project_shape_model_3dT_project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3d (Operator)

Name

project_shape_model_3dT_project_shape_model_3dproject_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 : )

The operator project_shape_model_3dproject_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3d 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. First, they are transformed into the camera coordinate system using the given 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 write_cam_parwrite_cam_parwrite_cam_parWriteCamParWriteCamPar). The PosePosePosePosepose describes the position and orientation of the world coordinate system with respect to the camera coordinate system.

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 PI (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.

project_shape_model_3dproject_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3d and project_object_model_3dproject_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3d 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_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3d.

project_shape_model_3dproject_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3d is especially useful in order to visualize the matches that are returned by find_shape_model_3dfind_shape_model_3dfind_shape_model_3dFindShapeModel3dFindShapeModel3d in the case that the underlying 3D object model is no longer available.

Parallelization

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 → (integer)

Handle of the 3D shape model.

CamParamCamParamCamParamCamParamcamParam (input_control) number-array → (real / integer)

Internal camera parameters.

Number of elements: (CamParam == 8) || (CamParam == 12)

PosePosePosePosepose (input_control) pose-array → (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: 'true'"true""true""true""true", 'false'"false""false""false""false"

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_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3d returns the value 2 (H_MSG_TRUE). If necessary an exception is raised.