project_shape_model_3dT_project_shape_model_3dProjectShapeModel3dProjectShapeModel3d (Operator)

Name

project_shape_model_3dT_project_shape_model_3dProjectShapeModel3dProjectShapeModel3d — Project the edges of a 3D shape model into image coordinates.

Signature

project_shape_model_3d( : ModelContours : ShapeModel3DID, CamParam, Pose, HiddenSurfaceRemoval, MinFaceAngle : )

Description

The operator project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3d projects the edges of the 3D object model that was used to create the 3D shape model ShapeModel3DIDShapeModel3DIDShapeModel3DIDShapeModel3DIDshapeModel3DID into the image coordinate system and returns the projected edges in ModelContoursModelContoursModelContoursModelContoursmodelContours. The coordinates of the 3D object model are given in the 3D world coordinate system (mcs). First, they are transformed into the camera coordinate system (ccs) using the external camera parameters given in PosePosePosePosepose. Then, these coordinates are projected into the image coordinate system based on the internal camera parameters CamParamCamParamCamParamCamParamcamParam.

The internal camera parameters CamParamCamParamCamParamCamParamcamParam describe the projection characteristics of the camera (see Calibration). The PosePosePosePosepose is in the form , see Transformations / Poses and “Solution Guide III-C - 3D Vision”. Hence, it describes the position and orientation of the model coordinate system defined by the 3D object model relative to the camera coordinate system.

If the system variable (see set_systemset_systemSetSystemSetSystemSetSystem) 'opengl_hidden_surface_removal_enable'"opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable" is set to 'true'"true""true""true""true" (which is default if it is available) and HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemoval is set to 'true'"true""true""true""true", the projection of the model is accelerated using the graphics card. Depending on the graphics card this is significantly faster than the non accelerated algorithm. Be aware that the results of the OpenGL projection are slightly different compared to the analytic projection. Notable, only the contours visible through CamParamCamParamCamParamCamParamcamParam are projected in this mode.

3D edges are only projected if the angle between the two 3D faces that are incident with the 3D edge is at least MinFaceAngleMinFaceAngleMinFaceAngleMinFaceAngleminFaceAngle. If MinFaceAngleMinFaceAngleMinFaceAngleMinFaceAngleminFaceAngle is set to 0.0, all edges are projected. If MinFaceAngleMinFaceAngleMinFaceAngleMinFaceAngleminFaceAngle is set to (equivalent to 180 degrees), only the silhouette of the 3D object model is returned. This parameter can be used to suppress edges within curved surfaces, e.g., the surface of a cylinder.

If for the model creation with create_shape_model_3dcreate_shape_model_3dCreateShapeModel3dCreateShapeModel3dCreateShapeModel3d the parameter 'union_adjacent_contours'"union_adjacent_contours""union_adjacent_contours""union_adjacent_contours""union_adjacent_contours" was activated, adjacent contours are joined.

project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3d and project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3d return the same result if the 3D object model that was used to create the 3D shape model is passed to project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3d.

project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3d is especially useful in order to visualize the matches that are returned by find_shape_model_3dfind_shape_model_3dFindShapeModel3dFindShapeModel3dFindShapeModel3d in the case that the underlying 3D object model is no longer available.

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

ModelContoursModelContoursModelContoursModelContoursmodelContours (output_object) xld_cont-array → object

Contour representation of the model view.

ShapeModel3DIDShapeModel3DIDShapeModel3DIDShapeModel3DIDshapeModel3DID (input_control) shape_model_3d → (handle)

Handle of the 3D shape model.

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

Internal camera parameters.

PosePosePosePosepose (input_control) pose → (real / integer)

3D pose of the 3D shape model in the world coordinate system.

HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemoval (input_control) string → (string)

Remove hidden surfaces?

Default value: 'true' "true" "true" "true" "true"

List of values: 'false'"false""false""false""false", 'true'"true""true""true""true"

MinFaceAngleMinFaceAngleMinFaceAngleMinFaceAngleminFaceAngle (input_control) angle.rad → (real / integer)

Smallest face angle for which the edge is displayed

Default value: 0.523599

Suggested values: 0.17, 0.26, 0.35, 0.52

Result

If the parameters are valid, the operator project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3d returns the value 2 (H_MSG_TRUE). If necessary an exception is raised.