HALCON 19.11.0.0 / HALCON Operator Reference / 3D Matching / Surface-Based
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refine_surface_model_pose_imageT_refine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImage (Operator)

Name

refine_surface_model_pose_imageT_refine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImage — Refine the pose of a surface model in a 3D scene and in images.

Signature

refine_surface_model_pose_image(Image : : SurfaceModelID, ObjectModel3D, InitialPose, MinScore, ReturnResultHandle, GenParamName, GenParamValue : Pose, Score, SurfaceMatchingResultID)

Herror T_refine_surface_model_pose_image(const Hobject Image, const Htuple SurfaceModelID, const Htuple ObjectModel3D, const Htuple InitialPose, const Htuple MinScore, const Htuple ReturnResultHandle, const Htuple GenParamName, const Htuple GenParamValue, Htuple* Pose, Htuple* Score, Htuple* SurfaceMatchingResultID)

void RefineSurfaceModelPoseImage(const HObject& Image, const HTuple& SurfaceModelID, const HTuple& ObjectModel3D, const HTuple& InitialPose, const HTuple& MinScore, const HTuple& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Pose, HTuple* Score, HTuple* SurfaceMatchingResultID)

HPoseArray HObjectModel3D::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HPoseArray& InitialPose, const HTuple& MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResultArray* SurfaceMatchingResultID) const

HPose HObjectModel3D::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HPose& InitialPose, double MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const

HPose HObjectModel3D::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HPose& InitialPose, double MinScore, const char* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const

HPose HObjectModel3D::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HPose& InitialPose, double MinScore, const wchar_t* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const   (Windows only)

HPoseArray HSurfaceModel::RefineSurfaceModelPoseImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, const HPoseArray& InitialPose, const HTuple& MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResultArray* SurfaceMatchingResultID) const

HPose HSurfaceModel::RefineSurfaceModelPoseImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const

HPose HSurfaceModel::RefineSurfaceModelPoseImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const char* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const

HPose HSurfaceModel::RefineSurfaceModelPoseImage(const HImage& Image, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const wchar_t* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const   (Windows only)

static HPoseArray HSurfaceMatchingResult::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, const HPoseArray& InitialPose, const HTuple& MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HSurfaceMatchingResultArray* SurfaceMatchingResultID)

HPose HSurfaceMatchingResult::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const HString& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score)

HPose HSurfaceMatchingResult::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const char* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score)

HPose HSurfaceMatchingResult::RefineSurfaceModelPoseImage(const HImage& Image, const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const wchar_t* ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score)   (Windows only)

static void HOperatorSet.RefineSurfaceModelPoseImage(HObject image, HTuple surfaceModelID, HTuple objectModel3D, HTuple initialPose, HTuple minScore, HTuple returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple pose, out HTuple score, out HTuple surfaceMatchingResultID)

HPose[] HObjectModel3D.RefineSurfaceModelPoseImage(HImage image, HSurfaceModel surfaceModelID, HPose[] initialPose, HTuple minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult[] surfaceMatchingResultID)

HPose HObjectModel3D.RefineSurfaceModelPoseImage(HImage image, HSurfaceModel surfaceModelID, HPose initialPose, double minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult surfaceMatchingResultID)

HPose[] HSurfaceModel.RefineSurfaceModelPoseImage(HImage image, HObjectModel3D objectModel3D, HPose[] initialPose, HTuple minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult[] surfaceMatchingResultID)

HPose HSurfaceModel.RefineSurfaceModelPoseImage(HImage image, HObjectModel3D objectModel3D, HPose initialPose, double minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult surfaceMatchingResultID)

static HPose[] HSurfaceMatchingResult.RefineSurfaceModelPoseImage(HImage image, HSurfaceModel surfaceModelID, HObjectModel3D objectModel3D, HPose[] initialPose, HTuple minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult[] surfaceMatchingResultID)

HPose HSurfaceMatchingResult.RefineSurfaceModelPoseImage(HImage image, HSurfaceModel surfaceModelID, HObjectModel3D objectModel3D, HPose initialPose, double minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score)

Description

The operator refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImage refines the approximate pose InitialPoseInitialPoseInitialPoseInitialPoseinitialPose of the surface model SurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelID in the 3D scene comprised of the 3D surface in ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D and the images of the scene in ImageImageImageImageimage. Note that the number of images passed in ImageImageImageImageimage must correspond to the number of cameras set with set_surface_model_paramset_surface_model_paramSetSurfaceModelParamSetSurfaceModelParamSetSurfaceModelParam. Note also that the surface model must have been created by create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelCreateSurfaceModel with the parameter 'train_3d_edges'"train_3d_edges""train_3d_edges""train_3d_edges""train_3d_edges" enabled.

The refinement simultaneously optimizes the alignment of the model with the 3D scene as well as the alignment of the reprojected edges with edges in the passed images. The domain of the images is ignored.

In addition to the parameters documented in refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPose, refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImage also supports the generic parameters 'min_contrast'"min_contrast""min_contrast""min_contrast""min_contrast" and 'max_deformation'"max_deformation""max_deformation""max_deformation""max_deformation", documented in find_surface_model_imagefind_surface_model_imageFindSurfaceModelImageFindSurfaceModelImageFindSurfaceModelImage.

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 and interrupts.

Parameters

ImageImageImageImageimage (input_object)  (multichannel-)image(-array) → objectHImageHImageHobject (byte / uint2)

Images of the scene.

SurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelID (input_control)  surface_model → HSurfaceModel, HTupleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the surface model.

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

Handle of the 3D object model containing the scene.

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

Initial pose of the surface model in the scene.

MinScoreMinScoreMinScoreMinScoreminScore (input_control)  real(-array) → HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Minimum score of the returned poses.

Default value: 0

Restriction: MinScore >= 0

ReturnResultHandleReturnResultHandleReturnResultHandleReturnResultHandlereturnResultHandle (input_control)  string → HTupleHTupleHtuple (string) (string) (HString) (char*)

Enable returning a result handle in SurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDsurfaceMatchingResultID.

Default value: 'false' "false" "false" "false" "false"

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

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

Names of the generic parameters.

Default value: []

List of values: '3d_edge_min_amplitude_abs'"3d_edge_min_amplitude_abs""3d_edge_min_amplitude_abs""3d_edge_min_amplitude_abs""3d_edge_min_amplitude_abs", '3d_edge_min_amplitude_rel'"3d_edge_min_amplitude_rel""3d_edge_min_amplitude_rel""3d_edge_min_amplitude_rel""3d_edge_min_amplitude_rel", '3d_edges'"3d_edges""3d_edges""3d_edges""3d_edges", 'max_deformation'"max_deformation""max_deformation""max_deformation""max_deformation", 'min_contrast'"min_contrast""min_contrast""min_contrast""min_contrast", '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", 'pose_ref_sub_sampling'"pose_ref_sub_sampling""pose_ref_sub_sampling""pose_ref_sub_sampling""pose_ref_sub_sampling", 'pose_ref_use_scene_normals'"pose_ref_use_scene_normals""pose_ref_use_scene_normals""pose_ref_use_scene_normals""pose_ref_use_scene_normals", 'use_3d_edges'"use_3d_edges""use_3d_edges""use_3d_edges""use_3d_edges", 'use_view_based'"use_view_based""use_view_based""use_view_based""use_view_based", 'viewpoint'"viewpoint""viewpoint""viewpoint""viewpoint"

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: 0, 1, 'true'"true""true""true""true", 'false'"false""false""false""false", 0.005, 0.01, 0.03, 0.05, 0.1

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

3D pose of the surface model in the scene.

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

Score of the found instances of the model.

SurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDsurfaceMatchingResultID (output_control)  surface_matching_result(-array) → HSurfaceMatchingResult, HTupleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the matching result, if enabled in ReturnResultHandleReturnResultHandleReturnResultHandleReturnResultHandlereturnResultHandle.

Result

refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImage 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_surface_modelread_surface_modelReadSurfaceModelReadSurfaceModelReadSurfaceModel, create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelCreateSurfaceModel, get_surface_model_paramget_surface_model_paramGetSurfaceModelParamGetSurfaceModelParamGetSurfaceModelParam, find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModel, edges_object_model_3dedges_object_model_3dEdgesObjectModel3dEdgesObjectModel3dEdgesObjectModel3d

Possible Successors

get_surface_matching_resultget_surface_matching_resultGetSurfaceMatchingResultGetSurfaceMatchingResultGetSurfaceMatchingResult, clear_surface_matching_resultclear_surface_matching_resultClearSurfaceMatchingResultClearSurfaceMatchingResultClearSurfaceMatchingResult, clear_object_model_3dclear_object_model_3dClearObjectModel3dClearObjectModel3dClearObjectModel3d

Alternatives

find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModel, refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPose, find_surface_model_imagefind_surface_model_imageFindSurfaceModelImageFindSurfaceModelImageFindSurfaceModelImage

See also

create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelCreateSurfaceModel, find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModel, refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPose

Module

3D Metrology

ClassesClasses | | Operators
HALCON Operator Reference 19.11.0.0 Copyright © 1996-2019 MVTec Software GmbH