Name
sample_object_model_3dT_sample_object_model_3dSampleObjectModel3dsample_object_model_3dSampleObjectModel3dSampleObjectModel3d — Sample a 3D object model.
Herror sample_object_model_3d(const HTuple& ObjectModel3D, const HTuple& Method, const HTuple& SampleDistance, const HTuple& GenParamName, const HTuple& GenParamValue, Hlong* SampledObjectModel3D)
Herror sample_object_model_3d(const HTuple& ObjectModel3D, const HTuple& Method, const HTuple& SampleDistance, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* SampledObjectModel3D)
HTuple HObjectModel3D::SampleObjectModel3d(const HTuple& Method, const HTuple& SampleDistance, const HTuple& GenParamName, const HTuple& GenParamValue) const
void SampleObjectModel3d(const HTuple& ObjectModel3D, const HTuple& Method, const HTuple& SampleDistance, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* SampledObjectModel3D)
static HObjectModel3DArray HObjectModel3D::SampleObjectModel3d(const HObjectModel3DArray& ObjectModel3D, const HString& Method, const HTuple& SampleDistance, const HTuple& GenParamName, const HTuple& GenParamValue)
HObjectModel3D HObjectModel3D::SampleObjectModel3d(const HString& Method, double SampleDistance, const HTuple& GenParamName, const HTuple& GenParamValue) const
HObjectModel3D HObjectModel3D::SampleObjectModel3d(const char* Method, double SampleDistance, const HTuple& GenParamName, const HTuple& GenParamValue) const
static void HOperatorSet.SampleObjectModel3d(HTuple objectModel3D, HTuple method, HTuple sampleDistance, HTuple genParamName, HTuple genParamValue, out HTuple sampledObjectModel3D)
static HObjectModel3D[] HObjectModel3D.SampleObjectModel3d(HObjectModel3D[] objectModel3D, string method, HTuple sampleDistance, HTuple genParamName, HTuple genParamValue)
HObjectModel3D HObjectModel3D.SampleObjectModel3d(string method, double sampleDistance, HTuple genParamName, HTuple genParamValue)
sample_object_model_3dsample_object_model_3dSampleObjectModel3dsample_object_model_3dSampleObjectModel3dSampleObjectModel3d creates a sampled version of the 3D object
model ObjectModel3DObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D which consists of points that have the
minimum distance SampleDistanceSampleDistanceSampleDistanceSampleDistanceSampleDistancesampleDistance to each other.
The created 3D object model is returned in SampledObjectModel3DSampledObjectModel3DSampledObjectModel3DSampledObjectModel3DSampledObjectModel3DsampledObjectModel3D.
Using sample_object_model_3dsample_object_model_3dSampleObjectModel3dsample_object_model_3dSampleObjectModel3dSampleObjectModel3d is recommended if complex point clouds
are to be thinned out for faster postprocessing or if primitives are to be
converted to point clouds.
Note that if the 3D object model is triangulated and should be simplified by
preserving its original geometry as good as possible,
simplify_object_model_3dsimplify_object_model_3dSimplifyObjectModel3dsimplify_object_model_3dSimplifyObjectModel3dSimplifyObjectModel3d should be used instead.
If the input object model ObjectModel3DObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D contains only points,
several sampling methods are available which can be selected using
the parameter MethodMethodMethodMethodMethodmethod.
The default method 'fast'"fast""fast""fast""fast""fast" adds
all points from the input model which are not
close to any point that was earlier added to the output model.
If present, normals, XYZ-mapping and extended point attributes are copied to
the output model.
The method 'fast_compute_normals'"fast_compute_normals""fast_compute_normals""fast_compute_normals""fast_compute_normals""fast_compute_normals" selects the same points
as the method 'fast'"fast""fast""fast""fast""fast", but additionally calculates the
normals for all points that were selected.
For this, the input object model must either contain normals, which are
copied, or it must contain a XYZ-mapping attribute from which the
normals are computed. The XYZ-mapping is created by
xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3d.
The method 'accurate'"accurate""accurate""accurate""accurate""accurate" goes through the points of the 3D object
model ObjectModel3DObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D and calculates whether any other points are
within a sphere with the radius SampleDistanceSampleDistanceSampleDistanceSampleDistanceSampleDistancesampleDistance around the
examined point.
If there are no other points, the original point is stored
in SampledObjectModel3DSampledObjectModel3DSampledObjectModel3DSampledObjectModel3DSampledObjectModel3DsampledObjectModel3D.
If there are other points, the center of gravity of these
points (including the original point) is stored in
SampledObjectModel3DSampledObjectModel3DSampledObjectModel3DSampledObjectModel3DSampledObjectModel3DsampledObjectModel3D.
This procedure is repeated with the remaining points until there
are no points left.
Extended attributes of the input 3D object model are not copied, but
normals and XYZ-mapping are copied.
For this method, a noise removal is possible by specifying a
value for 'min_num_points'"min_num_points""min_num_points""min_num_points""min_num_points""min_num_points"
in GenParamNameGenParamNameGenParamNameGenParamNameGenParamNamegenParamName and GenParamValueGenParamValueGenParamValueGenParamValueGenParamValuegenParamValue, which removes all
interpolated points that had less than the specified number of neighbor
points in the original model.
The method 'accurate_use_normals'"accurate_use_normals""accurate_use_normals""accurate_use_normals""accurate_use_normals""accurate_use_normals" requires normals in the
input 3D object model and interpolates only points with similar
normals.
The similarity depends on the angle between the normals. The threshold
of the angle can be specified in GenParamNameGenParamNameGenParamNameGenParamNameGenParamNamegenParamName and
GenParamValueGenParamValueGenParamValueGenParamValueGenParamValuegenParamValue with 'max_angle_diff'"max_angle_diff""max_angle_diff""max_angle_diff""max_angle_diff""max_angle_diff".
The default value is 180 degrees.
Additionally, outliers can be removed as described in the method
'accurate'"accurate""accurate""accurate""accurate""accurate", by setting the generic parameter
'min_num_points'"min_num_points""min_num_points""min_num_points""min_num_points""min_num_points".
If the input object model contains faces (triangles or polygons) or is
a 3D primitive, the surface is sampled with the given
distance.
In this case, the method specified in MethodMethodMethodMethodMethodmethod is ignored.
Note that planes and cylinders must have finite extent.
If the input object model contains lines, the lines are sampled with the
given distance.
The sampling process approximates surfaces by creating new points in the
output object model.
Therefore, any extended attributes from the input object model are discarded.
For mixed input object models, the sampling priority is (from top to
bottom) faces, lines, primitives and points, i.e., only the objects
of the highest priority are sampled.
The parameter SampleDistanceSampleDistanceSampleDistanceSampleDistanceSampleDistancesampleDistance accepts either one value, which is
then used for all 3D object models passed in ObjectModel3DObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D, or one
value per input object model. The unit of the sample distance is the usual
HALCON-internal unit 'm'.
Note that if a 3D object model is no longer needed or should be overwritten,
the memory has to be freed first by calling the operator
clear_object_model_3dclear_object_model_3dClearObjectModel3dclear_object_model_3dClearObjectModel3dClearObjectModel3d.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Handle of the 3D object model to be sampled.
Selects between the different subsampling methods.
Default value:
'fast'
"fast"
"fast"
"fast"
"fast"
"fast"
List of values: 'accurate'"accurate""accurate""accurate""accurate""accurate", 'accurate_use_normals'"accurate_use_normals""accurate_use_normals""accurate_use_normals""accurate_use_normals""accurate_use_normals", 'fast'"fast""fast""fast""fast""fast", 'fast_compute_normals'"fast_compute_normals""fast_compute_normals""fast_compute_normals""fast_compute_normals""fast_compute_normals"
Sampling distance.
Number of elements: SampleDistance == 1 || SampleDistance == ObjectModel3D
Default value: 0.05
Names of the generic parameters that can be adjusted.
Default value: []
List of values: 'max_angle_diff'"max_angle_diff""max_angle_diff""max_angle_diff""max_angle_diff""max_angle_diff", 'min_num_points'"min_num_points""min_num_points""min_num_points""min_num_points""min_num_points"
Values of the generic parameters that can be
adjusted.
Default value: []
Suggested values: 1, 2, 5, 10, 20, 0.1, 0.25, 0.5
Handle of the 3D object model that contains the
sampled points.
Number of elements: SampledObjectModel3D == ObjectModel3D
gen_box_object_model_3d ([0,0,0,0,0,0,0],3,2,1, ObjectModel3D)
sample_object_model_3d (ObjectModel3D, 'fast', 0.05, [], [], \
SampledObjectModel3D)
dev_get_window (WindowHandle)
visualize_object_model_3d (WindowHandle, SampledObjectModel3D, \
[], [], [], [], [], [], [], PoseOut)
sample_object_model_3dsample_object_model_3dSampleObjectModel3dsample_object_model_3dSampleObjectModel3dSampleObjectModel3d returns 2 (H_MSG_TRUE) if all parameters
are correct. If necessary, an exception is raised.
read_object_model_3dread_object_model_3dReadObjectModel3dread_object_model_3dReadObjectModel3dReadObjectModel3d,
gen_plane_object_model_3dgen_plane_object_model_3dGenPlaneObjectModel3dgen_plane_object_model_3dGenPlaneObjectModel3dGenPlaneObjectModel3d,
gen_sphere_object_model_3dgen_sphere_object_model_3dGenSphereObjectModel3dgen_sphere_object_model_3dGenSphereObjectModel3dGenSphereObjectModel3d,
gen_cylinder_object_model_3dgen_cylinder_object_model_3dGenCylinderObjectModel3dgen_cylinder_object_model_3dGenCylinderObjectModel3dGenCylinderObjectModel3d,
gen_box_object_model_3dgen_box_object_model_3dGenBoxObjectModel3dgen_box_object_model_3dGenBoxObjectModel3dGenBoxObjectModel3d,
gen_sphere_object_model_3d_centergen_sphere_object_model_3d_centerGenSphereObjectModel3dCentergen_sphere_object_model_3d_centerGenSphereObjectModel3dCenterGenSphereObjectModel3dCenter,
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,
clear_object_model_3dclear_object_model_3dClearObjectModel3dclear_object_model_3dClearObjectModel3dClearObjectModel3d
simplify_object_model_3dsimplify_object_model_3dSimplifyObjectModel3dsimplify_object_model_3dSimplifyObjectModel3dSimplifyObjectModel3d,
smooth_object_model_3dsmooth_object_model_3dSmoothObjectModel3dsmooth_object_model_3dSmoothObjectModel3dSmoothObjectModel3d
3D Metrology