refine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_poseT_refine_surface_model_pose🔗

Short description🔗

refine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_poseT_refine_surface_model_pose — Refine the pose of a surface model in a 3D scene.

Signature🔗

refine_surface_model_pose( surface_model SurfaceModelID, object_model_3d ObjectModel3D, pose InitialPose, real MinScore, string ReturnResultHandle, attribute.name GenParamName, attribute.value GenParamValue, out pose Pose, out real Score, out surface_matching_result SurfaceMatchingResultID )

Description🔗

The operator refine_surface_model_poseRefineSurfaceModelPose refines the approximate pose InitialPoseinitialPoseinitial_pose of the surface model SurfaceModelIDsurfaceModelIDsurface_model_id in the 3D scene ObjectModel3DobjectModel3Dobject_model_3d. The surface model SurfaceModelIDsurfaceModelIDsurface_model_id must have been created previously with create_surface_modelCreateSurfaceModel or read_surface_modelReadSurfaceModel. Additionally, set_surface_model_paramSetSurfaceModelParam can be used to set certain parameters that influence the refinement, such as restricting the allowed range of rotations.

refine_surface_model_poseRefineSurfaceModelPose is useful if the pose of an object in a scene is approximately known and only needs to be refined. The refined pose is returned in Poseposepose, along with a score in Scorescorescore. It is possible to pass multiple poses for refinement. Note that, contrary to find_surface_modelFindSurfaceModel, the returned poses are not sorted by their score but are returned in the same order as the input poses.

The maximum possible error in the approximate pose that can still be refined depends on the type of object, the amount of clutter in the scene and the visible parts of the objects. In general, differences in the orientation of up to 15° and differences in the position of up to 10% can be refined.

The accuracy of the pose refinement is limited to around 0.1% of the model’s size due to numerical reasons. The accuracy further depends on the noise of the scene points, the number of scene points and the shape of the model.

Details about the pose refinement and the parameters are described in the documentation of find_surface_modelFindSurfaceModel in the section about the dense pose refinement step. The following generic parameters can be set for refine_surface_model_poseRefineSurfaceModelPose, and are also documented in find_surface_modelFindSurfaceModel: 'pose_ref_num_steps'"pose_ref_num_steps", 'pose_ref_sub_sampling'"pose_ref_sub_sampling", 'pose_ref_dist_threshold_rel'"pose_ref_dist_threshold_rel", 'pose_ref_dist_threshold_abs'"pose_ref_dist_threshold_abs", 'pose_ref_scoring_dist_rel'"pose_ref_scoring_dist_rel", 'pose_ref_scoring_dist_abs'"pose_ref_scoring_dist_abs", 'pose_ref_use_scene_normals'"pose_ref_use_scene_normals", '3d_edge_min_amplitude_rel'"3d_edge_min_amplitude_rel", '3d_edge_min_amplitude_abs'"3d_edge_min_amplitude_abs", '3d_edges'"3d_edges", 'use_3d_edges'"use_3d_edges", 'use_view_based'"use_view_based", 'use_self_similar_poses'"use_self_similar_poses", 'pose_ref_dist_threshold_edges_rel'"pose_ref_dist_threshold_edges_rel", 'pose_ref_dist_threshold_edges_abs'"pose_ref_dist_threshold_edges_abs", 'pose_ref_scoring_dist_edges_rel'"pose_ref_scoring_dist_edges_rel", and 'pose_ref_scoring_dist_edges_abs'"pose_ref_scoring_dist_edges_abs".

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.

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🔗

SurfaceModelIDsurfaceModelIDsurface_model_id (input_control) surface_model → (handle)HTuple (HHandle)HSurfaceModel, HTuple (IntPtr)HHandleHtuple (handle)

Handle of the surface model.

ObjectModel3DobjectModel3Dobject_model_3d (input_control) object_model_3d → (handle)HTuple (HHandle)HObjectModel3D, HTuple (IntPtr)HHandleHtuple (handle)

Handle of the 3D object model containing the scene.

InitialPoseinitialPoseinitial_pose (input_control) pose(-array) → (real / integer)HTuple (double / Hlong)HPose, HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)

Initial pose of the surface model in the scene.

MinScoreminScoremin_score (input_control) real(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)

Minimum score of the returned poses.

Default: 00
Restriction: MinScore >= 0

ReturnResultHandlereturnResultHandlereturn_result_handle (input_control) string → (string)HTuple (HString)HTuple (string)strHtuple (char*)

Enable returning a result handle in SurfaceMatchingResultIDsurfaceMatchingResultIDsurface_matching_result_id.

Default: 'false'"false"
List of values: 'false', 'true'"false", "true"

GenParamNamegenParamNamegen_param_name (input_control) attribute.name-array → (string)HTuple (HString)HTuple (string)Sequence[str]Htuple (char*)

Names of the generic parameters.

Default: [][]
List of values: '3d_edge_min_amplitude_abs', '3d_edge_min_amplitude_rel', '3d_edges', 'pose_ref_dist_threshold_abs', 'pose_ref_dist_threshold_rel', 'pose_ref_num_steps', 'pose_ref_scoring_dist_abs', 'pose_ref_scoring_dist_rel', 'pose_ref_sub_sampling', 'pose_ref_use_scene_normals', 'use_3d_edges', 'use_self_similar_poses', 'use_view_based', 'viewpoint'

GenParamValuegenParamValuegen_param_value (input_control) attribute.value-array → (string / real / integer)HTuple (HString / double / Hlong)HTuple (string / double / int / long)Sequence[Union[str, float, int]]Htuple (char* / double / Hlong)

Values of the generic parameters.

Default: [][]
Suggested values: 0, 1, 'true', 'false', 0.005, 0.01, 0.03, 0.05, 0.1

Poseposepose (output_control) pose(-array) → (real / integer)HTuple (double / Hlong)HPose, HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)

3D pose of the surface model in the scene.

Scorescorescore (output_control) real-array → (real)HTuple (double)HTuple (double)Sequence[float]Htuple (double)

Score of the found instances of the model.

SurfaceMatchingResultIDsurfaceMatchingResultIDsurface_matching_result_id (output_control) surface_matching_result(-array) → (handle)HTuple (HHandle)HSurfaceMatchingResult, HTuple (IntPtr)Sequence[HHandle]Htuple (handle)

Handle of the matching result, if enabled in ReturnResultHandlereturnResultHandlereturn_result_handle.

Result🔗

refine_surface_model_poseRefineSurfaceModelPose returns 2 (H_MSG_TRUE) if all parameters are correct. If necessary, an exception is raised.

Combinations with other operators🔗

Combinations

Possible predecessors

read_object_model_3dReadObjectModel3d, xyz_to_object_model_3dXyzToObjectModel3d, get_object_model_3d_paramsGetObjectModel3dParams, read_surface_modelReadSurfaceModel, create_surface_modelCreateSurfaceModel, get_surface_model_paramGetSurfaceModelParam, find_surface_modelFindSurfaceModel, edges_object_model_3dEdgesObjectModel3d

Possible successors

get_surface_matching_resultGetSurfaceMatchingResult, clear_surface_matching_resultClearSurfaceMatchingResult, clear_object_model_3dClearObjectModel3d

Alternatives

find_surface_modelFindSurfaceModel, refine_surface_model_pose_imageRefineSurfaceModelPoseImage, find_surface_model_imageFindSurfaceModelImage

Module🔗

3D Metrology