segment_object_model_3d🔗
Short description🔗
segment_object_model_3d — Segment a set of 3D points into sub-sets with similar characteristics.
Signature🔗
segment_object_model_3d( object_model_3d ObjectModel3D, attribute.name GenParamName, attribute.name GenParamValue, out object_model_3d ObjectModel3DOut )
Description🔗
The operator segment_object_model_3d segments a set of 3D points
given by a 3D object model with the handle ObjectModel3D into
several sub-sets of neighbored 3D points with similar characteristics like
the same normal orientation or curvature. By default, the operator then
tries to fit a 3D primitive, i.e., a simple 3D shape like a plane,
a sphere, or a cylinder, into each of these sub-sets. As result, the
operator returns a tuple of handles for the 3D object models that
represent the individual sub-sets of 3D points
(ObjectModel3DOut). Within these 3D object models information
is stored that concern, e.g., the success of the fitting and the type
and parameters of the fitted 3D primitive. This information can be queried
from the individual 3D object model with get_object_model_3d_params.
Before calling segment_object_model_3d, the input 3D object model
should be prepared for the segmentation using the operator
prepare_object_model_3d with the parameter Purpose set
to 'segmentation'. If the input 3D object model is not
prepared this way, the operator prepare_object_model_3d is called
internally within segment_object_model_3d to extend the
3D object model with attributes that were not explicitly but only implicitly
contained in the 3D object model.
To control the segmentation and the fitting, you can adjust some
generic parameters within GenParamName and GenParamValue.
But note that for a lot of applications the default
values are sufficient and no adjustment is necessary.
The following values for GenParamName and GenParamValue
are possible:
-
'max_orientation_diff': The parameter specifies the maximum angle between the point normals of two neighbored 3D points (in radians) that is allowed so that the two points belong to the same sub-set of 3D points. For a cylinder or sphere, the parameter value depends on the dimension of the object and on the distance of the neighbored 3D points. I.e., if the cylinder or sphere has a very small radius or if the 3D points are not very dense, the value must be chosen higher. For a plane the value is independent from the dimension of the object and can be set to a small value.
Suggested values: 0.10, 0.15, 0.20
Default: 0.15
-
'max_curvature_diff': The parameter specifies the maximum difference between the curvatures of the surface at the positions of two neighbored 3D points that is allowed so that the two points belong to the same sub-set of 3D points. The value depends on the noise of the 3D points. I.e., if the noise level of the 3D points is very high, the value must be set to a higher value. Generally, the number of resulting 3D object models decreases for a higher value, because more 3D points are merged to a sub-set of 3D points.
Suggested values: 0.03, 0.04, 0.05
Default: 0.05
-
'min_area': The parameter specifies the minimum number of 3D points needed for a sub-set of connected 3D points to be returned by the segmentation. Thus, for a sub-set with fewer points the points are deleted and no output handle is created.
Suggested values: 1, 10, 100
Default: 100
-
'fitting': The parameter specifies whether after the segmentation 3D primitives are fitted into the sub-sets of 3D points. If 'fitting' is set to 'true', which is the default, the fitting is calculated and the 3D object models with the resulting handles contain the parameters of the corresponding 3D primitives. The output parameters of a cylinder, a sphere, or a plane are described with the operator
fit_primitives_object_model_3d. If 'fitting' is set to 'false', only a segmentation is performed and the output 3D object models contain the segmented sub-sets of 3D points. A later fitting can be performed with the operatorfit_primitives_object_model_3d.List of values: 'false', 'true'
Default: 'true'
-
'output_xyz_mapping': The parameter determines if a mapping from the segmented 3D points to image coordinates is copied to the output 3D object model. This information is needed, e.g., when using the operator
object_model_3d_to_xyzafter the segmentation (e.g., for a visualization). If 'output_xyz_mapping' is set to 'true', the image coordinate mapping is copied. Note that the parameter is only valid, if the image coordinate mapping is available in the input 3D object model. Make sure that, if you derive the input 3D object model by copying it with the operatorcopy_object_model_3dfrom a 3D object model that contains such a mapping, the mapping is copied, too. Furthermore, the parameter is only valid, if the 3D points are copied to the output 3D object model, which is set with the parameter 'output_point_coord'. If 'output_xyz_mapping' is set to 'false', the image coordinate mapping is not copied.List of values: 'true', 'false'
Default: 'false'
-
'primitive_type', 'fitting_algorithm','min_radius', 'max_radius','output_point_coord': These parameters are used, if 'fitting' is set to 'true', which is the default. The meaning and the use of these parameters is described with the operator
fit_primitives_object_model_3d. -
'surface_check': The parameter determines whether the surface of a triangulated input object model is checked regarding its conformity to the expected requirements. If the input 3D object model contains triangles that are topologically invalid an error message is raised. If the triangulation was created (
triangulate_object_model_3d) or edited (e.g., bysimplify_object_model_3d) by a HALCON operator, a surface check should not be necessary. The check can be disabled in order to enhance the runtime by setting 'surface_check' to 'false'.List of values: 'true', 'false'
Default: 'true'
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🔗
ObjectModel3D (input_control) object_model_3d(-array) → (handle)
Handle of the input 3D object model.
GenParamName (input_control) attribute.name-array → (string)
Names of the generic parameters.
Number of elements: GenParamName == GenParamValue
List of values: 'fitting_algorithm', 'max_curvature_diff', 'max_orientation_diff', 'max_radius', 'min_area', 'min_radius', 'output_point_coord', 'output_xyz_mapping', 'primitive_type', 'surface_check'
GenParamValue (input_control) attribute.name-array → (string / real / integer)
Values of the generic parameters.
Number of elements: GenParamValue == GenParamName
Suggested values: 0.15, 0.05, 100, 'true', 'false', 'cylinder', 'sphere', 'plane', 'all', 'least_squares', 'least_squares_huber', 'least_squares_tukey'
ObjectModel3DOut (output_control) object_model_3d(-array) → (handle)
Handle of the output 3D object model.
Result🔗
segment_object_model_3d returns 2 (H_MSG_TRUE) if all parameter values
are correct. If necessary, an exception is raised.
Combinations with other operators🔗
Combinations
Possible predecessors
xyz_to_object_model_3d, read_object_model_3d, prepare_object_model_3d
Possible successors
get_object_model_3d_params, object_model_3d_to_xyz, write_object_model_3d, clear_object_model_3d
See also
Module🔗
3D Metrology