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find_planar_calib_deformable_modelT_find_planar_calib_deformable_modelFindPlanarCalibDeformableModelfind_planar_calib_deformable_modelFindPlanarCalibDeformableModelFindPlanarCalibDeformableModel (Operator)

Name

find_planar_calib_deformable_modelT_find_planar_calib_deformable_modelFindPlanarCalibDeformableModelfind_planar_calib_deformable_modelFindPlanarCalibDeformableModelFindPlanarCalibDeformableModel — Suche nach den besten Matches eines kalibrierten, deformierbaren Modells in einem Bild und bestimme ihre 3D Lage.

Signatur

find_planar_calib_deformable_model(Image : : ModelID, AngleStart, AngleExtent, ScaleRMin, ScaleRMax, ScaleCMin, ScaleCMax, MinScore, NumMatches, MaxOverlap, NumLevels, Greediness, ParamName, ParamValue : Pose, CovPose, Score)

Herror T_find_planar_calib_deformable_model(const Hobject Image, const Htuple ModelID, const Htuple AngleStart, const Htuple AngleExtent, const Htuple ScaleRMin, const Htuple ScaleRMax, const Htuple ScaleCMin, const Htuple ScaleCMax, const Htuple MinScore, const Htuple NumMatches, const Htuple MaxOverlap, const Htuple NumLevels, const Htuple Greediness, const Htuple ParamName, const Htuple ParamValue, Htuple* Pose, Htuple* CovPose, Htuple* Score)

Herror find_planar_calib_deformable_model(Hobject Image, const HTuple& ModelID, const HTuple& AngleStart, const HTuple& AngleExtent, const HTuple& ScaleRMin, const HTuple& ScaleRMax, const HTuple& ScaleCMin, const HTuple& ScaleCMax, const HTuple& MinScore, const HTuple& NumMatches, const HTuple& MaxOverlap, const HTuple& NumLevels, const HTuple& Greediness, const HTuple& ParamName, const HTuple& ParamValue, HTuple* Pose, HTuple* CovPose, HTuple* Score)

HTuple HImage::FindPlanarCalibDeformableModel(const HDeformableModel& ModelID, const HTuple& AngleStart, const HTuple& AngleExtent, const HTuple& ScaleRMin, const HTuple& ScaleRMax, const HTuple& ScaleCMin, const HTuple& ScaleCMax, const HTuple& MinScore, const HTuple& NumMatches, const HTuple& MaxOverlap, const HTuple& NumLevels, const HTuple& Greediness, const HTuple& ParamName, const HTuple& ParamValue, HTuple* CovPose, HTuple* Score) const

HTuple HDeformableModel::FindPlanarCalibDeformableModel(const HImage& Image, const HTuple& AngleStart, const HTuple& AngleExtent, const HTuple& ScaleRMin, const HTuple& ScaleRMax, const HTuple& ScaleCMin, const HTuple& ScaleCMax, const HTuple& MinScore, const HTuple& NumMatches, const HTuple& MaxOverlap, const HTuple& NumLevels, const HTuple& Greediness, const HTuple& ParamName, const HTuple& ParamValue, HTuple* CovPose, HTuple* Score) const

void FindPlanarCalibDeformableModel(const HObject& Image, const HTuple& ModelID, const HTuple& AngleStart, const HTuple& AngleExtent, const HTuple& ScaleRMin, const HTuple& ScaleRMax, const HTuple& ScaleCMin, const HTuple& ScaleCMax, const HTuple& MinScore, const HTuple& NumMatches, const HTuple& MaxOverlap, const HTuple& NumLevels, const HTuple& Greediness, const HTuple& ParamName, const HTuple& ParamValue, HTuple* Pose, HTuple* CovPose, HTuple* Score)

HPoseArray HDeformableModel::FindPlanarCalibDeformableModel(const HImage& Image, double AngleStart, double AngleExtent, double ScaleRMin, double ScaleRMax, double ScaleCMin, double ScaleCMax, double MinScore, Hlong NumMatches, double MaxOverlap, const HTuple& NumLevels, double Greediness, const HTuple& ParamName, const HTuple& ParamValue, HTuple* CovPose, HTuple* Score) const

HPose HDeformableModel::FindPlanarCalibDeformableModel(const HImage& Image, double AngleStart, double AngleExtent, double ScaleRMin, double ScaleRMax, double ScaleCMin, double ScaleCMax, double MinScore, Hlong NumMatches, double MaxOverlap, Hlong NumLevels, double Greediness, const HTuple& ParamName, const HTuple& ParamValue, HTuple* CovPose, HTuple* Score) const

HPoseArray HImage::FindPlanarCalibDeformableModel(const HDeformableModel& ModelID, double AngleStart, double AngleExtent, double ScaleRMin, double ScaleRMax, double ScaleCMin, double ScaleCMax, double MinScore, Hlong NumMatches, double MaxOverlap, const HTuple& NumLevels, double Greediness, const HTuple& ParamName, const HTuple& ParamValue, HTuple* CovPose, HTuple* Score) const

HPose HImage::FindPlanarCalibDeformableModel(const HDeformableModel& ModelID, double AngleStart, double AngleExtent, double ScaleRMin, double ScaleRMax, double ScaleCMin, double ScaleCMax, double MinScore, Hlong NumMatches, double MaxOverlap, Hlong NumLevels, double Greediness, const HTuple& ParamName, const HTuple& ParamValue, HTuple* CovPose, HTuple* Score) const

void HOperatorSetX.FindPlanarCalibDeformableModel(
[in] IHUntypedObjectX* Image, [in] VARIANT ModelID, [in] VARIANT AngleStart, [in] VARIANT AngleExtent, [in] VARIANT ScaleRMin, [in] VARIANT ScaleRMax, [in] VARIANT ScaleCMin, [in] VARIANT ScaleCMax, [in] VARIANT MinScore, [in] VARIANT NumMatches, [in] VARIANT MaxOverlap, [in] VARIANT NumLevels, [in] VARIANT Greediness, [in] VARIANT ParamName, [in] VARIANT ParamValue, [out] VARIANT* Pose, [out] VARIANT* CovPose, [out] VARIANT* Score)

VARIANT HDeformableModelX.FindPlanarCalibDeformableModel(
[in] IHImageX* Image, [in] double AngleStart, [in] double AngleExtent, [in] double ScaleRMin, [in] double ScaleRMax, [in] double ScaleCMin, [in] double ScaleCMax, [in] double MinScore, [in] Hlong NumMatches, [in] double MaxOverlap, [in] VARIANT NumLevels, [in] double Greediness, [in] VARIANT ParamName, [in] VARIANT ParamValue, [out] VARIANT* CovPose, [out] VARIANT* Score)

VARIANT HImageX.FindPlanarCalibDeformableModel(
[in] IHDeformableModelX* ModelID, [in] double AngleStart, [in] double AngleExtent, [in] double ScaleRMin, [in] double ScaleRMax, [in] double ScaleCMin, [in] double ScaleCMax, [in] double MinScore, [in] Hlong NumMatches, [in] double MaxOverlap, [in] VARIANT NumLevels, [in] double Greediness, [in] VARIANT ParamName, [in] VARIANT ParamValue, [out] VARIANT* CovPose, [out] VARIANT* Score)

static void HOperatorSet.FindPlanarCalibDeformableModel(HObject image, HTuple modelID, HTuple angleStart, HTuple angleExtent, HTuple scaleRMin, HTuple scaleRMax, HTuple scaleCMin, HTuple scaleCMax, HTuple minScore, HTuple numMatches, HTuple maxOverlap, HTuple numLevels, HTuple greediness, HTuple paramName, HTuple paramValue, out HTuple pose, out HTuple covPose, out HTuple score)

HPose[] HDeformableModel.FindPlanarCalibDeformableModel(HImage image, double angleStart, double angleExtent, double scaleRMin, double scaleRMax, double scaleCMin, double scaleCMax, double minScore, int numMatches, double maxOverlap, HTuple numLevels, double greediness, HTuple paramName, HTuple paramValue, out HTuple covPose, out HTuple score)

HPose HDeformableModel.FindPlanarCalibDeformableModel(HImage image, double angleStart, double angleExtent, double scaleRMin, double scaleRMax, double scaleCMin, double scaleCMax, double minScore, int numMatches, double maxOverlap, int numLevels, double greediness, HTuple paramName, HTuple paramValue, out HTuple covPose, out HTuple score)

HPose[] HImage.FindPlanarCalibDeformableModel(HDeformableModel modelID, double angleStart, double angleExtent, double scaleRMin, double scaleRMax, double scaleCMin, double scaleCMax, double minScore, int numMatches, double maxOverlap, HTuple numLevels, double greediness, HTuple paramName, HTuple paramValue, out HTuple covPose, out HTuple score)

HPose HImage.FindPlanarCalibDeformableModel(HDeformableModel modelID, double angleStart, double angleExtent, double scaleRMin, double scaleRMax, double scaleCMin, double scaleCMax, double minScore, int numMatches, double maxOverlap, int numLevels, double greediness, HTuple paramName, HTuple paramValue, out HTuple covPose, out HTuple score)

Beschreibung

Der Operator find_planar_calib_deformable_modelfind_planar_calib_deformable_modelFindPlanarCalibDeformableModelfind_planar_calib_deformable_modelFindPlanarCalibDeformableModelFindPlanarCalibDeformableModel findet die besten NumMatchesNumMatchesNumMatchesNumMatchesNumMatchesnumMatches Instanzen eines projektiv verzerrten, deformierbaren Modells ModelIDModelIDModelIDModelIDModelIDmodelID im Suchbild ImageImageImageImageImageimage. Das Modell muss vorher durch Aufruf von create_planar_calib_deformable_modelcreate_planar_calib_deformable_modelCreatePlanarCalibDeformableModelcreate_planar_calib_deformable_modelCreatePlanarCalibDeformableModelCreatePlanarCalibDeformableModel oder read_deformable_modelread_deformable_modelReadDeformableModelread_deformable_modelReadDeformableModelReadDeformableModel erzeugt worden sein. Der Operator find_planar_calib_deformable_modelfind_planar_calib_deformable_modelFindPlanarCalibDeformableModelfind_planar_calib_deformable_modelFindPlanarCalibDeformableModelFindPlanarCalibDeformableModel liefert die 3D Lage PosePosePosePosePosepose der gefundenen Instanzen im Kamerakoordinatensystem zurück.

Zusätzlich zu der Pose wird die Genauigkeit der sechs Positionsparameter in CovPoseCovPoseCovPoseCovPoseCovPosecovPose zurückgeliefert. Normalerweise enthält CovPoseCovPoseCovPoseCovPoseCovPosecovPose die 6 Standardabweichungen der Pose Parameter für jeden Match. Falls der Parameter 'cov_pose_mode'"cov_pose_mode""cov_pose_mode""cov_pose_mode""cov_pose_mode""cov_pose_mode" auf 'covariances'"covariances""covariances""covariances""covariances""covariances" gesetzt wurde, enthält CovPoseCovPoseCovPoseCovPoseCovPosecovPose die 36 Werte der gesamten 6×6 Kovarianzmatrix der 6 Positionsparameter. Es ist zu beachten das dies nur die innere Genauigkeit darstellt und sie deshalb von der echten Genauigkeit abweichen kann. Schließlich wird eine Bewertung für jede Instanz in ScoreScoreScoreScoreScorescore zurückgegeben. Die Bewertung ist eine Zahl zwischen 0 und 1, was eine angenäherte Messung ist, und beschreibt wie viel des Modells im Bild sichtbar ist.

Für eine weitere Erklärung des planaren, deformierbaren Modells und seiner Parameter sei auf die Beschreibung in find_planar_uncalib_deformable_modelfind_planar_uncalib_deformable_modelFindPlanarUncalibDeformableModelfind_planar_uncalib_deformable_modelFindPlanarUncalibDeformableModelFindPlanarUncalibDeformableModel verwiesen.

Parallelisierung

Parameter

ImageImageImageImageImageimage (input_object)  (multichannel-)image → objectHImageHImageHImageHImageXHobject (byte / uint2)

Eingabebild, in dem das Modell gefunden werden soll.

ModelIDModelIDModelIDModelIDModelIDmodelID (input_control)  deformable_model → HDeformableModel, HTupleHTupleHDeformableModel, HTupleHDeformableModelX, VARIANTHtuple (integer) (IntPtr) (Hlong) (Hlong) (Hlong) (Hlong)

Handle des Modells.

AngleStartAngleStartAngleStartAngleStartAngleStartangleStart (input_control)  angle.rad → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Kleinste auftretende Rotation des Modells.

Defaultwert: -0.39

Wertevorschläge: -3.14, -1.57, -0.78, -0.39, -0.20, 0.0

AngleExtentAngleExtentAngleExtentAngleExtentAngleExtentangleExtent (input_control)  angle.rad → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Ausdehnung des Winkelbereichs.

Defaultwert: 0.78

Wertevorschläge: 6.29, 3.14, 1.57, 0.78, 0.39, 0.0

Restriktion: AngleExtent >= 0

ScaleRMinScaleRMinScaleRMinScaleRMinScaleRMinscaleRMin (input_control)  number → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Kleinste auftretende Skalierung des Modells in Zeilenrichtung.

Defaultwert: 1.0

Wertevorschläge: 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Restriktion: ScaleRMin > 0

ScaleRMaxScaleRMaxScaleRMaxScaleRMaxScaleRMaxscaleRMax (input_control)  number → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Größte auftretende Skalierung des Modells in Zeilenrichtung.

Defaultwert: 1.0

Wertevorschläge: 1.0, 1.1, 1.2, 1.3, 1.4, 1.5

Restriktion: ScaleRMax >= ScaleRMin

ScaleCMinScaleCMinScaleCMinScaleCMinScaleCMinscaleCMin (input_control)  number → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Kleinste auftretende Skalierung des Modells in Spaltenrichtung.

Defaultwert: 1.0

Wertevorschläge: 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Restriktion: ScaleCMin > 0

ScaleCMaxScaleCMaxScaleCMaxScaleCMaxScaleCMaxscaleCMax (input_control)  number → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Größte auftretende Skalierung des Modells in Spaltenrichtung.

Defaultwert: 1.0

Wertevorschläge: 1.0, 1.1, 1.2, 1.3, 1.4, 1.5

Restriktion: ScaleCMax >= ScaleCMin

MinScoreMinScoreMinScoreMinScoreMinScoreminScore (input_control)  real → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Minimale Bewertung der zu findenden Instanzen des Modells.

Defaultwert: 0.5

Wertevorschläge: 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Typischer Wertebereich: 0 ≤ MinScore MinScore MinScore MinScore MinScore minScore ≤ 1

Minimale Schrittweite: 0.01

Empfohlene Schrittweite: 0.05

NumMatchesNumMatchesNumMatchesNumMatchesNumMatchesnumMatches (input_control)  integer → HTupleHTupleHTupleVARIANTHtuple (integer) (int / long) (Hlong) (Hlong) (Hlong) (Hlong)

Anzahl der zu findenden Instanzen des Modells (oder 0 für alle Treffer).

Defaultwert: 1

Wertevorschläge: 0, 1, 2, 3, 4, 5, 10, 20

MaxOverlapMaxOverlapMaxOverlapMaxOverlapMaxOverlapmaxOverlap (input_control)  real → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Maximale Überlappung der zu findenden Instanzen des Modells.

Defaultwert: 1.0

Wertevorschläge: 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Typischer Wertebereich: 0 ≤ MaxOverlap MaxOverlap MaxOverlap MaxOverlap MaxOverlap maxOverlap ≤ 1

Minimale Schrittweite: 0.01

Empfohlene Schrittweite: 0.05

NumLevelsNumLevelsNumLevelsNumLevelsNumLevelsnumLevels (input_control)  integer(-array) → HTupleHTupleHTupleVARIANTHtuple (integer) (int / long) (Hlong) (Hlong) (Hlong) (Hlong)

Anzahl der verwendeten Pyramidenebenen (und unterste zu verwendende Pyramidenebene falls |NumLevelsNumLevelsNumLevelsNumLevelsNumLevelsnumLevels| = 2).

Defaultwert: 0

Werteliste: 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

GreedinessGreedinessGreedinessGreedinessGreedinessgreediness (input_control)  real → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

„Gierigkeit“ der Suchheuristik (0: sicher aber langsam; 1: schnell, aber Matches können „übersehen“ werden).

Defaultwert: 0.9

Wertevorschläge: 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Typischer Wertebereich: 0 ≤ Greediness Greediness Greediness Greediness Greediness greediness ≤ 1

Minimale Schrittweite: 0.01

Empfohlene Schrittweite: 0.05

ParamNameParamNameParamNameParamNameParamNameparamName (input_control)  string-array → HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

Namen der allgemeinen Parameter.

Defaultwert: []

Werteliste: [], 'angle_change_restriction'"angle_change_restriction""angle_change_restriction""angle_change_restriction""angle_change_restriction""angle_change_restriction", 'angle_step'"angle_step""angle_step""angle_step""angle_step""angle_step", 'aniso_scale_change_restriction'"aniso_scale_change_restriction""aniso_scale_change_restriction""aniso_scale_change_restriction""aniso_scale_change_restriction""aniso_scale_change_restriction", 'cov_pose_mode'"cov_pose_mode""cov_pose_mode""cov_pose_mode""cov_pose_mode""cov_pose_mode", 'scale_c_step'"scale_c_step""scale_c_step""scale_c_step""scale_c_step""scale_c_step", 'scale_r_step'"scale_r_step""scale_r_step""scale_r_step""scale_r_step""scale_r_step", 'subpixel'"subpixel""subpixel""subpixel""subpixel""subpixel"

ParamValueParamValueParamValueParamValueParamValueparamValue (input_control)  integer-array → HTupleHTupleHTupleVARIANTHtuple (integer / real / string) (int / long / double / string) (Hlong / double / HString) (Hlong / double / char*) (Hlong / double / BSTR) (Hlong / double / char*)

Werte der allgemeinen Parameter.

Defaultwert: []

Werteliste: [], 'covariances'"covariances""covariances""covariances""covariances""covariances", 'least_squares'"least_squares""least_squares""least_squares""least_squares""least_squares", 'least_squares_high'"least_squares_high""least_squares_high""least_squares_high""least_squares_high""least_squares_high", 'least_squares_very_high'"least_squares_very_high""least_squares_very_high""least_squares_very_high""least_squares_very_high""least_squares_very_high", 'standard_deviations'"standard_deviations""standard_deviations""standard_deviations""standard_deviations""standard_deviations"

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

Pose des Objekts.

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

6 Standardabweichungen bzw. 36 Kovarianzen der Poseparameter.

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

Bewertung der gefundenen Instanzen des Modells.

Ergebnis

Sind die Parameterwerte korrekt, dann liefert find_planar_calib_deformable_modelfind_planar_calib_deformable_modelFindPlanarCalibDeformableModelfind_planar_calib_deformable_modelFindPlanarCalibDeformableModelFindPlanarCalibDeformableModel den Wert 2 (H_MSG_TRUE). Gegebenenfalls wird eine Fehlerbehandlung durchgeführt.

Vorgänger

create_planar_calib_deformable_modelcreate_planar_calib_deformable_modelCreatePlanarCalibDeformableModelcreate_planar_calib_deformable_modelCreatePlanarCalibDeformableModelCreatePlanarCalibDeformableModel, read_deformable_modelread_deformable_modelReadDeformableModelread_deformable_modelReadDeformableModelReadDeformableModel

Modul

Matching

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