HALCON 17.12 / HALCON Operator Reference / 3D Object Model / Transformations
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render_object_model_3dT_render_object_model_3dRenderObjectModel3dRenderObjectModel3d (Operator)

Name

render_object_model_3dT_render_object_model_3dRenderObjectModel3dRenderObjectModel3d — Render 3D object models to get an image.

Signature

render_object_model_3d( : Image : ObjectModel3D, CamParam, Pose, GenParamName, GenParamValue : )

Herror T_render_object_model_3d(Hobject* Image, const Htuple ObjectModel3D, const Htuple CamParam, const Htuple Pose, const Htuple GenParamName, const Htuple GenParamValue)

void RenderObjectModel3d(HObject* Image, const HTuple& ObjectModel3D, const HTuple& CamParam, const HTuple& Pose, const HTuple& GenParamName, const HTuple& GenParamValue)

static HImage HObjectModel3D::RenderObjectModel3d(const HObjectModel3DArray& ObjectModel3D, const HCamPar& CamParam, const HPoseArray& Pose, const HTuple& GenParamName, const HTuple& GenParamValue)

HImage HObjectModel3D::RenderObjectModel3d(const HCamPar& CamParam, const HPose& Pose, const HTuple& GenParamName, const HTuple& GenParamValue) const

HImage HCamPar::RenderObjectModel3d(const HObjectModel3DArray& ObjectModel3D, const HPoseArray& Pose, const HTuple& GenParamName, const HTuple& GenParamValue) const

HImage HCamPar::RenderObjectModel3d(const HObjectModel3D& ObjectModel3D, const HPose& Pose, const HTuple& GenParamName, const HTuple& GenParamValue) const

static HImage HPose::RenderObjectModel3d(const HObjectModel3DArray& ObjectModel3D, const HCamPar& CamParam, const HPoseArray& Pose, const HTuple& GenParamName, const HTuple& GenParamValue)

HImage HPose::RenderObjectModel3d(const HObjectModel3D& ObjectModel3D, const HCamPar& CamParam, const HTuple& GenParamName, const HTuple& GenParamValue) const

static void HOperatorSet.RenderObjectModel3d(out HObject image, HTuple objectModel3D, HTuple camParam, HTuple pose, HTuple genParamName, HTuple genParamValue)

static HImage HObjectModel3D.RenderObjectModel3d(HObjectModel3D[] objectModel3D, HCamPar camParam, HPose[] pose, HTuple genParamName, HTuple genParamValue)

HImage HObjectModel3D.RenderObjectModel3d(HCamPar camParam, HPose pose, HTuple genParamName, HTuple genParamValue)

HImage HCamPar.RenderObjectModel3d(HObjectModel3D[] objectModel3D, HPose[] pose, HTuple genParamName, HTuple genParamValue)

HImage HCamPar.RenderObjectModel3d(HObjectModel3D objectModel3D, HPose pose, HTuple genParamName, HTuple genParamValue)

static HImage HPose.RenderObjectModel3d(HObjectModel3D[] objectModel3D, HCamPar camParam, HPose[] pose, HTuple genParamName, HTuple genParamValue)

HImage HPose.RenderObjectModel3d(HObjectModel3D objectModel3D, HCamPar camParam, HTuple genParamName, HTuple genParamValue)

Description

render_object_model_3drender_object_model_3dRenderObjectModel3dRenderObjectModel3dRenderObjectModel3d renders the 3D object models of ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D and returns the result in the image ImageImageImageImageimage. To setup the scene to display, set CamParamCamParamCamParamCamParamcamParam and the individual PosePosePosePosepose of the objects. Be aware that PosePosePosePosepose can contain either one pose for each object or one pose for all objects.

The view of the output image is identical to that produced by disp_object_model_3ddisp_object_model_3dDispObjectModel3dDispObjectModel3dDispObjectModel3d. The parameters and additional details are documented with disp_object_model_3ddisp_object_model_3dDispObjectModel3dDispObjectModel3dDispObjectModel3d, except that the parameters 'object_index_persistence'"object_index_persistence""object_index_persistence""object_index_persistence""object_index_persistence", and 'disp_background'"disp_background""disp_background""disp_background""disp_background" can not be set.

render_object_model_3drender_object_model_3dRenderObjectModel3dRenderObjectModel3dRenderObjectModel3d requires OpenGL 2.1, GLSL 1.2, and the OpenGL extensions GL_EXT_framebuffer_object and GL_EXT_framebuffer_blit. Otherwise the compatibility mode is automatically enabled. The compatibility mode requires OpenGL 1.1.

Execution Information

Parameters

ImageImageImageImageimage (output_object)  multichannel-image → objectHImageHImageHobject * (byte)

Rendered scene.

ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D (input_control)  object_model_3d(-array) → HObjectModel3D, HTupleHTupleHtuple (integer) (IntPtr) (Hlong) (Hlong)

Handles of the 3D object models.

CamParamCamParamCamParamCamParamcamParam (input_control)  campar → HCamPar, HTupleHTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)

Camera parameters of the scene.

PosePosePosePosepose (input_control)  pose(-array) → HPose, HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

3D poses of the objects.

GenParamNameGenParamNameGenParamNameGenParamNamegenParamName (input_control)  string-array → HTupleHTupleHtuple (string) (string) (HString) (char*)

Names of the generic parameters.

Default value: []

List of values: 'alpha'"alpha""alpha""alpha""alpha", 'attribute'"attribute""attribute""attribute""attribute", 'blue_channel_attrib'"blue_channel_attrib""blue_channel_attrib""blue_channel_attrib""blue_channel_attrib", 'color'"color""color""color""color", 'color_attrib'"color_attrib""color_attrib""color_attrib""color_attrib", 'color_attrib_end'"color_attrib_end""color_attrib_end""color_attrib_end""color_attrib_end", 'color_attrib_start'"color_attrib_start""color_attrib_start""color_attrib_start""color_attrib_start", 'colored'"colored""colored""colored""colored", 'compatibility_mode_enable'"compatibility_mode_enable""compatibility_mode_enable""compatibility_mode_enable""compatibility_mode_enable", 'disp_lines'"disp_lines""disp_lines""disp_lines""disp_lines", 'disp_normals'"disp_normals""disp_normals""disp_normals""disp_normals", 'disp_pose'"disp_pose""disp_pose""disp_pose""disp_pose", 'green_channel_attrib'"green_channel_attrib""green_channel_attrib""green_channel_attrib""green_channel_attrib", 'light_position'"light_position""light_position""light_position""light_position", 'line_color'"line_color""line_color""line_color""line_color", 'lut'"lut""lut""lut""lut", 'normal_color'"normal_color""normal_color""normal_color""normal_color", 'point_size'"point_size""point_size""point_size""point_size", 'quality'"quality""quality""quality""quality", 'red_channel_attrib'"red_channel_attrib""red_channel_attrib""red_channel_attrib""red_channel_attrib", 'rgb_channel_attrib_end'"rgb_channel_attrib_end""rgb_channel_attrib_end""rgb_channel_attrib_end""rgb_channel_attrib_end", 'rgb_channel_attrib_start'"rgb_channel_attrib_start""rgb_channel_attrib_start""rgb_channel_attrib_start""rgb_channel_attrib_start"

GenParamValueGenParamValueGenParamValueGenParamValuegenParamValue (input_control)  string-array → HTupleHTupleHtuple (string / integer / real) (string / int / long / double) (HString / Hlong / double) (char* / Hlong / double)

Values of the generic parameters.

Default value: []

List of values: 'auto'"auto""auto""auto""auto", 'blue'"blue""blue""blue""blue", 'coord_x'"coord_x""coord_x""coord_x""coord_x", 'coord_y'"coord_y""coord_y""coord_y""coord_y", 'coord_z'"coord_z""coord_z""coord_z""coord_z", 'faces'"faces""faces""faces""faces", 'false'"false""false""false""false", 'green'"green""green""green""green", 'lines'"lines""lines""lines""lines", 'normal_x'"normal_x""normal_x""normal_x""normal_x", 'normal_y'"normal_y""normal_y""normal_y""normal_y", 'normal_z'"normal_z""normal_z""normal_z""normal_z", 'points'"points""points""points""points", 'primitive'"primitive""primitive""primitive""primitive", 'red'"red""red""red""red", 'true'"true""true""true""true"

Result

render_object_model_3drender_object_model_3dRenderObjectModel3dRenderObjectModel3dRenderObjectModel3d returns 2 (H_MSG_TRUE) if all parameters are correct. If necessary, an exception is raised.

Possible Predecessors

find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModel, fit_primitives_object_model_3dfit_primitives_object_model_3dFitPrimitivesObjectModel3dFitPrimitivesObjectModel3dFitPrimitivesObjectModel3d, segment_object_model_3dsegment_object_model_3dSegmentObjectModel3dSegmentObjectModel3dSegmentObjectModel3d, read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3d

Possible Successors

disp_objdisp_objDispObjDispObjDispObj

See also

disp_object_model_3ddisp_object_model_3dDispObjectModel3dDispObjectModel3dDispObjectModel3d, project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3d, object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyzObjectModel3dToXyz

Module

3D Metrology

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HALCON Operator Reference 17.12 Copyright © 1996-2017 MVTec Software GmbH