prepare_object_model_3dT_prepare_object_model_3dPrepareObjectModel3dPrepareObjectModel3dprepare_object_model_3d (Operator)

Name

prepare_object_model_3dT_prepare_object_model_3dPrepareObjectModel3dPrepareObjectModel3dprepare_object_model_3d — Prepare a 3D object model for a certain operation.

Signature

Description

The operator prepare_object_model_3dprepare_object_model_3dPrepareObjectModel3dPrepareObjectModel3dPrepareObjectModel3dprepare_object_model_3d prepares the 3D object model ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d for a following operation given in PurposePurposePurposePurposepurposepurpose. It computes values required for the operation and stores them in ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d, thus speeding up the following operation. It is not necessary to call prepare_object_model_3dprepare_object_model_3dPrepareObjectModel3dPrepareObjectModel3dPrepareObjectModel3dprepare_object_model_3d. However, if the 3D object model is to be used multiple times for the same operation, it can be faster to do so.

The following values are possible for PurposePurposePurposePurposepurposepurpose:

'shape_based_matching_3d'"shape_based_matching_3d""shape_based_matching_3d""shape_based_matching_3d""shape_based_matching_3d""shape_based_matching_3d":

The 3D object model is prepared to be used in create_shape_model_3dcreate_shape_model_3dCreateShapeModel3dCreateShapeModel3dCreateShapeModel3dcreate_shape_model_3d. For this, there are no generic parameters to set.

'segmentation'"segmentation""segmentation""segmentation""segmentation""segmentation":

The 3D object model is prepared to be used in segment_object_model_3dsegment_object_model_3dSegmentObjectModel3dSegmentObjectModel3dSegmentObjectModel3dsegment_object_model_3d. For the preparation the 3D object model must have an attribute with the face triangles and an attribute with the 3D point coordinates.

If the 3D object model has no attribute with the face triangles, a simple triangulation is performed. For this, the 3D object model must have an attribute with the 3D point coordinates and an attribute with the mapping from the point coordinates to image coordinates. Only points originating from neighboring pixels are triangulated. Additionally, holes in the image region can be filled with a Delaunay triangulation (see 'max_area_holes'"max_area_holes""max_area_holes""max_area_holes""max_area_holes""max_area_holes" below). Only holes which are completely surrounded by the image region are closed.

'distance_computation'"distance_computation""distance_computation""distance_computation""distance_computation""distance_computation":

The 3D object model is prepared to be used in distance_object_model_3ddistance_object_model_3dDistanceObjectModel3dDistanceObjectModel3dDistanceObjectModel3ddistance_object_model_3d.

'gen_xyz_mapping'"gen_xyz_mapping""gen_xyz_mapping""gen_xyz_mapping""gen_xyz_mapping""gen_xyz_mapping":

The XYZ-mapping information of a 3D object model containing an ordered point cloud is computed, i.e. image coordinates are assigned for each 3D point. For this, either the generic parameter 'xyz_map_width'"xyz_map_width""xyz_map_width""xyz_map_width""xyz_map_width""xyz_map_width" or 'xyz_map_height'"xyz_map_height""xyz_map_height""xyz_map_height""xyz_map_height""xyz_map_height" must be set, to indicate whether the point cloud is ordered row-wise or column-wise and define the image dimensions (see 'xyz_map_width'"xyz_map_width""xyz_map_width""xyz_map_width""xyz_map_width""xyz_map_width" and 'xyz_map_height'"xyz_map_height""xyz_map_height""xyz_map_height""xyz_map_height""xyz_map_height" below).

Note that in many cases, it is recommended to use the 2D mapping data, if available, for speed and robustness reasons. This is beneficial especially when using sample_object_model_3dsample_object_model_3dSampleObjectModel3dSampleObjectModel3dSampleObjectModel3dsample_object_model_3d, surface_normals_object_model_3dsurface_normals_object_model_3dSurfaceNormalsObjectModel3dSurfaceNormalsObjectModel3dSurfaceNormalsObjectModel3dsurface_normals_object_model_3d, or when preparing a 3D object model for surface-based matching, e.g., smoothing, removing outliers, and reducing the domain.

The parameter OverwriteDataOverwriteDataOverwriteDataOverwriteDataoverwriteDataoverwrite_data defines if the existing data of an already prepared 3D object model shall be removed. If OverwriteDataOverwriteDataOverwriteDataOverwriteDataoverwriteDataoverwrite_data is set to 'true'"true""true""true""true""true", the prepared data, defined with the parameter PurposePurposePurposePurposepurposepurpose, is overwritten. If OverwriteDataOverwriteDataOverwriteDataOverwriteDataoverwriteDataoverwrite_data is set to 'false'"false""false""false""false""false", the prepared data is not overwritten. The parameter OverwriteDataOverwriteDataOverwriteDataOverwriteDataoverwriteDataoverwrite_data can be used for choosing another set of generic parameters GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name and GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value. The parameter OverwriteDataOverwriteDataOverwriteDataOverwriteDataoverwriteDataoverwrite_data has no influence if the parameter PurposePurposePurposePurposepurposepurpose is set to 'shape_based_matching_3d'"shape_based_matching_3d""shape_based_matching_3d""shape_based_matching_3d""shape_based_matching_3d""shape_based_matching_3d", because for that, there are no generic parameters to set.

The generic parameters can optionally be used to influence the preparation. If desired, these parameters and their corresponding values can be specified by using GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name and GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value, respectively. The following values for GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name are possible:

'max_area_holes'"max_area_holes""max_area_holes""max_area_holes""max_area_holes""max_area_holes":

This parameter is only valid if PurposePurposePurposePurposepurposepurpose is set to 'segmentation'"segmentation""segmentation""segmentation""segmentation""segmentation". The parameter specifies which area holes of the point coordinates are closed during a simple Delaunay triangulation. Only holes which are completely surrounded by the image region are closed. If 'max_area_holes'"max_area_holes""max_area_holes""max_area_holes""max_area_holes""max_area_holes" is set to 0, no holes are triangulated. If the parameter 'max_area_holes'"max_area_holes""max_area_holes""max_area_holes""max_area_holes""max_area_holes" is set greater or equal than 1 pixel, the holes with an area less or equal than 'max_area_holes'"max_area_holes""max_area_holes""max_area_holes""max_area_holes""max_area_holes" are closed by a meshing.

Suggested values: 1, 10, 100

Default value: 10

'distance_to'"distance_to""distance_to""distance_to""distance_to""distance_to":

This parameter is only valid if PurposePurposePurposePurposepurposepurpose is set to 'distance_computation'"distance_computation""distance_computation""distance_computation""distance_computation""distance_computation". The parameter specifies the type of data to which the distance shall be computed to. It is described in more detail in the documentation of distance_object_model_3ddistance_object_model_3dDistanceObjectModel3dDistanceObjectModel3dDistanceObjectModel3ddistance_object_model_3d.

Possible values: 'auto'"auto""auto""auto""auto""auto", 'triangles'"triangles""triangles""triangles""triangles""triangles", 'points'"points""points""points""points""points", 'primitive'"primitive""primitive""primitive""primitive""primitive"

Default value: 'auto'"auto""auto""auto""auto""auto"

'method'"method""method""method""method""method":

This parameter is only valid if PurposePurposePurposePurposepurposepurpose is set to 'distance_computation'"distance_computation""distance_computation""distance_computation""distance_computation""distance_computation". The parameter specifies the method to be used for the distance computation. It is described in more detail in the documentation of distance_object_model_3ddistance_object_model_3dDistanceObjectModel3dDistanceObjectModel3dDistanceObjectModel3ddistance_object_model_3d.

Possible values: 'auto'"auto""auto""auto""auto""auto", 'kd-tree'"kd-tree""kd-tree""kd-tree""kd-tree""kd-tree", 'voxel'"voxel""voxel""voxel""voxel""voxel", 'linear'"linear""linear""linear""linear""linear"

Default value: 'auto'"auto""auto""auto""auto""auto"

'max_distance'"max_distance""max_distance""max_distance""max_distance""max_distance":

This parameter is only valid if PurposePurposePurposePurposepurposepurpose is set to 'distance_computation'"distance_computation""distance_computation""distance_computation""distance_computation""distance_computation". The parameter specifies the maximum distance of interest for the distance computation. If it is set to 0, no maximum distance is used. It is described in more detail in the documentation of distance_object_model_3ddistance_object_model_3dDistanceObjectModel3dDistanceObjectModel3dDistanceObjectModel3ddistance_object_model_3d.

Suggested values: 0, 0.1, 1, 10

Default value: 0

'sampling_dist_rel'"sampling_dist_rel""sampling_dist_rel""sampling_dist_rel""sampling_dist_rel""sampling_dist_rel":

This parameter is only valid if PurposePurposePurposePurposepurposepurpose is set to 'distance_computation'"distance_computation""distance_computation""distance_computation""distance_computation""distance_computation". The parameter specifies the relative sampling distance when computing the distance to triangles with the method 'voxel'"voxel""voxel""voxel""voxel""voxel". It is described in more detail in the documentation of distance_object_model_3ddistance_object_model_3dDistanceObjectModel3dDistanceObjectModel3dDistanceObjectModel3ddistance_object_model_3d.

Suggested values: 0.03, 0.01

Default value: 0.03

'sampling_dist_abs'"sampling_dist_abs""sampling_dist_abs""sampling_dist_abs""sampling_dist_abs""sampling_dist_abs":

This parameter is only valid if PurposePurposePurposePurposepurposepurpose is set to 'distance_computation'"distance_computation""distance_computation""distance_computation""distance_computation""distance_computation". The parameter specifies the absolute sampling distance when computing the distance to triangles with the method 'voxel'"voxel""voxel""voxel""voxel""voxel". It is described in more detail in the documentation of distance_object_model_3ddistance_object_model_3dDistanceObjectModel3dDistanceObjectModel3dDistanceObjectModel3ddistance_object_model_3d.

Suggested values: 1, 5, 10

Default value: None

'xyz_map_width'"xyz_map_width""xyz_map_width""xyz_map_width""xyz_map_width""xyz_map_width":

This parameter is only valid if PurposePurposePurposePurposepurposepurpose is set to 'gen_xyz_mapping'"gen_xyz_mapping""gen_xyz_mapping""gen_xyz_mapping""gen_xyz_mapping""gen_xyz_mapping". The parameter indicates that the point cloud is ordered row-wise and the passed value is used as the width of the image. The height of the image is calculated automatically. Only one of the two parameters 'xyz_map_width'"xyz_map_width""xyz_map_width""xyz_map_width""xyz_map_width""xyz_map_width" and 'xyz_map_height'"xyz_map_height""xyz_map_height""xyz_map_height""xyz_map_height""xyz_map_height" can be set.

Default value: None

'xyz_map_height'"xyz_map_height""xyz_map_height""xyz_map_height""xyz_map_height""xyz_map_height":

This parameter is only valid if PurposePurposePurposePurposepurposepurpose is set to 'gen_xyz_mapping'"gen_xyz_mapping""gen_xyz_mapping""gen_xyz_mapping""gen_xyz_mapping""gen_xyz_mapping". The parameter indicates that the point cloud is ordered column-wise and the passed value is used as the height of the image. The width of the image is calculated automatically. Only one of the two parameters 'xyz_map_width'"xyz_map_width""xyz_map_width""xyz_map_width""xyz_map_width""xyz_map_width" and 'xyz_map_height'"xyz_map_height""xyz_map_height""xyz_map_height""xyz_map_height""xyz_map_height" can be set.

Default value: None

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

Example (HDevelop)

read_object_model_3d ('object_model_3d', 'm', [], [], ObjectModel3D, Status)
prepare_object_model_3d (ObjectModel3D, 'gen_xyz_mapping', 'true',\
                         'xyz_map_width', Width)
object_model_3d_to_xyz (X, Y, Z, ObjectModel3D, 'from_xyz_map', [], [])

Result

The operator prepare_object_model_3dprepare_object_model_3dPrepareObjectModel3dPrepareObjectModel3dPrepareObjectModel3dprepare_object_model_3d returns the value 2 (H_MSG_TRUE) if the given parameters are correct. Otherwise, an exception will be raised.

Possible Predecessors

read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3dread_object_model_3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3dxyz_to_object_model_3d

Possible Successors

create_shape_model_3dcreate_shape_model_3dCreateShapeModel3dCreateShapeModel3dCreateShapeModel3dcreate_shape_model_3d, create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelCreateSurfaceModelcreate_surface_model, distance_object_model_3ddistance_object_model_3dDistanceObjectModel3dDistanceObjectModel3dDistanceObjectModel3ddistance_object_model_3d, find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModelfind_surface_model, fit_primitives_object_model_3dfit_primitives_object_model_3dFitPrimitivesObjectModel3dFitPrimitivesObjectModel3dFitPrimitivesObjectModel3dfit_primitives_object_model_3d, refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose, segment_object_model_3dsegment_object_model_3dSegmentObjectModel3dSegmentObjectModel3dSegmentObjectModel3dsegment_object_model_3d, simplify_object_model_3dsimplify_object_model_3dSimplifyObjectModel3dSimplifyObjectModel3dSimplifyObjectModel3dsimplify_object_model_3d, sample_object_model_3dsample_object_model_3dSampleObjectModel3dSampleObjectModel3dSampleObjectModel3dsample_object_model_3d, surface_normals_object_model_3dsurface_normals_object_model_3dSurfaceNormalsObjectModel3dSurfaceNormalsObjectModel3dSurfaceNormalsObjectModel3dsurface_normals_object_model_3d

Module

3D Metrology