reduce_object_model_3d_by_viewT_reduce_object_model_3d_by_viewReduceObjectModel3dByViewReduceObjectModel3dByView (Operator)

Name

reduce_object_model_3d_by_viewT_reduce_object_model_3d_by_viewReduceObjectModel3dByViewReduceObjectModel3dByView — Remove points from a 3D object model by projecting it to a virtual view and removing all points outside of a given region.

Signature

reduce_object_model_3d_by_view(Region : : ObjectModel3D, CamParam, Pose : ObjectModel3DReduced)

Description

reduce_object_model_3d_by_viewreduce_object_model_3d_by_viewReduceObjectModel3dByViewReduceObjectModel3dByViewReduceObjectModel3dByView projects the points of ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D into the image plane given by PosePosePosePosepose and CamParamCamParamCamParamCamParamcamParam and reduces the 3D object model to the points lying inside the region given in RegionRegionRegionRegionregion. In particular, the points are first transformed with the pose and then projected using the camera parameters. Only those points that are located inside the specified region are copied to the new 3D object model.

Faces of a mesh are only contained in the output 3D object model if all corner points are within the region.

As alternative to camera parameters and a pose, an XYZ-mapping contained in ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D can be used for the reduction. For this, CamParamCamParamCamParamCamParamcamParam must be set to 'xyz_mapping'"xyz_mapping""xyz_mapping""xyz_mapping""xyz_mapping" and an empty tuple must be passed to PosePosePosePosepose. In this case, the original image coordinates of the 3D points are used to check if a point is inside RegionRegionRegionRegionregion.

Attention

Cameras with hypercentric lenses are not supported.

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

RegionRegionRegionRegionregion (input_object) region(-array) → object

Region in the image plane.

ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D (input_control) object_model_3d(-array) → (handle)

Handle of the 3D object model.

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

Internal camera parameters.

Suggested values: 'xyz_mapping'"xyz_mapping""xyz_mapping""xyz_mapping""xyz_mapping"

PosePosePosePosepose (input_control) pose(-array) → (real / integer)

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

Number of elements: Pose == 7

ObjectModel3DReducedObjectModel3DReducedObjectModel3DReducedObjectModel3DReducedobjectModel3DReduced (output_control) object_model_3d(-array) → (handle)

Handle of the reduced 3D object model.

Example (HDevelop)

gen_object_model_3d_from_points (200*(rand(100)-0.5), \
                                 200*(rand(100)-0.5), \
                                 200*(rand(100)-0.5), ObjectModel3D)
gen_circle (Circle, 240, 320, 60)
CamParam := ['area_scan_telecentric_division',1,0,1,1,320,240,640,480]
Pose := [0,0,1,0,0,0,0]
reduce_object_model_3d_by_view (Circle, ObjectModel3D, CamParam, \
                                Pose, ObjectModel3DReduced)
dev_get_window (WindowHandle)
visualize_object_model_3d (WindowHandle, [ObjectModel3D, \
                           ObjectModel3DReduced], CamParam, Pose, \
                           ['color_0', 'point_size_1'], ['blue',6], \
                           [], [], [], PoseOut)

Result

reduce_object_model_3d_by_viewreduce_object_model_3d_by_viewReduceObjectModel3dByViewReduceObjectModel3dByViewReduceObjectModel3dByView 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

Possible Successors

project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3d, object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyzObjectModel3dToXyz

Module

3D Metrology

Operators