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refine_surface_model_poseT_refine_surface_model_poseRefineSurfaceModelPoserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPose (Operator)

Name

refine_surface_model_poseT_refine_surface_model_poseRefineSurfaceModelPoserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPose — Refine the pose of a surface model in a 3D scene.

Signature

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

Herror T_refine_surface_model_pose(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)

Herror refine_surface_model_pose(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)

HTuple HObjectModel3D::RefineSurfaceModelPose(const HSurfaceModel& SurfaceModelID, const HTuple& InitialPose, const HTuple& MinScore, const HTuple& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HTuple* SurfaceMatchingResultID) const

HTuple HSurfaceModel::RefineSurfaceModelPose(const HObjectModel3D& ObjectModel3D, const HTuple& InitialPose, const HTuple& MinScore, const HTuple& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score, HTuple* SurfaceMatchingResultID) const

HTuple HSurfaceMatchingResult::RefineSurfaceModelPose(const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, const HTuple& InitialPose, const HTuple& MinScore, const HTuple& ReturnResultHandle, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* Score)

void RefineSurfaceModelPose(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::RefineSurfaceModelPose(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::RefineSurfaceModelPose(const HSurfaceModel& SurfaceModelID, const HPose& InitialPose, double MinScore, const HString& ReturnResultHandle, const HString& GenParamName, const HString& GenParamValue, HTuple* Score, HSurfaceMatchingResult* SurfaceMatchingResultID) const

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

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

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

static HPoseArray HSurfaceMatchingResult::RefineSurfaceModelPose(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::RefineSurfaceModelPose(const HSurfaceModel& SurfaceModelID, const HObjectModel3D& ObjectModel3D, const HPose& InitialPose, double MinScore, const HString& ReturnResultHandle, const HString& GenParamName, const HString& GenParamValue, HTuple* Score)

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

void HOperatorSetX.RefineSurfaceModelPose(
[in] VARIANT SurfaceModelID, [in] VARIANT ObjectModel3D, [in] VARIANT InitialPose, [in] VARIANT MinScore, [in] VARIANT ReturnResultHandle, [in] VARIANT GenParamName, [in] VARIANT GenParamValue, [out] VARIANT* Pose, [out] VARIANT* Score, [out] VARIANT* SurfaceMatchingResultID)

VARIANT HObjectModel3DX.RefineSurfaceModelPose(
[in] IHSurfaceModelX* SurfaceModelID, [in] VARIANT InitialPose, [in] VARIANT MinScore, [in] BSTR ReturnResultHandle, [in] VARIANT GenParamName, [in] VARIANT GenParamValue, [out] VARIANT* Score, [out] IHSurfaceMatchingResultX** SurfaceMatchingResultID)

VARIANT HSurfaceModelX.RefineSurfaceModelPose(
[in] IHObjectModel3DX* ObjectModel3D, [in] VARIANT InitialPose, [in] VARIANT MinScore, [in] BSTR ReturnResultHandle, [in] VARIANT GenParamName, [in] VARIANT GenParamValue, [out] VARIANT* Score, [out] IHSurfaceMatchingResultX** SurfaceMatchingResultID)

VARIANT HSurfaceMatchingResultX.RefineSurfaceModelPose(
[in] IHSurfaceModelX* SurfaceModelID, [in] IHObjectModel3DX* ObjectModel3D, [in] VARIANT InitialPose, [in] VARIANT MinScore, [in] BSTR ReturnResultHandle, [in] VARIANT GenParamName, [in] VARIANT GenParamValue, [out] VARIANT* Score)

static void HOperatorSet.RefineSurfaceModelPose(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.RefineSurfaceModelPose(HSurfaceModel surfaceModelID, HPose[] initialPose, HTuple minScore, string returnResultHandle, HTuple genParamName, HTuple genParamValue, out HTuple score, out HSurfaceMatchingResult[] surfaceMatchingResultID)

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

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

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

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

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

Description

The operator refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPose refines the approximate pose InitialPoseInitialPoseInitialPoseInitialPoseInitialPoseinitialPose of the surface model SurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelID in the 3D scene ObjectModel3DObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D. The surface model SurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelID must have been created previously with create_surface_modelcreate_surface_modelCreateSurfaceModelcreate_surface_modelCreateSurfaceModelCreateSurfaceModel or read_surface_modelread_surface_modelReadSurfaceModelread_surface_modelReadSurfaceModelReadSurfaceModel.

refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPose is useful if the pose of an object in a scene is approximately known and only needs to be refined. The refined pose is returned in PosePosePosePosePosepose, along with a score in ScoreScoreScoreScoreScorescore. It is possible to pass multiple poses for refinement. Note that, contrary to find_surface_modelfind_surface_modelFindSurfaceModelfind_surface_modelFindSurfaceModelFindSurfaceModel, the returned poses are not sorted by their score but are returned in the same order as the input poses.

The maximum possible error in the approximate pose that can still be refined depends on the type of object, the amount of clutter in the scene and the visible parts of the objects. In general, differences in the orientation of up to 15° and differences in the position of up to 10% can be refined.

Details about the pose refinement and the parameters are described in the documentation of find_surface_modelfind_surface_modelFindSurfaceModelfind_surface_modelFindSurfaceModelFindSurfaceModel in the section about the dense pose refinement step. The following generic parameters can be set for refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPose, and are also documented in find_surface_modelfind_surface_modelFindSurfaceModelfind_surface_modelFindSurfaceModelFindSurfaceModel: '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_sub_sampling'"pose_ref_sub_sampling""pose_ref_sub_sampling""pose_ref_sub_sampling""pose_ref_sub_sampling""pose_ref_sub_sampling", '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_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_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", 'score_type'"score_type""score_type""score_type""score_type""score_type", and '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".

Parallelization

Parameters

SurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDSurfaceModelIDsurfaceModelID (input_control)  surface_model → HSurfaceModel, HTupleHTupleHSurfaceModel, HTupleHSurfaceModelX, VARIANTHtuple (integer) (IntPtr) (Hlong) (Hlong) (Hlong) (Hlong)

Handle of the surface model.

ObjectModel3DObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D (input_control)  object_model_3d → HObjectModel3D, HTupleHTupleHObjectModel3D, HTupleHObjectModel3DX, VARIANTHtuple (integer) (IntPtr) (Hlong) (Hlong) (Hlong) (Hlong)

Handle of the 3D object model containing the scene.

InitialPoseInitialPoseInitialPoseInitialPoseInitialPoseinitialPose (input_control)  pose(-array) → HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Initial pose of the surface model in the scene.

MinScoreMinScoreMinScoreMinScoreMinScoreminScore (input_control)  real → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Minimum score of the returned poses.

Default value: 0

Restriction: MinScore >= 0

ReturnResultHandleReturnResultHandleReturnResultHandleReturnResultHandleReturnResultHandlereturnResultHandle (input_control)  string → HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

Enable returning a result handle in SurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDsurfaceMatchingResultID.

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

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

GenParamNameGenParamNameGenParamNameGenParamNameGenParamNamegenParamName (input_control)  attribute.name(-array) → HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

Names of the generic parameters.

Default value: []

List of values: '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", 'score_type'"score_type""score_type""score_type""score_type""score_type"

GenParamValueGenParamValueGenParamValueGenParamValueGenParamValuegenParamValue (input_control)  attribute.value(-array) → HTupleHTupleHTupleVARIANTHtuple (string / real / integer) (string / double / int / long) (HString / double / Hlong) (char* / double / Hlong) (BSTR / double / Hlong) (char* / double / Hlong)

Values of the generic parameters.

Default value: []

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

PosePosePosePosePosepose (output_control)  pose(-array) → HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

3D pose of the surface model in the scene.

ScoreScoreScoreScoreScorescore (output_control)  real-array → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Score of the found instances of the model.

SurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDSurfaceMatchingResultIDsurfaceMatchingResultID (output_control)  surface_matching_result(-array) → HSurfaceMatchingResult, HTupleHTupleHSurfaceMatchingResult, HTupleHSurfaceMatchingResultX, VARIANTHtuple (integer) (IntPtr) (Hlong) (Hlong) (Hlong) (Hlong)

Handle of the matching result, if enabled in ReturnResultHandleReturnResultHandleReturnResultHandleReturnResultHandleReturnResultHandlereturnResultHandle.

Result

refine_surface_model_poserefine_surface_model_poseRefineSurfaceModelPoserefine_surface_model_poseRefineSurfaceModelPoseRefineSurfaceModelPose returns 2 (H_MSG_TRUE) if all parameters are correct. If necessary, an exception is raised.

Possible Predecessors

read_object_model_3dread_object_model_3dReadObjectModel3dread_object_model_3dReadObjectModel3dReadObjectModel3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3d, get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParams, read_surface_modelread_surface_modelReadSurfaceModelread_surface_modelReadSurfaceModelReadSurfaceModel, create_surface_modelcreate_surface_modelCreateSurfaceModelcreate_surface_modelCreateSurfaceModelCreateSurfaceModel, get_surface_model_paramget_surface_model_paramGetSurfaceModelParamget_surface_model_paramGetSurfaceModelParamGetSurfaceModelParam, find_surface_modelfind_surface_modelFindSurfaceModelfind_surface_modelFindSurfaceModelFindSurfaceModel

Possible Successors

get_surface_matching_resultget_surface_matching_resultGetSurfaceMatchingResultget_surface_matching_resultGetSurfaceMatchingResultGetSurfaceMatchingResult, clear_surface_matching_resultclear_surface_matching_resultClearSurfaceMatchingResultclear_surface_matching_resultClearSurfaceMatchingResultClearSurfaceMatchingResult, clear_object_model_3dclear_object_model_3dClearObjectModel3dclear_object_model_3dClearObjectModel3dClearObjectModel3d

Alternatives

find_surface_modelfind_surface_modelFindSurfaceModelfind_surface_modelFindSurfaceModelFindSurfaceModel

See also

create_surface_modelcreate_surface_modelCreateSurfaceModelcreate_surface_modelCreateSurfaceModelCreateSurfaceModel, find_surface_modelfind_surface_modelFindSurfaceModelfind_surface_modelFindSurfaceModelFindSurfaceModel

Module

3D Metrology

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HALCON Operator Reference 11.0.5 Copyright © 1996-2015 MVTec Software GmbH