| Operators |
get_object_model_3d_params — Return attributes of 3D object models.
get_object_model_3d_params( : : ObjectModel3D, GenParamName : GenParamValue)
A 3D object model consists of a set of attributes and meta data. The operator get_object_model_3d_params allows to access attributes and meta data of the given 3D object models. The name of the requested attribute or meta data is passed in the generic parameter GenParamName, the corresponding value is returned in GenParamValue. If a requested attribute or meta data is not available, an exception is raised. get_object_model_3d_params supports to access several 3D object models and several attributes at once. Note that the attributes or meta data can have different lengths. Some of the standard attributes have a defined length as noted in the attribute description below. The length of other attributes depends on the actual 3D object model, and can be queried by setting the parameter GenParamName to, e.g., 'num_points', 'num_triangles', 'num_polygons', or 'num_lines'. Thus, to get the length of the standard attribute 'point_coord_x', set GenParamName to 'num_points'.
Standard attributes
The following standard attributes and meta data can be accessed:
The x-coordinates of the set of the 3D points (length can be queried by 'num_points'). This attribute is obtained typically from the operator xyz_to_object_model_3d or read_object_model_3d.
The y-coordinates of the set of the 3D points (length can be queried by 'num_points'). This attribute is obtained typically from the operator xyz_to_object_model_3d or read_object_model_3d.
The z-coordinates of the set of the 3D points (length can be queried by 'num_points'). This attribute is obtained typically from the operator xyz_to_object_model_3d or read_object_model_3d.
The x-components of 3D point normals of the set of the 3D points (length can be queried by 'num_points'). This attribute is obtained typically from the operator smooth_object_model_3d.
The y-components of 3D point normals of the set of the 3D points (length can be queried by 'num_points'). This attribute is obtained typically from the operator smooth_object_model_3d.
The z-components of 3D point normals of the set of the 3D points (length can be queried by 'num_points'). This attribute is obtained typically from the operator smooth_object_model_3d.
The score of the set of the 3D points (length can be queried by 'num_points'). This attribute is obtained typically from the operator reconstruct_surface_stereo.
The red channel of the set of the 3D points (length can be queried by 'num_points'). This attribute is obtained typically from the operator reconstruct_surface_stereo.
The green channel of the set of the 3D points (length can be queried by 'num_points'). This attribute is obtained typically from the operator reconstruct_surface_stereo.
The blue channel of the set of the 3D points (length can be queried by 'num_points'). This attribute is obtained typically from the operator reconstruct_surface_stereo.
The row-components of the 2D mapping of the set of 3D points. (length can be queried by 'num_points'). This attribute is obtained typically from the operator xyz_to_object_model_3d.
The column-components of the 2D mapping of the set of 3D points. (length can be queried by 'num_points'). This attribute is obtained typically from the operator xyz_to_object_model_3d.
The indices of the 3D points that represent triangles in the following order: The first three values (return values 0,1,2) represent the first triangle. The next three values (return values 3,4,5) represent the second triangle etc. All indices correspond to the coordinates of the 3D points. Access to the coordinates of the 3D points is possible, e.g., with the generic parameter GenParamName set to the values 'point_coord_x', 'point_coord_y', and 'point_coord_z', respectively. The length of this attribute corresponds to three times the number of triangles, which can be queried using 'num_triangles'. This attribute is obtained typically from the operator triangulate_object_model_3d or read_object_model_3d.
The indices of the 3D points that represent polygons in the following order: The first return value contains the number n of the points of the first polygon. The following values (return values 1,2,..,n) represent the indices of the points of the first polygon. The next value (return value n+1) contains the number m of the points of the second polygon. The following m return values (return values n+2,n+3,..,n+1+m) represent the indices of the points of the second polygon etc. All indices correspond to the coordinates of the 3D points. Access to the coordinates of the 3D points is possible, e.g., with the generic parameter GenParamName set to the values 'point_coord_x', 'point_coord_y', and 'point_coord_z', respectively. The number of polygons per 3D object model can be queried using 'num_polygons'. This attribute is obtained typically from the operator read_object_model_3d.
The indices of the 3D points that represent polylines in the following order: The first return value contains the number n of points of the first polyline. The following values (return values 1,2,..,n) represent the indices of the points of the first polyline. The next value (return value n+1) contains the number m of points of the second polyline. The following m values (return values n+2,n+3,..,n+1+m) represent the indices of the points of the second polyline etc. All indices correspond to the coordinates of the 3D points. Access to the coordinates of the 3D points is possible, e.g., with the generic parameter GenParamName set to the values 'point_coord_x', 'point_coord_y', and 'point_coord_z', respectively. The number of lines per 3D object model can be queried using 'num_lines'. This attribute is obtained typically from the operator intersect_plane_object_model_3d.
The diameter of the set of 3D points, defined as the length of the diagonal of the smallest enclosing axis-parallel cuboid (see parameter 'bounding_box1'). This attribute has length 1.
3D coordinates of the center of the set of 3D points. These coordinates are the center of the smallest enclosing axis-parallel cuboid (see parameter 'bounding_box1'). This attribute has length 3. If there are no 3D coordinates in the 3D object model the following rules are valid:
If the 3D object model is a primitive of type cylinder (see gen_cylinder_object_model_3d) and there are extensions, the center point between the extensions are returned. If there are no extensions the translation parameters of the pose are returned.
If the 3D object model is a primitive of type plane (see gen_plane_object_model_3d) and there are extensions, the center of gravity of the plane is computed from the extensions. If there are no extensions the translation parameters of the pose are returned.
If the 3D object model is a primitive of type sphere or box (see gen_sphere_object_model_3d or gen_box_object_model_3d), the center point of the object model is returned.
The primitive type (e.g., obtained from the operator fit_primitives_object_model_3d). The return value of a sphere is 'sphere'. The return value of a cylinder is 'cylinder'. The return value of a plane is 'plane'. The return value of a box is 'box'. This attribute has length 1.
The parameters of the primitive (e.g., obtained from the operator fit_primitives_object_model_3d). The length of this attribute depends on 'primitive_type' and is between 4 and 10 for each 3D object model.
If the 3D object model is a primitive of type cylinder (see gen_cylinder_object_model_3d), the return values are the (x-, y-, z-)coordinates of the center [x_center, y_center, z_center], the normed (x-, y-, z-)directions of the main axis of the cylinder [x_axis, y_axis, z_axis], and the radius [radius] of the cylinder. The order is [x_center, y_center, z_center, x_axis, y_axis, z_axis, radius].
If the 3D object model is a primitive of type sphere (see gen_sphere_object_model_3d), the return values are the (x-, y-, z-)coordinates of the center [x_center, y_center, z_center] and the radius [radius] of the sphere. The order is [x_center, y_center, z_center, radius].
If the 3D object model is a primitive of type plane (see gen_plane_object_model_3d), the 4 parameters of the hessian normal form are returned, i.e., the unit normal (x-, y-, z-) vector [x, y, z] and the orthogonal distance (d) of the plane from the origin of the coordinate system. The order is [x, y, z, d]. The sign of the distance (d) determines the side of the plane on which the origin is located.
If the 3D object model is a primitive of type box (gen_box_object_model_3d), the return values are the 3D pose (translation, rotation, type of the rotation) and the half edge lengths (length1, length2, length3) of the box. length1 is the length of the box along the x axis of the pose. length2 is the length of the box along the y axis of the pose. length3 is the length of the box along the z axis of the pose. The order is [trans_x, trans_y, trans_z, rot_x, rot_y, rot_z, rot_type, length1, length2, length3]. For details about 3D poses and the corresponding transformation matrices see the operator create_pose.
The parameters of the primitive with format of a 3D pose (e.g., obtained from the operator fit_primitives_object_model_3d). For all types of primitives the return values are the 3D pose (translation, rotation, type of the rotation). For details about 3D poses and the corresponding transformation matrices see the operator create_pose. The length of this attribute depends on 'primitive_type' and is between 7 and 10 for each 3D object model.
If the 3D object model is a primitive of type cylinder (see gen_cylinder_object_model_3d), additionally, the radius [radius] of the cylinder is returned. The order is [trans_x, trans_y, trans_z, rot_x, rot_y, rot_z, rot_type, radius].
If the 3D object model is a primitive of type sphere (see gen_sphere_object_model_3d), additionally, the radius [radius] of the sphere is returned. The order is [trans_x, trans_y, trans_z, rot_x, rot_y, rot_z, rot_type, radius].
If the 3D object model is a primitive of type plane (see gen_plane_object_model_3d), the order is [trans_x, trans_y, trans_z, rot_x, rot_y, rot_z, rot_type].
If the 3D object model is a primitive of type box (see gen_box_object_model_3d), additionally the half edge lengths (length1, length2, length3) of the box are returned. length1 is the length of the box along the x axis of the pose. length2 is the length of the box along the y axis of the pose. length3 is the length of the box along the z axis of the pose. The order is [trans_x, trans_y, trans_z, rot_x, rot_y, rot_z, rot_type, length1, length2, length3].
The parameters of the primitive with format of a 3D pose (e.g., obtained from the operator fit_primitives_object_model_3d). For all types of primitives the return values are the 3D pose (translation, rotation, type of the rotation). For details about 3D poses and the corresponding transformation matrices see the operator create_pose. The length of this attribute is 7 for each 3D object model. The order is [trans_x, trans_y, trans_z, rot_x, rot_y, rot_z, rot_type].
The extents of the primitive of type cylinder and plane (e.g., obtained from the operator fit_primitives_object_model_3d). The length of this attribute depends on 'primitive_type' and can be queried using 'num_primitive_parameter_extension'.
If the 3D object model is a primitive of type cylinder (see gen_cylinder_object_model_3d), the return values are the extents (MinExtent, MaxExtent) of the cylinder. They are returned in the order [MinExtent, MaxExtent]. MinExtent represents the length of the cylinder in negative direction of the rotation axis. MaxExtent represents the length of the cylinder in positive direction of the rotation axis.
If the 3D object model is a primitive of type plane (see gen_plane_object_model_3d), the return value is a tuple of co-planar points regarding the fitted plane. The order is [x coordinate of point 1, x coordinate of point 2, x coordinate of point 3, ...., y coordinate of point 1, y coordinate of point 2, y coordinate of point 3, ....]. The coordinate values describe the support points of a convex hull. This is computed based on the projections of those points on the fitted plane which contribute to the fitting.
The quadratic residual error of the primitive (e.g., obtained from the operator fit_primitives_object_model_3d). This attribute has length 1.
3D coordinates of the reference point of the prepared 3D shape model for shape-based 3D matching. The reference point is the center of the smallest enclosing axis-parallel cuboid (see parameter 'bounding_box1'). This attribute has length 3.
Smallest enclosing axis-parallel cuboid (min_x, min_y, min_z, max_x, max_y, max_z). This attribute has length 6.
The number of points. This attribute has length 1.
The number of triangles. This attribute has length 1.
The number of polygons. This attribute has length 1.
The number of polylines. This attribute has length 1.
The number of extended data of primitives. This attribute has length 1.
The existence of 3D points. This attribute has length 1.
The existence of 3D point normals. This attribute has length 1.
The existence of triangles. This attribute has length 1.
The existence of polygons. This attribute has length 1.
The existence of lines. This attribute has length 1.
The existence of a mapping of the 3D points to image coordinates. This attribute has length 1.
The existence of a shape model for shape-based 3D matching. This attribute has length 1.
The existence of a precomputed data structure for 3D distance computation. This attribute has length 1. The data structure can be created with prepare_object_model_3d using the purpose 'distance_computation'. It is used by the operator distance_object_model_3d.
The existence of data for the surface-based matching. This attribute has length 1.
The existence of data for a 3D segmentation. This attribute has length 1.
The existence of a primitive. This attribute has length 1.
The existence of a quadratic residual error of a primitive. This attribute has length 1.
For every point the distance of the N-th nearest point. N must be a positive integer and is by default 25. For every point, all other points are sorted according to their distance and the distance of the N-th point is returned.
For every point the number of neighbors within a distance of at most X.
For every point the approximate number of neighbors within a distance of at most X. The distances are approximated using voxels, leading to a faster processing compared to 'num_neighbors'.
Extended attributes
Extended attributes are attributes, that can be derived from standard attributes by special operators (e.g. distance_object_model_3d), or user-defined attributes. User-defined attributes can be created by the operator set_object_model_3d_attrib. The following extended attributes and meta data can be accessed:
The user-defined name of the extended attribute. Note that this name must start with '&', e.g., '&my_attrib'. The data of the requested extended attributes are returned in GenParamValue. The order in which the data is returned is the same as the order of the attribute names specified in GenParamName.
The names of all extended attributes. For each extended attribute name a value is returned.
The existence of at least one extended attribute. For each 3D object model a value is returned.
The number of extended attributes. For each 3D object model a value is returned.
Handle of the 3D object model.
Names of the generic attributes that are queried for the 3D object model.
Default value: 'num_points'
List of values: 'blue', 'bounding_box1', 'center', 'diameter_axis_aligned_bounding_box', 'extended_attribute_names', 'green', 'has_distance_computation_data', 'has_extended_attribute', 'has_lines', 'has_point_normals', 'has_points', 'has_polygons', 'has_primitive_data', 'has_primitive_rms', 'has_segmentation_data', 'has_shape_based_matching_3d_data', 'has_surface_based_matching_data', 'has_triangles', 'has_xyz_mapping', 'lines', 'mapping_col', 'mapping_row', 'neighbor_distance', 'num_extended_attribute', 'num_lines', 'num_neighbors', 'num_neighbors_fast', 'num_points', 'num_polygons', 'num_primitive_parameter_extension', 'num_triangles', 'point_coord_x', 'point_coord_y', 'point_coord_z', 'point_normal_x', 'point_normal_y', 'point_normal_z', 'polygons', 'primitive_parameter', 'primitive_parameter_extension', 'primitive_parameter_pose', 'primitive_pose', 'primitive_rms', 'primitive_type', 'red', 'reference_point', 'score', 'triangles'
Values of the generic parameters.
The operator get_object_model_3d_params returns the value 2 (H_MSG_TRUE) if the given parameters are correct. Otherwise, an exception will be raised.
read_object_model_3d, xyz_to_object_model_3d, prepare_object_model_3d, sample_object_model_3d, triangulate_object_model_3d, intersect_plane_object_model_3d, set_object_model_3d_attrib, fit_primitives_object_model_3d, gen_plane_object_model_3d, gen_sphere_object_model_3d, gen_cylinder_object_model_3d, gen_box_object_model_3d, gen_sphere_object_model_3d_center
write_object_model_3d, clear_object_model_3d
3D Metrology
| Operators |