HALCON 18.05 / HALCON Operator Reference / Matching / Descriptor-Based
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find_calib_descriptor_modelT_find_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModel (Operator)

Name

find_calib_descriptor_modelT_find_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModel — Find the best matches of a calibrated descriptor model in an image and return their 3D pose.

Signature

find_calib_descriptor_model(Image : : ModelID, DetectorParamName, DetectorParamValue, DescriptorParamName, DescriptorParamValue, MinScore, NumMatches, CamParam, ScoreType : Pose, Score)

Herror T_find_calib_descriptor_model(const Hobject Image, const Htuple ModelID, const Htuple DetectorParamName, const Htuple DetectorParamValue, const Htuple DescriptorParamName, const Htuple DescriptorParamValue, const Htuple MinScore, const Htuple NumMatches, const Htuple CamParam, const Htuple ScoreType, Htuple* Pose, Htuple* Score)

void FindCalibDescriptorModel(const HObject& Image, const HTuple& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, const HTuple& NumMatches, const HTuple& CamParam, const HTuple& ScoreType, HTuple* Pose, HTuple* Score)

HPoseArray HDescriptorModel::FindCalibDescriptorModel(const HImage& Image, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, Hlong NumMatches, const HCamPar& CamParam, const HTuple& ScoreType, HTuple* Score) const

HPose HDescriptorModel::FindCalibDescriptorModel(const HImage& Image, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HCamPar& CamParam, const HString& ScoreType, double* Score) const

HPose HDescriptorModel::FindCalibDescriptorModel(const HImage& Image, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HCamPar& CamParam, const char* ScoreType, double* Score) const

HPoseArray HImage::FindCalibDescriptorModel(const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, Hlong NumMatches, const HCamPar& CamParam, const HTuple& ScoreType, HTuple* Score) const

HPose HImage::FindCalibDescriptorModel(const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HCamPar& CamParam, const HString& ScoreType, double* Score) const

HPose HImage::FindCalibDescriptorModel(const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HCamPar& CamParam, const char* ScoreType, double* Score) const

HPoseArray HCamPar::FindCalibDescriptorModel(const HImage& Image, const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, Hlong NumMatches, const HTuple& ScoreType, HTuple* Score) const

HPose HCamPar::FindCalibDescriptorModel(const HImage& Image, const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HString& ScoreType, double* Score) const

HPose HCamPar::FindCalibDescriptorModel(const HImage& Image, const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const char* ScoreType, double* Score) const

static HTuple HPose::FindCalibDescriptorModel(const HImage& Image, const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, Hlong NumMatches, const HCamPar& CamParam, const HTuple& ScoreType, HPoseArray* Pose)

double HPose::FindCalibDescriptorModel(const HImage& Image, const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HCamPar& CamParam, const HString& ScoreType)

double HPose::FindCalibDescriptorModel(const HImage& Image, const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HCamPar& CamParam, const char* ScoreType)

static void HOperatorSet.FindCalibDescriptorModel(HObject image, HTuple modelID, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, HTuple minScore, HTuple numMatches, HTuple camParam, HTuple scoreType, out HTuple pose, out HTuple score)

HPose[] HDescriptorModel.FindCalibDescriptorModel(HImage image, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, HTuple minScore, int numMatches, HCamPar camParam, HTuple scoreType, out HTuple score)

HPose HDescriptorModel.FindCalibDescriptorModel(HImage image, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, double minScore, int numMatches, HCamPar camParam, string scoreType, out double score)

HPose[] HImage.FindCalibDescriptorModel(HDescriptorModel modelID, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, HTuple minScore, int numMatches, HCamPar camParam, HTuple scoreType, out HTuple score)

HPose HImage.FindCalibDescriptorModel(HDescriptorModel modelID, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, double minScore, int numMatches, HCamPar camParam, string scoreType, out double score)

HPose[] HCamPar.FindCalibDescriptorModel(HImage image, HDescriptorModel modelID, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, HTuple minScore, int numMatches, HTuple scoreType, out HTuple score)

HPose HCamPar.FindCalibDescriptorModel(HImage image, HDescriptorModel modelID, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, double minScore, int numMatches, string scoreType, out double score)

static HTuple HPose.FindCalibDescriptorModel(HImage image, HDescriptorModel modelID, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, HTuple minScore, int numMatches, HCamPar camParam, HTuple scoreType, out HPose[] pose)

double HPose.FindCalibDescriptorModel(HImage image, HDescriptorModel modelID, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, double minScore, int numMatches, HCamPar camParam, string scoreType)

Description

The operator find_calib_descriptor_modelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelFindCalibDescriptorModel finds the best NumMatchesNumMatchesNumMatchesNumMatchesnumMatches matches of the descriptor model ModelIDModelIDModelIDModelIDmodelID in ImageImageImageImageimage. The descriptor model must have been created previously by calling create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModelCreateCalibDescriptorModel or read_descriptor_modelread_descriptor_modelReadDescriptorModelReadDescriptorModelReadDescriptorModel.

The operator returns the 3D PosePosePosePosepose (in camera coordinate system) of the template object found in the search ImageImageImageImageimage. As two different cameras can be used for the model generation and the online search, the camera parameters of the camera used to create ImageImageImageImageimage have to be set in CamParamCamParamCamParamCamParamcamParam.

The detection process is the same as for find_uncalib_descriptor_modelfind_uncalib_descriptor_modelFindUncalibDescriptorModelFindUncalibDescriptorModelFindUncalibDescriptorModel. The setting of DetectorParamNameDetectorParamNameDetectorParamNameDetectorParamNamedetectorParamName, DetectorParamValueDetectorParamValueDetectorParamValueDetectorParamValuedetectorParamValue, DescriptorParamNameDescriptorParamNameDescriptorParamNameDescriptorParamNamedescriptorParamName, DescriptorParamValueDescriptorParamValueDescriptorParamValueDescriptorParamValuedescriptorParamValue, MinScoreMinScoreMinScoreMinScoreminScore, NumMatchesNumMatchesNumMatchesNumMatchesnumMatches and ScoreTypeScoreTypeScoreTypeScoreTypescoreType are explained with find_uncalib_descriptor_modelfind_uncalib_descriptor_modelFindUncalibDescriptorModelFindUncalibDescriptorModelFindUncalibDescriptorModel. After the object was detected, and using the world (from reference plane) coordinates of the matched model points (explained with create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModelCreateCalibDescriptorModel), the pose of the object is computed similarly to applying vector_to_posevector_to_poseVectorToPoseVectorToPoseVectorToPose operator.

The point correspondences for each object can be queried with get_descriptor_model_pointsget_descriptor_model_pointsGetDescriptorModelPointsGetDescriptorModelPointsGetDescriptorModelPoints.

Attention

Note that the domain of the search image should contain the whole object to be searched for because interest points are only extracted inside the domain of the search image. This means that if the domain does not contain the full object to be searched for, the resulting ScoreScoreScoreScorescore will decrease. Note also that matches may be found even if the reference point (origin) of the model lies outside of the domain of the search image. Both is in contrast to shape-based matching, where the domain of the search image defines the search space for the reference point of the model.

Execution Information

Parameters

ImageImageImageImageimage (input_object)  singlechannelimage → objectHImageHImageHobject (byte / uint2)

Input image where the model should be found.

ModelIDModelIDModelIDModelIDmodelID (input_control)  descriptor_model → HDescriptorModel, HTupleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

The handle to the descriptor model.

DetectorParamNameDetectorParamNameDetectorParamNameDetectorParamNamedetectorParamName (input_control)  attribute.name-array → HTupleHTupleHtuple (string) (string) (HString) (char*)

The detector's parameter names.

Default value: []

List of values: 'alpha'"alpha""alpha""alpha""alpha", 'check_neighbor'"check_neighbor""check_neighbor""check_neighbor""check_neighbor", 'mask_size_grd'"mask_size_grd""mask_size_grd""mask_size_grd""mask_size_grd", 'mask_size_smooth'"mask_size_smooth""mask_size_smooth""mask_size_smooth""mask_size_smooth", 'min_check_neighbor_diff'"min_check_neighbor_diff""min_check_neighbor_diff""min_check_neighbor_diff""min_check_neighbor_diff", 'min_score'"min_score""min_score""min_score""min_score", 'radius'"radius""radius""radius""radius", 'sigma_grad'"sigma_grad""sigma_grad""sigma_grad""sigma_grad", 'sigma_smooth'"sigma_smooth""sigma_smooth""sigma_smooth""sigma_smooth", 'subpix'"subpix""subpix""subpix""subpix", 'threshold'"threshold""threshold""threshold""threshold"

DetectorParamValueDetectorParamValueDetectorParamValueDetectorParamValuedetectorParamValue (input_control)  attribute.value-array → HTupleHTupleHtuple (integer / real / string) (int / long / double / string) (Hlong / double / HString) (Hlong / double / char*)

Values of the detector's parameters.

Default value: []

Suggested values: 0.08, 1, 1.2, 3, 15, 30, 1000, 'on'"on""on""on""on", 'off'"off""off""off""off"

DescriptorParamNameDescriptorParamNameDescriptorParamNameDescriptorParamNamedescriptorParamName (input_control)  attribute.name-array → HTupleHTupleHtuple (string) (string) (HString) (char*)

The descriptor's parameter names.

Default value: []

List of values: 'guided_matching'"guided_matching""guided_matching""guided_matching""guided_matching", 'min_score_descr'"min_score_descr""min_score_descr""min_score_descr""min_score_descr"

DescriptorParamValueDescriptorParamValueDescriptorParamValueDescriptorParamValuedescriptorParamValue (input_control)  attribute.value-array → HTupleHTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)

Values of the descriptor's parameters.

Default value: []

Suggested values: 0.0, 0.001, 0.005, 0.01, 'on'"on""on""on""on", 'off'"off""off""off""off"

MinScoreMinScoreMinScoreMinScoreminScore (input_control)  real(-array) → HTupleHTupleHtuple (real) (double) (double) (double)

Minimum score of the instances of the models to be found.

Default value: 0.2

Suggested values: 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Typical range of values: 0 ≤ MinScore MinScore MinScore MinScore minScore ≤ 1

NumMatchesNumMatchesNumMatchesNumMatchesnumMatches (input_control)  integer → HTupleHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Maximal number of found instances.

Default value: 1

Suggested values: 1, 2, 3, 4

Restriction: NumMatches >= 1

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

Camera parameter (inner orientation) obtained from camera calibration.

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

Score type to be evaluated in ScoreScoreScoreScorescore.

Default value: 'num_points' "num_points" "num_points" "num_points" "num_points"

List of values: 'inlier_ratio'"inlier_ratio""inlier_ratio""inlier_ratio""inlier_ratio", 'num_points'"num_points""num_points""num_points""num_points"

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

3D pose of the object.

ScoreScoreScoreScorescore (output_control)  number(-array) → HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Score of the found instances according to the ScoreType input.

Example (HDevelop)

*  Perform camera calibration (with standard calibration plate)
calibrate_cameras (CalibDataID, Error)
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
*  World coordinate system is defined by calibration plate in first image
get_calib_data (CalibDataID, 'calib_obj_pose',  [0,0], 'pose', \
                ObjInCameraPose)
*  Compensate thickness of plate
set_origin_pose(ObjInCameraPose, 0, 0, 0.0006, WorldPose)

* Create descriptor model:
create_calib_descriptor_model (Image,CamParam,WorldPose, \
                               'harris',[],[],[],[],42,ModelID)

get_descriptor_model_params (ModelID,DetectorType, \
                             DetectorParamName,DetectorParamValue, \
                             DescriptorParamName,DescriptorParamValue)
write_descriptor_model (ModelID,'simple_example.dsm')

read_descriptor_model ('simple_example.dsm',ModelID)
find_calib_descriptor_model (SearchImage,ModelID,[],[],[],[],0.2,1, \
                             CamParam,['num_points','inlier_ratio'], \
                             Pose,Score)

Possible Predecessors

create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModelCreateCalibDescriptorModel, read_descriptor_modelread_descriptor_modelReadDescriptorModelReadDescriptorModelReadDescriptorModel

See also

vector_to_posevector_to_poseVectorToPoseVectorToPoseVectorToPose, points_lepetitpoints_lepetitPointsLepetitPointsLepetitPointsLepetit, create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModelCreateCalibDescriptorModel

Module

Matching

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HALCON Operator Reference 18.05 Copyright © 1996-2018 MVTec Software GmbH