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find_calib_descriptor_modelT_find_calib_descriptor_modelFindCalibDescriptorModelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModel (Operator)

Name

find_calib_descriptor_modelT_find_calib_descriptor_modelFindCalibDescriptorModelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModel — 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)

Herror T_find_calib_descriptor_model(const Hobject Image, const Htuple ModelID, const Htuple DetectorParamName, const Htuple DetectorParamValue, const Htuple DescriptorParamName, const Htuple DescriptorParamValue, const Htuple MinScore, const Htuple NumMatches, const Htuple CamParam, const Htuple ScoreType, Htuple* Pose, Htuple* Score)

Herror find_calib_descriptor_model(Hobject Image, const HTuple& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, const HTuple& NumMatches, const HTuple& CamParam, const HTuple& ScoreType, HTuple* Pose, HTuple* Score)

HTuple HImage::FindCalibDescriptorModel(const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, const HTuple& NumMatches, const HTuple& CamParam, const HTuple& ScoreType, HTuple* Score) const

HTuple HDescriptorModel::FindCalibDescriptorModel(const HImage& Image, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, const HTuple& NumMatches, const HTuple& CamParam, const HTuple& ScoreType, HTuple* Score) const

void FindCalibDescriptorModel(const HObject& Image, const HTuple& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, const HTuple& NumMatches, const HTuple& CamParam, const HTuple& ScoreType, HTuple* Pose, HTuple* Score)

HPoseArray HDescriptorModel::FindCalibDescriptorModel(const HImage& Image, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, Hlong NumMatches, const HTuple& CamParam, const HTuple& ScoreType, HTuple* Score) const

HPose HDescriptorModel::FindCalibDescriptorModel(const HImage& Image, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HTuple& CamParam, const HString& ScoreType, double* Score) const

HPose HDescriptorModel::FindCalibDescriptorModel(const HImage& Image, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HTuple& CamParam, const char* ScoreType, double* Score) const

HPoseArray HImage::FindCalibDescriptorModel(const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, const HTuple& MinScore, Hlong NumMatches, const HTuple& CamParam, const HTuple& ScoreType, HTuple* Score) const

HPose HImage::FindCalibDescriptorModel(const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HTuple& CamParam, const HString& ScoreType, double* Score) const

HPose HImage::FindCalibDescriptorModel(const HDescriptorModel& ModelID, const HTuple& DetectorParamName, const HTuple& DetectorParamValue, const HTuple& DescriptorParamName, const HTuple& DescriptorParamValue, double MinScore, Hlong NumMatches, const HTuple& CamParam, const char* ScoreType, double* Score) const

void HOperatorSetX.FindCalibDescriptorModel(
[in] IHUntypedObjectX* Image, [in] VARIANT ModelID, [in] VARIANT DetectorParamName, [in] VARIANT DetectorParamValue, [in] VARIANT DescriptorParamName, [in] VARIANT DescriptorParamValue, [in] VARIANT MinScore, [in] VARIANT NumMatches, [in] VARIANT CamParam, [in] VARIANT ScoreType, [out] VARIANT* Pose, [out] VARIANT* Score)

VARIANT HDescriptorModelX.FindCalibDescriptorModel(
[in] IHImageX* Image, [in] VARIANT DetectorParamName, [in] VARIANT DetectorParamValue, [in] VARIANT DescriptorParamName, [in] VARIANT DescriptorParamValue, [in] VARIANT MinScore, [in] Hlong NumMatches, [in] VARIANT CamParam, [in] VARIANT ScoreType, [out] VARIANT* Score)

VARIANT HImageX.FindCalibDescriptorModel(
[in] IHDescriptorModelX* ModelID, [in] VARIANT DetectorParamName, [in] VARIANT DetectorParamValue, [in] VARIANT DescriptorParamName, [in] VARIANT DescriptorParamValue, [in] VARIANT MinScore, [in] Hlong NumMatches, [in] VARIANT CamParam, [in] VARIANT ScoreType, [out] VARIANT* Score)

static void HOperatorSet.FindCalibDescriptorModel(HObject image, HTuple modelID, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, HTuple minScore, HTuple numMatches, HTuple camParam, HTuple scoreType, out HTuple pose, out HTuple score)

HPose[] HDescriptorModel.FindCalibDescriptorModel(HImage image, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, HTuple minScore, int numMatches, HTuple camParam, HTuple scoreType, out HTuple score)

HPose HDescriptorModel.FindCalibDescriptorModel(HImage image, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, double minScore, int numMatches, HTuple camParam, string scoreType, out double score)

HPose[] HImage.FindCalibDescriptorModel(HDescriptorModel modelID, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, HTuple minScore, int numMatches, HTuple camParam, HTuple scoreType, out HTuple score)

HPose HImage.FindCalibDescriptorModel(HDescriptorModel modelID, HTuple detectorParamName, HTuple detectorParamValue, HTuple descriptorParamName, HTuple descriptorParamValue, double minScore, int numMatches, HTuple camParam, string scoreType, out double score)

Description

The operator find_calib_descriptor_modelfind_calib_descriptor_modelFindCalibDescriptorModelfind_calib_descriptor_modelFindCalibDescriptorModelFindCalibDescriptorModel finds the best NumMatchesNumMatchesNumMatchesNumMatchesNumMatchesnumMatches matches of the descriptor model ModelIDModelIDModelIDModelIDModelIDmodelID in ImageImageImageImageImageimage. The descriptor model must have been created previously by calling create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModel or read_descriptor_modelread_descriptor_modelReadDescriptorModelread_descriptor_modelReadDescriptorModelReadDescriptorModel.

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 CamParamCamParamCamParamCamParamCamParamcamParam.

The detection process is the same as for find_uncalib_descriptor_modelfind_uncalib_descriptor_modelFindUncalibDescriptorModelfind_uncalib_descriptor_modelFindUncalibDescriptorModelFindUncalibDescriptorModel. The setting of DetectorParamNameDetectorParamNameDetectorParamNameDetectorParamNameDetectorParamNamedetectorParamName, DetectorParamValueDetectorParamValueDetectorParamValueDetectorParamValueDetectorParamValuedetectorParamValue, DescriptorParamNameDescriptorParamNameDescriptorParamNameDescriptorParamNameDescriptorParamNamedescriptorParamName, DescriptorParamValueDescriptorParamValueDescriptorParamValueDescriptorParamValueDescriptorParamValuedescriptorParamValue, MinScoreMinScoreMinScoreMinScoreMinScoreminScore, NumMatchesNumMatchesNumMatchesNumMatchesNumMatchesnumMatches and ScoreTypeScoreTypeScoreTypeScoreTypeScoreTypescoreType are explained with find_uncalib_descriptor_modelfind_uncalib_descriptor_modelFindUncalibDescriptorModelfind_uncalib_descriptor_modelFindUncalibDescriptorModelFindUncalibDescriptorModel. 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_modelCreateCalibDescriptorModelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModel), the pose of the object is computed similarly to applying vector_to_posevector_to_poseVectorToPosevector_to_poseVectorToPoseVectorToPose operator.

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

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.

Parallelization

Parameters

ImageImageImageImageImageimage (input_object)  singlechannelimage objectHImageHImageHImageHImageXHobject (byte / uint2)

Input image where the model should be found.

ModelIDModelIDModelIDModelIDModelIDmodelID (input_control)  descriptor_model HDescriptorModel, HTupleHTupleHDescriptorModel, HTupleHDescriptorModelX, VARIANTHtuple (integer) (IntPtr) (Hlong) (Hlong) (Hlong) (Hlong)

The handle to the descriptor model.

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

The detector's parameter names.

Default value: []

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"

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

Values of the detector's parameters.

Default value: []

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

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

The descriptor's parameter names.

Default value: []

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"

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

Values of the descriptor's parameters.

Default value: []

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

MinScoreMinScoreMinScoreMinScoreMinScoreminScore (input_control)  real(-array) HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

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

Default value: 0.2

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

Typical range of values: 0 ≤ MinScore MinScore MinScore MinScore MinScore minScore ≤ 1

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

Maximal number of found instances.

Default value: 1

Suggested values: 1, 2, 3, 4

Restriction: NumMatches >= 1

CamParamCamParamCamParamCamParamCamParamcamParam (input_control)  number-array HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Camera parameter (inner orientation) obtained from camera calibration.

Number of elements: CamParam == 8 || CamParam == 10 || CamParam == 12 || CamParam == 14

ScoreTypeScoreTypeScoreTypeScoreTypeScoreTypescoreType (input_control)  string(-array) HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

Score type to be evaluated in ScoreScoreScoreScoreScorescore.

Default value: '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) HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

3D pose of the object.

ScoreScoreScoreScoreScorescore (output_control)  number(-array) HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

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')
clear_descriptor_model (ModelID)

read_descriptor_model ('simple_example.dsm',ModelID)
find_calib_descriptor_model (SearchImage,ModelID,[],[],[],[],0.2,1, \
                             CamParam,['num_points','inlier_ratio'], \
                             Pose,Score)
clear_descriptor_model (ModelID)

Possible Predecessors

create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModel, read_descriptor_modelread_descriptor_modelReadDescriptorModelread_descriptor_modelReadDescriptorModelReadDescriptorModel

See also

vector_to_posevector_to_poseVectorToPosevector_to_poseVectorToPoseVectorToPose, points_lepetitpoints_lepetitPointsLepetitpoints_lepetitPointsLepetitPointsLepetit, create_calib_descriptor_modelcreate_calib_descriptor_modelCreateCalibDescriptorModelcreate_calib_descriptor_modelCreateCalibDescriptorModelCreateCalibDescriptorModel

Module

Matching


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