find_calib_descriptor_modelT_find_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelfind_calib_descriptor_model (Operator)

Name

find_calib_descriptor_modelT_find_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelfind_calib_descriptor_model — Find the best matches of a calibrated descriptor model in an image and return their 3D pose.

Signature

find_calib_descriptor_model(Image : : ModelID, DetectorParamName, DetectorParamValue, DescriptorParamName, DescriptorParamValue, MinScore, NumMatches, CamParam, ScoreType : Pose, Score)

Description

The operator find_calib_descriptor_modelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelFindCalibDescriptorModelfind_calib_descriptor_model finds the best NumMatchesNumMatchesNumMatchesNumMatchesnumMatchesnum_matches matches of the descriptor model ModelIDModelIDModelIDModelIDmodelIDmodel_id in ImageImageImageImageimageimage. The descriptor model must have been created previously by calling create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModelCreateCalibDescriptorModelcreate_calib_descriptor_model or read_descriptor_modelread_descriptor_modelReadDescriptorModelReadDescriptorModelReadDescriptorModelread_descriptor_model.

The operator returns the 3D PosePosePosePoseposepose (in camera coordinate system) of the template object found in the search ImageImageImageImageimageimage. As two different cameras can be used for the model generation and the online search, the camera parameters of the camera used to create ImageImageImageImageimageimage have to be set in CamParamCamParamCamParamCamParamcamParamcam_param.

The detection process is the same as for find_uncalib_descriptor_modelfind_uncalib_descriptor_modelFindUncalibDescriptorModelFindUncalibDescriptorModelFindUncalibDescriptorModelfind_uncalib_descriptor_model. The setting of DetectorParamNameDetectorParamNameDetectorParamNameDetectorParamNamedetectorParamNamedetector_param_name, DetectorParamValueDetectorParamValueDetectorParamValueDetectorParamValuedetectorParamValuedetector_param_value, DescriptorParamNameDescriptorParamNameDescriptorParamNameDescriptorParamNamedescriptorParamNamedescriptor_param_name, DescriptorParamValueDescriptorParamValueDescriptorParamValueDescriptorParamValuedescriptorParamValuedescriptor_param_value, MinScoreMinScoreMinScoreMinScoreminScoremin_score, NumMatchesNumMatchesNumMatchesNumMatchesnumMatchesnum_matches and ScoreTypeScoreTypeScoreTypeScoreTypescoreTypescore_type are explained with find_uncalib_descriptor_modelfind_uncalib_descriptor_modelFindUncalibDescriptorModelFindUncalibDescriptorModelFindUncalibDescriptorModelfind_uncalib_descriptor_model. 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_modelCreateCalibDescriptorModelCreateCalibDescriptorModelCreateCalibDescriptorModelcreate_calib_descriptor_model), the pose of the object is computed similarly to applying vector_to_posevector_to_poseVectorToPoseVectorToPoseVectorToPosevector_to_pose operator.

The point correspondences for each object can be queried with get_descriptor_model_pointsget_descriptor_model_pointsGetDescriptorModelPointsGetDescriptorModelPointsGetDescriptorModelPointsget_descriptor_model_points.

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 ScoreScoreScoreScorescorescore 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

ImageImageImageImageimageimage (input_object) singlechannelimage → object (byte / uint2)

Input image where the model should be found.

ModelIDModelIDModelIDModelIDmodelIDmodel_id (input_control) descriptor_model → (handle)

The handle to the descriptor model.

DetectorParamNameDetectorParamNameDetectorParamNameDetectorParamNamedetectorParamNamedetector_param_name (input_control) attribute.name-array → (string)

The detector's parameter names.

Default: []

List of values: 'alpha'"alpha""alpha""alpha""alpha""alpha", 'check_neighbor'"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_grd", 'mask_size_smooth'"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_check_neighbor_diff", 'min_score'"min_score""min_score""min_score""min_score""min_score", 'radius'"radius""radius""radius""radius""radius", 'sigma_grad'"sigma_grad""sigma_grad""sigma_grad""sigma_grad""sigma_grad", 'sigma_smooth'"sigma_smooth""sigma_smooth""sigma_smooth""sigma_smooth""sigma_smooth", 'subpix'"subpix""subpix""subpix""subpix""subpix", 'threshold'"threshold""threshold""threshold""threshold""threshold"

DetectorParamValueDetectorParamValueDetectorParamValueDetectorParamValuedetectorParamValuedetector_param_value (input_control) attribute.value-array → (integer / real / string)

Values of the detector's parameters.

Default: []

Suggested values: 0.08, 1, 1.2, 3, 15, 30, 1000, 'on'"on""on""on""on""on", 'off'"off""off""off""off""off"

DescriptorParamNameDescriptorParamNameDescriptorParamNameDescriptorParamNamedescriptorParamNamedescriptor_param_name (input_control) attribute.name-array → (string)

The descriptor's parameter names.

Default: []

List of values: 'guided_matching'"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""min_score_descr"

DescriptorParamValueDescriptorParamValueDescriptorParamValueDescriptorParamValuedescriptorParamValuedescriptor_param_value (input_control) attribute.value-array → (real / integer / string)

Values of the descriptor's parameters.

Default: []

Suggested values: 0.0, 0.001, 0.005, 0.01, 'on'"on""on""on""on""on", 'off'"off""off""off""off""off"

MinScoreMinScoreMinScoreMinScoreminScoremin_score (input_control) real(-array) → (real)

Minimum score of the instances of the models to be found.

Default: 0.2

Suggested values: 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Value range: 0 ≤ MinScore MinScore MinScore MinScore minScore min_score ≤ 1

NumMatchesNumMatchesNumMatchesNumMatchesnumMatchesnum_matches (input_control) integer → (integer)

Maximal number of found instances.

Default: 1

Suggested values: 1, 2, 3, 4

Restriction: NumMatches >= 1

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

Camera parameter (inner orientation) obtained from camera calibration.

ScoreTypeScoreTypeScoreTypeScoreTypescoreTypescore_type (input_control) string(-array) → (string)

Score type to be evaluated in ScoreScoreScoreScorescorescore.

Default: 'num_points' "num_points" "num_points" "num_points" "num_points" "num_points"

List of values: 'inlier_ratio'"inlier_ratio""inlier_ratio""inlier_ratio""inlier_ratio""inlier_ratio", 'num_points'"num_points""num_points""num_points""num_points""num_points"

PosePosePosePoseposepose (output_control) pose(-array) → (real / integer)

3D pose of the object.

ScoreScoreScoreScorescorescore (output_control) number(-array) → (real / integer)

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_modelCreateCalibDescriptorModelCreateCalibDescriptorModelCreateCalibDescriptorModelcreate_calib_descriptor_model, read_descriptor_modelread_descriptor_modelReadDescriptorModelReadDescriptorModelReadDescriptorModelread_descriptor_model

Module

Matching

Operators

find_calib_descriptor_modelT_find_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModelfind_calib_descriptor_model (Operator)

Name

Signature

Description

Attention

Execution Information

Parameters

Example (HDevelop)

Possible Predecessors

See also

Module