integer → (integer)HTuple (Hlong)HTuple (int / long)intHtuple (Hlong)

Index of the matching result, starting with 0.

Default: 00
Suggested values: 0, 1, 2, 30, 1, 2, 3
Restriction: ResultIndex >= 0

ResultValueresultValueresult_value (output_control) integer(-array) → (integer / string / real / handle)HTuple (Hlong / HString / double / HHandle)HTuple (int / long / string / double / HHandle)Sequence[HTupleElementType]Htuple (Hlong / char* / double / handle)

Value of the result property.

Result

If the handle of the result is valid, the operator get_surface_matching_resultGetSurfaceMatchingResult returns the value 2 (H_MSG_TRUE). If necessary an exception is raised.

Combinations with other operators

Combinations

Possible predecessors

find_surface_modelFindSurfaceModel, refine_surface_model_poseRefineSurfaceModelPose

Possible successors

clear_surface_modelClearSurfaceModel

See also

find_surface_modelFindSurfaceModel, refine_surface_model_poseRefineSurfaceModelPose, read_surface_modelReadSurfaceModel, write_surface_modelWriteSurfaceModel, clear_surface_modelClearSurfaceModel

Module

3D Metrology