project_object_model_3dT_project_object_model_3dProjectObjectModel3dProjectObjectModel3d (Operator)

Name

project_object_model_3dT_project_object_model_3dProjectObjectModel3dProjectObjectModel3d — Project a 3D object model into image coordinates.

Signature

project_object_model_3d( : ModelContours : ObjectModel3D, CamParam, Pose, GenParamName, GenParamValue : )

The operator project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3d projects a 3D object model into the image coordinate system and returns the projected contours in ModelContoursModelContoursModelContoursModelContoursmodelContours. This operator is particularly useful for the visualization of 3D object models. Note that primitives are not projected but silently ignored. The coordinates of the 3D object model are given in the 3D world coordinate system. First, they are transformed into the camera coordinate system using the given PosePosePosePosepose. Then, these coordinates are projected into the image coordinate system based on the internal camera parameters CamParamCamParamCamParamCamParamcamParam.

The internal camera parameters CamParamCamParamCamParamCamParamcamParam describe the projection characteristics of the camera (see calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras). The PosePosePosePosepose describes the position and orientation of the world coordinate system with respect to the camera coordinate system.

There are some generic parameters that can optionally be used to influence the projection. If desired, these parameters and their corresponding values can be specified by using GenParamNameGenParamNameGenParamNameGenParamNamegenParamName and GenParamValueGenParamValueGenParamValueGenParamValuegenParamValue, respectively. The following values for GenParamNameGenParamNameGenParamNameGenParamNamegenParamName are possible:

'data'"data""data""data""data":

This parameter specifies which geometric data of the 3D object model should be projected. If 'data'"data""data""data""data" is set to 'faces'"faces""faces""faces""faces", the faces of the 3D object model are projected. The faces are represented by their border lines in ModelContoursModelContoursModelContoursModelContoursmodelContours. If 'data'"data""data""data""data" is set to 'lines'"lines""lines""lines""lines", the 3D lines of the 3D object model are projected. If 'data'"data""data""data""data" is set to 'points'"points""points""points""points", the points of the 3D object model are projected. The projected points can be represented in ModelContoursModelContoursModelContoursModelContoursmodelContours in different ways. The point representation can be selected by using the generic parameter 'point_shape'"point_shape""point_shape""point_shape""point_shape" (see below). Finally, if 'data'"data""data""data""data" is set to 'auto'"auto""auto""auto""auto", HALCON automatically chooses the most descriptive geometry data that is available in the 3D object model for visualization.

List of values: 'auto'"auto""auto""auto""auto", 'faces'"faces""faces""faces""faces", 'lines'"lines""lines""lines""lines", 'points'"points""points""points""points"

Default value: 'auto'"auto""auto""auto""auto"

'point_shape'"point_shape""point_shape""point_shape""point_shape":

This parameter specifies how points are represented in the output contour ModelContoursModelContoursModelContoursModelContoursmodelContours. Consequently, this parameter only has an effect if the points of the 3D object model are selected for projection (see above). If 'point_shape'"point_shape""point_shape""point_shape""point_shape" is set to 'circle'"circle""circle""circle""circle", points are represented by circles, whereas if 'point_shape'"point_shape""point_shape""point_shape""point_shape" is set to 'cross'"cross""cross""cross""cross", points are represented by crosses. In both cases the size of the points (i.e., the size of the circles or the size of the crosses) can be specified by the generic parameter 'point_size'"point_size""point_size""point_size""point_size" (see below). The orientation of the crosses can be specified by the generic parameter 'point_orientation'"point_orientation""point_orientation""point_orientation""point_orientation" (see below).

List of values: 'circle'"circle""circle""circle""circle", 'cross'"cross""cross""cross""cross"

Default value: 'circle'"circle""circle""circle""circle"

'point_size'"point_size""point_size""point_size""point_size":

This parameter specifies the size of the point representation in the output contour ModelContoursModelContoursModelContoursModelContoursmodelContours, i.e., the size of the circles or the size of the crosses depending on the selected 'point_shape'"point_shape""point_shape""point_shape""point_shape". Consequently, this parameter only has an effect if the points of the 3D object model are selected for projection (see above). The size must be given in pixel units. If 'point_size'"point_size""point_size""point_size""point_size" is set to 0, each point is represented by a contour that contains a single contour point.

Suggested values: 0, 2, 4

Default value: 4

'point_orientation'"point_orientation""point_orientation""point_orientation""point_orientation":

This parameter specifies the orientation of the crosses in radians. Consequently, this parameter only has an effect if the points of the 3D object model are selected for projection and 'point_shape'"point_shape""point_shape""point_shape""point_shape" is set to 'cross'"cross""cross""cross""cross" (see above).

Suggested values: 0, 0.39, 0.79

Default value: 0.79

'union_adjacent_contours'"union_adjacent_contours""union_adjacent_contours""union_adjacent_contours""union_adjacent_contours":

This parameter specifies if adjacent projected contours should be joined or not. Activating this option is equivalent to calling union_adjacent_contours_xldunion_adjacent_contours_xldUnionAdjacentContoursXldUnionAdjacentContoursXldUnionAdjacentContoursXld after this operator, but significantly faster.

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

Default value: 'true'"true""true""true""true"

'hidden_surface_removal'"hidden_surface_removal""hidden_surface_removal""hidden_surface_removal""hidden_surface_removal":

This parameter can be used to switch on or off the removal of hidden surfaces. If 'hidden_surface_removal'"hidden_surface_removal""hidden_surface_removal""hidden_surface_removal""hidden_surface_removal" is set to 'true'"true""true""true""true", only those projected edges are returned that are not hidden by faces of the 3D object model. If 'hidden_surface_removal'"hidden_surface_removal""hidden_surface_removal""hidden_surface_removal""hidden_surface_removal" is set to 'false'"false""false""false""false", all projected edges are returned. This is faster than a projection with 'hidden_surface_removal'"hidden_surface_removal""hidden_surface_removal""hidden_surface_removal""hidden_surface_removal" set to 'true'"true""true""true""true".

If the system variable (see set_systemset_systemSetSystemSetSystemSetSystem) 'opengl_hidden_surface_removal_enable'"opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable" is set to 'true'"true""true""true""true" (which is the default if it is available) and 'hidden_surface_removal'"hidden_surface_removal""hidden_surface_removal""hidden_surface_removal""hidden_surface_removal" is set to 'true'"true""true""true""true", the projection of the model is accelerated using the graphics card. Depending on the graphics card this is significantly faster than the non accelerated algorithm. Be aware that the results of the OpenGL projection are slightly different compared to the analytic projection. Notable, only the contours visible through CamParamCamParamCamParamCamParamcamParam are projected in this mode.

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

Default value: 'true'"true""true""true""true"

'min_face_angle'"min_face_angle""min_face_angle""min_face_angle""min_face_angle":

3D edges are only projected if the angle between the two 3D faces that are incident with the 3D edge is at least 'min_face_angle'"min_face_angle""min_face_angle""min_face_angle""min_face_angle". If 'min_face_angle'"min_face_angle""min_face_angle""min_face_angle""min_face_angle" is set to 0.0, all edges are projected. If 'min_face_angle'"min_face_angle""min_face_angle""min_face_angle""min_face_angle" is set to (equivalent to 180 degrees), only the silhouette of the 3D object model is returned. This parameter can be used to suppress edges within curved surfaces, e.g., the surface of a cylinder or cone.

Suggested values: 0.17, 0.26, 0.35, 0.52

Default value: 0.52

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

ModelContoursModelContoursModelContoursModelContoursmodelContours (output_object) xld_cont(-array) → object

Projected model contours.

ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D (input_control) object_model_3d → (integer)

Handle of the 3D object model.

CamParamCamParamCamParamCamParamcamParam (input_control) campar → (real / integer / string)

Internal camera parameters.

PosePosePosePosepose (input_control) pose → (real / integer)

3D pose of the world coordinate system in camera coordinates.

Number of elements: Pose == 7

GenParamNameGenParamNameGenParamNameGenParamNamegenParamName (input_control) string(-array) → (string)

Name of the generic parameter.

Default value: []

List of values: 'data'"data""data""data""data", 'false'"false""false""false""false", 'hidden_surface_removal'"hidden_surface_removal""hidden_surface_removal""hidden_surface_removal""hidden_surface_removal", 'min_face_angle'"min_face_angle""min_face_angle""min_face_angle""min_face_angle", 'point_orientation'"point_orientation""point_orientation""point_orientation""point_orientation", 'point_shape'"point_shape""point_shape""point_shape""point_shape", 'point_size'"point_size""point_size""point_size""point_size", 'true'"true""true""true""true", 'union_adjacent_contours'"union_adjacent_contours""union_adjacent_contours""union_adjacent_contours""union_adjacent_contours"

GenParamValueGenParamValueGenParamValueGenParamValuegenParamValue (input_control) string(-array) → (string / integer / real)

Value of the generic parameter.

Default value: []

Suggested values: 0.17, 0.26, 0.35, 0.52, 'true'"true""true""true""true", 'false'"false""false""false""false", 'auto'"auto""auto""auto""auto", 'points'"points""points""points""points", 'faces'"faces""faces""faces""faces", 'lines'"lines""lines""lines""lines", 'circle'"circle""circle""circle""circle", 'cross'"cross""cross""cross""cross", 1, 2, 3, 4, 0.785398

Result

project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3d returns 2 (H_MSG_TRUE) if all parameters are correct. If necessary, an exception is raised. If the geometric data that was selected for the projection is not available in the 3D object model, the error 9514 is raised.