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
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
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 wchar_t* ScoreType, double* Score) const
(Windows only)
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
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 wchar_t* ScoreType, double* Score) const
(Windows only)
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
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 wchar_t* ScoreType, double* Score) const
(Windows only)
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)
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 wchar_t* ScoreType)
(Windows only)
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
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
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