HALCON 18.05 / HALCON Operator Reference / 3D Matching / Deformable Surface-Based
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refine_deformable_surface_modelT_refine_deformable_surface_modelRefineDeformableSurfaceModelRefineDeformableSurfaceModel (Operator)

Name

refine_deformable_surface_modelT_refine_deformable_surface_modelRefineDeformableSurfaceModelRefineDeformableSurfaceModel — Refine the position and deformation of a deformable surface model in a 3D scene.

Signature

refine_deformable_surface_model( : : DeformableSurfaceModel, ObjectModel3D, RelSamplingDistance, InitialDeformationObjectModel3D, GenParamName, GenParamValue : Score, DeformableSurfaceMatchingResult)

Herror T_refine_deformable_surface_model(const Htuple DeformableSurfaceModel, const Htuple ObjectModel3D, const Htuple RelSamplingDistance, const Htuple InitialDeformationObjectModel3D, const Htuple GenParamName, const Htuple GenParamValue, Htuple* Score, Htuple* DeformableSurfaceMatchingResult)

void RefineDeformableSurfaceModel(const HTuple& DeformableSurfaceModel, const HTuple& ObjectModel3D, const HTuple& RelSamplingDistance, const HTuple& InitialDeformationObjectModel3D, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HTuple* DeformableSurfaceMatchingResult)

HTuple HObjectModel3D::RefineDeformableSurfaceModel(const HDeformableSurfaceModel& DeformableSurfaceModel, double RelSamplingDistance, const HObjectModel3D& InitialDeformationObjectModel3D, const HTuple& GenParamName, const HTuple& GenParamValue, HDeformableSurfaceMatchingResultArray* DeformableSurfaceMatchingResult) const

double HObjectModel3D::RefineDeformableSurfaceModel(const HDeformableSurfaceModel& DeformableSurfaceModel, double RelSamplingDistance, const HObjectModel3D& InitialDeformationObjectModel3D, const HString& GenParamName, const HString& GenParamValue, HDeformableSurfaceMatchingResult* DeformableSurfaceMatchingResult) const

double HObjectModel3D::RefineDeformableSurfaceModel(const HDeformableSurfaceModel& DeformableSurfaceModel, double RelSamplingDistance, const HObjectModel3D& InitialDeformationObjectModel3D, const char* GenParamName, const char* GenParamValue, HDeformableSurfaceMatchingResult* DeformableSurfaceMatchingResult) const

HTuple HDeformableSurfaceModel::RefineDeformableSurfaceModel(const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, const HObjectModel3D& InitialDeformationObjectModel3D, const HTuple& GenParamName, const HTuple& GenParamValue, HDeformableSurfaceMatchingResultArray* DeformableSurfaceMatchingResult) const

double HDeformableSurfaceModel::RefineDeformableSurfaceModel(const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, const HObjectModel3D& InitialDeformationObjectModel3D, const HString& GenParamName, const HString& GenParamValue, HDeformableSurfaceMatchingResult* DeformableSurfaceMatchingResult) const

double HDeformableSurfaceModel::RefineDeformableSurfaceModel(const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, const HObjectModel3D& InitialDeformationObjectModel3D, const char* GenParamName, const char* GenParamValue, HDeformableSurfaceMatchingResult* DeformableSurfaceMatchingResult) const

static HTuple HDeformableSurfaceMatchingResult::RefineDeformableSurfaceModel(const HDeformableSurfaceModel& DeformableSurfaceModel, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, const HObjectModel3D& InitialDeformationObjectModel3D, const HTuple& GenParamName, const HTuple& GenParamValue, HDeformableSurfaceMatchingResultArray* DeformableSurfaceMatchingResult)

double HDeformableSurfaceMatchingResult::RefineDeformableSurfaceModel(const HDeformableSurfaceModel& DeformableSurfaceModel, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, const HObjectModel3D& InitialDeformationObjectModel3D, const HString& GenParamName, const HString& GenParamValue)

double HDeformableSurfaceMatchingResult::RefineDeformableSurfaceModel(const HDeformableSurfaceModel& DeformableSurfaceModel, const HObjectModel3D& ObjectModel3D, double RelSamplingDistance, const HObjectModel3D& InitialDeformationObjectModel3D, const char* GenParamName, const char* GenParamValue)

static void HOperatorSet.RefineDeformableSurfaceModel(HTuple deformableSurfaceModel, HTuple objectModel3D, HTuple relSamplingDistance, HTuple initialDeformationObjectModel3D, HTuple genParamName, HTuple genParamValue, out HTuple score, out HTuple deformableSurfaceMatchingResult)

HTuple HObjectModel3D.RefineDeformableSurfaceModel(HDeformableSurfaceModel deformableSurfaceModel, double relSamplingDistance, HObjectModel3D initialDeformationObjectModel3D, HTuple genParamName, HTuple genParamValue, out HDeformableSurfaceMatchingResult[] deformableSurfaceMatchingResult)

double HObjectModel3D.RefineDeformableSurfaceModel(HDeformableSurfaceModel deformableSurfaceModel, double relSamplingDistance, HObjectModel3D initialDeformationObjectModel3D, string genParamName, string genParamValue, out HDeformableSurfaceMatchingResult deformableSurfaceMatchingResult)

HTuple HDeformableSurfaceModel.RefineDeformableSurfaceModel(HObjectModel3D objectModel3D, double relSamplingDistance, HObjectModel3D initialDeformationObjectModel3D, HTuple genParamName, HTuple genParamValue, out HDeformableSurfaceMatchingResult[] deformableSurfaceMatchingResult)

double HDeformableSurfaceModel.RefineDeformableSurfaceModel(HObjectModel3D objectModel3D, double relSamplingDistance, HObjectModel3D initialDeformationObjectModel3D, string genParamName, string genParamValue, out HDeformableSurfaceMatchingResult deformableSurfaceMatchingResult)

static HTuple HDeformableSurfaceMatchingResult.RefineDeformableSurfaceModel(HDeformableSurfaceModel deformableSurfaceModel, HObjectModel3D objectModel3D, double relSamplingDistance, HObjectModel3D initialDeformationObjectModel3D, HTuple genParamName, HTuple genParamValue, out HDeformableSurfaceMatchingResult[] deformableSurfaceMatchingResult)

double HDeformableSurfaceMatchingResult.RefineDeformableSurfaceModel(HDeformableSurfaceModel deformableSurfaceModel, HObjectModel3D objectModel3D, double relSamplingDistance, HObjectModel3D initialDeformationObjectModel3D, string genParamName, string genParamValue)

Description

The operator refine_deformable_surface_modelrefine_deformable_surface_modelRefineDeformableSurfaceModelRefineDeformableSurfaceModelRefineDeformableSurfaceModel refines the initial position and deformation given in InitialDeformationObjectModel3DInitialDeformationObjectModel3DInitialDeformationObjectModel3DInitialDeformationObjectModel3DinitialDeformationObjectModel3D of the surface model DeformableSurfaceModelDeformableSurfaceModelDeformableSurfaceModelDeformableSurfaceModeldeformableSurfaceModel in the 3D scene ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D. The deformable surface model DeformableSurfaceModelDeformableSurfaceModelDeformableSurfaceModelDeformableSurfaceModeldeformableSurfaceModel must have been created previously with, for example, create_deformable_surface_modelcreate_deformable_surface_modelCreateDeformableSurfaceModelCreateDeformableSurfaceModelCreateDeformableSurfaceModel.

refine_deformable_surface_modelrefine_deformable_surface_modelRefineDeformableSurfaceModelRefineDeformableSurfaceModelRefineDeformableSurfaceModel is useful if the position and deformation of an object in a scene is approximately known and only needs to be refined. Additional information about the output parameters can be found in find_deformable_surface_modelfind_deformable_surface_modelFindDeformableSurfaceModelFindDeformableSurfaceModelFindDeformableSurfaceModel.

InitialDeformationObjectModel3DInitialDeformationObjectModel3DInitialDeformationObjectModel3DInitialDeformationObjectModel3DinitialDeformationObjectModel3D must contain as many points as the sampled deformation model obtained by get_deformable_surface_model_paramget_deformable_surface_model_paramGetDeformableSurfaceModelParamGetDeformableSurfaceModelParamGetDeformableSurfaceModelParam and in the same order.

The score of the refined result is returned in ScoreScoreScoreScorescore and a deformable surface matching result handle is returned in DeformableSurfaceMatchingResultDeformableSurfaceMatchingResultDeformableSurfaceMatchingResultDeformableSurfaceMatchingResultdeformableSurfaceMatchingResult. Details of the result, such as the deformed model and the position of the reference points, can be queried with the operator get_deformable_surface_matching_resultget_deformable_surface_matching_resultGetDeformableSurfaceMatchingResultGetDeformableSurfaceMatchingResultGetDeformableSurfaceMatchingResult using the result handle.

The score is normalized between 0 and 1 and represents the amount of model surface visible in the scene. A value of 1 represents a perfect match.

The parameters GenParamNameGenParamNameGenParamNameGenParamNamegenParamName and GenParamValueGenParamValueGenParamValueGenParamValuegenParamValue are used to set generic parameters. Details about the generic parameters are described in the documentation of find_deformable_surface_modelfind_deformable_surface_modelFindDeformableSurfaceModelFindDeformableSurfaceModelFindDeformableSurfaceModel.

Execution Information

This operator returns a handle. Note that the state of an instance of this handle type may be changed by specific operators even though the handle is used as an input parameter by those operators.

This operator supports cancelling timeouts.

Parameters

DeformableSurfaceModelDeformableSurfaceModelDeformableSurfaceModelDeformableSurfaceModeldeformableSurfaceModel (input_control)  deformable_surface_model → HDeformableSurfaceModel, HTupleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the deformable surface model.

ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D (input_control)  object_model_3d → HObjectModel3D, HTupleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the 3D object model containing the scene.

RelSamplingDistanceRelSamplingDistanceRelSamplingDistanceRelSamplingDistancerelSamplingDistance (input_control)  real → HTupleHTupleHtuple (real) (double) (double) (double)

Relative sampling distance of the scene.

Default value: 0.05

Suggested values: 0.1, 0.07, 0.05, 0.04, 0.03

Restriction: 0 < RelSamplingDistance < 1

InitialDeformationObjectModel3DInitialDeformationObjectModel3DInitialDeformationObjectModel3DInitialDeformationObjectModel3DinitialDeformationObjectModel3D (input_control)  object_model_3d → HObjectModel3D, HTupleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Initial deformation of the 3D object model

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

Names of the generic parameters.

Default value: []

List of values: 'pose_ref_dist_threshold_abs'"pose_ref_dist_threshold_abs""pose_ref_dist_threshold_abs""pose_ref_dist_threshold_abs""pose_ref_dist_threshold_abs", 'pose_ref_dist_threshold_rel'"pose_ref_dist_threshold_rel""pose_ref_dist_threshold_rel""pose_ref_dist_threshold_rel""pose_ref_dist_threshold_rel", 'pose_ref_num_steps'"pose_ref_num_steps""pose_ref_num_steps""pose_ref_num_steps""pose_ref_num_steps", 'pose_ref_scoring_dist_abs'"pose_ref_scoring_dist_abs""pose_ref_scoring_dist_abs""pose_ref_scoring_dist_abs""pose_ref_scoring_dist_abs", 'pose_ref_scoring_dist_rel'"pose_ref_scoring_dist_rel""pose_ref_scoring_dist_rel""pose_ref_scoring_dist_rel""pose_ref_scoring_dist_rel", 'scene_normal_computation'"scene_normal_computation""scene_normal_computation""scene_normal_computation""scene_normal_computation"

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

Values of the generic parameters.

Default value: []

Suggested values: 'fast'"fast""fast""fast""fast", 'mls'"mls""mls""mls""mls", 0, 1, 10, 25, 50, 0.05, 0.1, 0.25, 0.3, 0.05, 0.03, 0.005

ScoreScoreScoreScorescore (output_control)  real(-array) → HTupleHTupleHtuple (real) (double) (double) (double)

Score of the refined model.

DeformableSurfaceMatchingResultDeformableSurfaceMatchingResultDeformableSurfaceMatchingResultDeformableSurfaceMatchingResultdeformableSurfaceMatchingResult (output_control)  deformable_surface_matching_result(-array) → HDeformableSurfaceMatchingResult, HTupleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the matching result.

Result

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

Possible Predecessors

read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3d, get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsGetObjectModel3dParams, read_deformable_surface_modelread_deformable_surface_modelReadDeformableSurfaceModelReadDeformableSurfaceModelReadDeformableSurfaceModel, create_deformable_surface_modelcreate_deformable_surface_modelCreateDeformableSurfaceModelCreateDeformableSurfaceModelCreateDeformableSurfaceModel, get_deformable_surface_model_paramget_deformable_surface_model_paramGetDeformableSurfaceModelParamGetDeformableSurfaceModelParamGetDeformableSurfaceModelParam, find_deformable_surface_modelfind_deformable_surface_modelFindDeformableSurfaceModelFindDeformableSurfaceModelFindDeformableSurfaceModel

Possible Successors

get_deformable_surface_matching_resultget_deformable_surface_matching_resultGetDeformableSurfaceMatchingResultGetDeformableSurfaceMatchingResultGetDeformableSurfaceMatchingResult, clear_deformable_surface_matching_resultclear_deformable_surface_matching_resultClearDeformableSurfaceMatchingResultClearDeformableSurfaceMatchingResultClearDeformableSurfaceMatchingResult, clear_object_model_3dclear_object_model_3dClearObjectModel3dClearObjectModel3dClearObjectModel3d

Alternatives

find_deformable_surface_modelfind_deformable_surface_modelFindDeformableSurfaceModelFindDeformableSurfaceModelFindDeformableSurfaceModel

See also

create_deformable_surface_modelcreate_deformable_surface_modelCreateDeformableSurfaceModelCreateDeformableSurfaceModelCreateDeformableSurfaceModel, find_deformable_surface_modelfind_deformable_surface_modelFindDeformableSurfaceModelFindDeformableSurfaceModelFindDeformableSurfaceModel

Module

3D Metrology

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