get_descriptor_model_resultsget_descriptor_model_resultsGetDescriptorModelResultsGetDescriptorModelResults (Operator)

Name

get_descriptor_model_resultsget_descriptor_model_resultsGetDescriptorModelResultsGetDescriptorModelResults — Query alphanumerical results that were accumulated during descriptor-based matching.

Signature

Description

The operator get_descriptor_model_resultsget_descriptor_model_resultsGetDescriptorModelResultsGetDescriptorModelResultsGetDescriptorModelResults allows to access alphanumeric results of the descriptor based matching process. The results are stored in a descriptor based model specified by ModelIDModelIDModelIDModelIDmodelID. ObjectIDObjectIDObjectIDObjectIDobjectID specifies for which object the results should be returned. The objects are 0-based indexed and in the same order as they are detected by find_uncalib_descriptor_modelfind_uncalib_descriptor_modelFindUncalibDescriptorModelFindUncalibDescriptorModelFindUncalibDescriptorModel or find_calib_descriptor_modelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelFindCalibDescriptorModel, respectively. Results can be queried for all objects at once by specifying 'all'"all""all""all""all" in ObjectIDObjectIDObjectIDObjectIDobjectID, if they are single valued (e.g., ResultNamesResultNamesResultNamesResultNamesresultNames='num_points'"num_points""num_points""num_points""num_points" or ResultNamesResultNamesResultNamesResultNamesresultNames='inlier_ratio'"inlier_ratio""inlier_ratio""inlier_ratio""inlier_ratio").

The results returned in ResultsResultsResultsResultsresults can be selected by setting ResultNamesResultNamesResultNamesResultNamesresultNames to:

'num_points'"num_points""num_points""num_points""num_points":

number of object points that correspond to model points.

'inlier_ratio'"inlier_ratio""inlier_ratio""inlier_ratio""inlier_ratio":

ratio of successfully matched object points relative to all descriptor model points.

'homography'"homography""homography""homography""homography":

a 3x3 projective transformation matrix which transforms model points into object points. Note that the result of the mapping depends on the selected model origin (see set_descriptor_model_originset_descriptor_model_originSetDescriptorModelOriginSetDescriptorModelOriginSetDescriptorModelOrigin).

'pose'"pose""pose""pose""pose":

returns the estimated object pose. Note that this result can only be queried after find_calib_descriptor_modelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelFindCalibDescriptorModel was called.

'point_classification'"point_classification""point_classification""point_classification""point_classification":

returns concatenated triads representing the classification results for the interest points extracted from the search image during the last call of find_uncalib_descriptor_modelfind_uncalib_descriptor_modelFindUncalibDescriptorModelFindUncalibDescriptorModelFindUncalibDescriptorModel or find_calib_descriptor_modelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelFindCalibDescriptorModel. Each triad consists of a search point index on the first, a model point index on the second, and a classification score on the third position. The search and model point indices correspond to the point coordinates returned by get_descriptor_model_pointsget_descriptor_model_pointsGetDescriptorModelPointsGetDescriptorModelPointsGetDescriptorModelPoints with the parameter Subset set to 'all'"all""all""all""all" and the parameter Set set to 'search'"search""search""search""search" and 'model'"model""model""model""model", respectively. If a number is passed in ObjectIDObjectIDObjectIDObjectIDobjectID only the classification results for the points matched to this object are returned. If 'all'"all""all""all""all" is passed in ObjectIDObjectIDObjectIDObjectIDobjectID the classification results for all points, including the points not matched to any object, are returned. The triads are sorted in descending order with respect to their score. Points having a score less than the value of the descriptor parameter 'min_score_descr'"min_score_descr""min_score_descr""min_score_descr""min_score_descr" (see find_calib_descriptor_modelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelFindCalibDescriptorModel or find_uncalib_descriptor_modelfind_uncalib_descriptor_modelFindUncalibDescriptorModelFindUncalibDescriptorModelFindUncalibDescriptorModel) are rejected and are not listed in the resulting classification results.

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

Possible Predecessors

find_uncalib_descriptor_modelfind_uncalib_descriptor_modelFindUncalibDescriptorModelFindUncalibDescriptorModelFindUncalibDescriptorModel, find_calib_descriptor_modelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelFindCalibDescriptorModel

See also

get_descriptor_model_originget_descriptor_model_originGetDescriptorModelOriginGetDescriptorModelOriginGetDescriptorModelOrigin, get_descriptor_model_paramsget_descriptor_model_paramsGetDescriptorModelParamsGetDescriptorModelParamsGetDescriptorModelParams, get_descriptor_model_pointsget_descriptor_model_pointsGetDescriptorModelPointsGetDescriptorModelPointsGetDescriptorModelPoints

Module

Matching