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refine_surface_model_pose_imageT_refine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image (算子名称)

名称

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

参数签名

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)

def refine_surface_model_pose_image(image: HObject, surface_model_id: HHandle, object_model_3d: HHandle, initial_pose: Sequence[Union[float, int]], min_score: MaybeSequence[Union[float, int]], return_result_handle: str, gen_param_name: Sequence[str], gen_param_value: Sequence[Union[str, float, int]]) -> Tuple[Sequence[Union[float, int]], Sequence[float], Sequence[HHandle]]

def refine_surface_model_pose_image_s(image: HObject, surface_model_id: HHandle, object_model_3d: HHandle, initial_pose: Sequence[Union[float, int]], min_score: MaybeSequence[Union[float, int]], return_result_handle: str, gen_param_name: Sequence[str], gen_param_value: Sequence[Union[str, float, int]]) -> Tuple[Sequence[Union[float, int]], Sequence[float], HHandle]

描述

该算子 refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image refines the approximate pose InitialPoseInitialPoseInitialPoseInitialPoseinitialPoseinitial_pose of the surface model SurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelIDsurface_model_id in the 3D scene comprised of the 3D surface in ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d and the images of the scene in ImageImageImageImageimageimage. Note that the number of images passed in ImageImageImageImageimageimage must correspond to the number of cameras set with set_surface_model_paramset_surface_model_paramSetSurfaceModelParamSetSurfaceModelParamSetSurfaceModelParamset_surface_model_param. Note also that the surface model must have been created by create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelCreateSurfaceModelcreate_surface_model with the parameter 'train_3d_edges'"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_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose, refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image also supports the generic parameters 'min_contrast'"min_contrast""min_contrast""min_contrast""min_contrast""min_contrast" and 'max_deformation'"max_deformation""max_deformation""max_deformation""max_deformation""max_deformation", documented in find_surface_model_imagefind_surface_model_imageFindSurfaceModelImageFindSurfaceModelImageFindSurfaceModelImagefind_surface_model_image.

运行信息

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 canceling timeouts and interrupts.

参数表

ImageImageImageImageimageimage (input_object)  (multichannel-)image(-array) → objectHImageHObjectHImageHobject (byte / uint2)

Images of the scene.

SurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelIDsurface_model_id (input_control)  surface_model → HSurfaceModel, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the surface model.

ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d (input_control)  object_model_3d → HObjectModel3D, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the 3D object model containing the scene.

InitialPoseInitialPoseInitialPoseInitialPoseinitialPoseinitial_pose (input_control)  pose(-array) → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Initial pose of the surface model in the scene.

MinScoreMinScoreMinScoreMinScoreminScoremin_score (input_control)  real(-array) → HTupleMaybeSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Minimum score of the returned poses.

Default: 0

Restriction: MinScore >= 0

ReturnResultHandleReturnResultHandleReturnResultHandleReturnResultHandlereturnResultHandlereturn_result_handle (input_control)  string → HTuplestrHTupleHtuple (string) (string) (HString) (char*)

Enable returning a result handle in SurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDsurfaceMatchingResultIDsurface_matching_result_id.

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

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

GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name (input_control)  attribute.name-array → HTupleSequence[str]HTupleHtuple (string) (string) (HString) (char*)

Names of the generic parameters.

Default: []

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_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_edge_min_amplitude_rel", '3d_edges'"3d_edges""3d_edges""3d_edges""3d_edges""3d_edges", 'max_deformation'"max_deformation""max_deformation""max_deformation""max_deformation""max_deformation", 'min_contrast'"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_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_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_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_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_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_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""pose_ref_use_scene_normals", 'use_3d_edges'"use_3d_edges""use_3d_edges""use_3d_edges""use_3d_edges""use_3d_edges", 'use_self_similar_poses'"use_self_similar_poses""use_self_similar_poses""use_self_similar_poses""use_self_similar_poses""use_self_similar_poses", 'use_view_based'"use_view_based""use_view_based""use_view_based""use_view_based""use_view_based", 'viewpoint'"viewpoint""viewpoint""viewpoint""viewpoint""viewpoint"

GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value (input_control)  attribute.value-array → HTupleSequence[Union[str, float, int]]HTupleHtuple (string / real / integer) (string / double / int / long) (HString / double / Hlong) (char* / double / Hlong)

Values of the generic parameters.

Default: []

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

PosePosePosePoseposepose (output_control)  pose(-array) → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

3D pose of the surface model in the scene.

ScoreScoreScoreScorescorescore (output_control)  real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Score of the found instances of the model.

SurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDsurfaceMatchingResultIDsurface_matching_result_id (output_control)  surface_matching_result(-array) → HSurfaceMatchingResult, HTupleSequence[HHandle]HTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the matching result, if enabled in ReturnResultHandleReturnResultHandleReturnResultHandleReturnResultHandlereturnResultHandlereturn_result_handle.

结果

refine_surface_model_pose_imagerefine_surface_model_pose_imageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImageRefineSurfaceModelPoseImagerefine_surface_model_pose_image returns 2 ( H_MSG_TRUE) if all parameters are correct. 如有必要，将引发异常。

可能的前置算子

read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3dread_object_model_3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3dxyz_to_object_model_3d, get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsGetObjectModel3dParamsget_object_model_3d_params, read_surface_modelread_surface_modelReadSurfaceModelReadSurfaceModelReadSurfaceModelread_surface_model, create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelCreateSurfaceModelcreate_surface_model, get_surface_model_paramget_surface_model_paramGetSurfaceModelParamGetSurfaceModelParamGetSurfaceModelParamget_surface_model_param, find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModelfind_surface_model, edges_object_model_3dedges_object_model_3dEdgesObjectModel3dEdgesObjectModel3dEdgesObjectModel3dedges_object_model_3d

可能的后置算子

get_surface_matching_resultget_surface_matching_resultGetSurfaceMatchingResultGetSurfaceMatchingResultGetSurfaceMatchingResultget_surface_matching_result, clear_surface_matching_resultclear_surface_matching_resultClearSurfaceMatchingResultClearSurfaceMatchingResultClearSurfaceMatchingResultclear_surface_matching_result, clear_object_model_3dclear_object_model_3dClearObjectModel3dClearObjectModel3dClearObjectModel3dclear_object_model_3d

可替代算子

find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModelfind_surface_model, refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose, find_surface_model_imagefind_surface_model_imageFindSurfaceModelImageFindSurfaceModelImageFindSurfaceModelImagefind_surface_model_image

参考其它

create_surface_modelcreate_surface_modelCreateSurfaceModelCreateSurfaceModelCreateSurfaceModelcreate_surface_model, find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModelfind_surface_model, refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPoseRefineSurfaceModelPoserefine_surface_model_pose

模块

3D Metrology

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