ClassesClasses | | Operators

project_shape_model_3dT_project_shape_model_3dProjectShapeModel3dProjectShapeModel3d (Operator)

Name

project_shape_model_3dT_project_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 : )

Herror T_project_shape_model_3d(Hobject* ModelContours, const Htuple ShapeModel3DID, const Htuple CamParam, const Htuple Pose, const Htuple HiddenSurfaceRemoval, const Htuple MinFaceAngle)

void ProjectShapeModel3d(HObject* ModelContours, const HTuple& ShapeModel3DID, const HTuple& CamParam, const HTuple& Pose, const HTuple& HiddenSurfaceRemoval, const HTuple& MinFaceAngle)

HXLDCont HShapeModel3D::ProjectShapeModel3d(const HCamPar& CamParam, const HPose& Pose, const HString& HiddenSurfaceRemoval, const HTuple& MinFaceAngle) const

HXLDCont HShapeModel3D::ProjectShapeModel3d(const HCamPar& CamParam, const HPose& Pose, const HString& HiddenSurfaceRemoval, double MinFaceAngle) const

HXLDCont HShapeModel3D::ProjectShapeModel3d(const HCamPar& CamParam, const HPose& Pose, const char* HiddenSurfaceRemoval, double MinFaceAngle) const

HXLDCont HCamPar::ProjectShapeModel3d(const HShapeModel3D& ShapeModel3DID, const HPose& Pose, const HString& HiddenSurfaceRemoval, const HTuple& MinFaceAngle) const

HXLDCont HCamPar::ProjectShapeModel3d(const HShapeModel3D& ShapeModel3DID, const HPose& Pose, const HString& HiddenSurfaceRemoval, double MinFaceAngle) const

HXLDCont HCamPar::ProjectShapeModel3d(const HShapeModel3D& ShapeModel3DID, const HPose& Pose, const char* HiddenSurfaceRemoval, double MinFaceAngle) const

HXLDCont HPose::ProjectShapeModel3d(const HShapeModel3D& ShapeModel3DID, const HCamPar& CamParam, const HString& HiddenSurfaceRemoval, const HTuple& MinFaceAngle) const

HXLDCont HPose::ProjectShapeModel3d(const HShapeModel3D& ShapeModel3DID, const HCamPar& CamParam, const HString& HiddenSurfaceRemoval, double MinFaceAngle) const

HXLDCont HPose::ProjectShapeModel3d(const HShapeModel3D& ShapeModel3DID, const HCamPar& CamParam, const char* HiddenSurfaceRemoval, double MinFaceAngle) const

static void HOperatorSet.ProjectShapeModel3d(out HObject modelContours, HTuple shapeModel3DID, HTuple camParam, HTuple pose, HTuple hiddenSurfaceRemoval, HTuple minFaceAngle)

HXLDCont HShapeModel3D.ProjectShapeModel3d(HCamPar camParam, HPose pose, string hiddenSurfaceRemoval, HTuple minFaceAngle)

HXLDCont HShapeModel3D.ProjectShapeModel3d(HCamPar camParam, HPose pose, string hiddenSurfaceRemoval, double minFaceAngle)

HXLDCont HCamPar.ProjectShapeModel3d(HShapeModel3D shapeModel3DID, HPose pose, string hiddenSurfaceRemoval, HTuple minFaceAngle)

HXLDCont HCamPar.ProjectShapeModel3d(HShapeModel3D shapeModel3DID, HPose pose, string hiddenSurfaceRemoval, double minFaceAngle)

HXLDCont HPose.ProjectShapeModel3d(HShapeModel3D shapeModel3DID, HCamPar camParam, string hiddenSurfaceRemoval, HTuple minFaceAngle)

HXLDCont HPose.ProjectShapeModel3d(HShapeModel3D shapeModel3DID, HCamPar camParam, string hiddenSurfaceRemoval, double minFaceAngle)

Description

The operator project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3d 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 calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras). The PosePosePosePosepose describes the position and orientation of the world coordinate system with respect to the camera coordinate system.

The parameter HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemoval can be used to switch on or to switch off the removal of hidden surfaces. If HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemoval is set to 'true'"true""true""true""true", only those projected edges are returned that are not hidden by faces of the 3D object model. If HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemoval is set to 'false'"false""false""false""false", all projected edges are returned. This is faster than a projection with HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemoval set to 'true'"true""true""true""true".

If the system variable (see set_systemset_systemSetSystemSetSystemSetSystem) 'opengl_hidden_surface_removal_enable'"opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable""opengl_hidden_surface_removal_enable" is set to 'true'"true""true""true""true" (which is default if it is available) and HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemoval is set to 'true'"true""true""true""true", the projection of the model is accelerated using the graphics card. Depending on the graphics card this is significantly faster than the non accelerated algorithm. Be aware that the results of the OpenGL projection are slightly different compared to the analytic projection. Notable, only the contours visible through CamParamCamParamCamParamCamParamcamParam are projected in this mode.

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 (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.

If for the model creation with create_shape_model_3dcreate_shape_model_3dCreateShapeModel3dCreateShapeModel3dCreateShapeModel3d the parameter 'union_adjacent_contours'"union_adjacent_contours""union_adjacent_contours""union_adjacent_contours""union_adjacent_contours" was activated, adjacent contours are joined.

project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3d and project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3d 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_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3d.

project_shape_model_3dproject_shape_model_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3d is especially useful in order to visualize the matches that are returned by find_shape_model_3dfind_shape_model_3dFindShapeModel3dFindShapeModel3dFindShapeModel3d in the case that the underlying 3D object model is no longer available.

Execution Information

Parameters

ModelContoursModelContoursModelContoursModelContoursmodelContours (output_object)  xld_cont-array objectHXLDContHXLDContHobject *

Contour representation of the model view.

ShapeModel3DIDShapeModel3DIDShapeModel3DIDShapeModel3DIDshapeModel3DID (input_control)  shape_model_3d HShapeModel3D, HTupleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the 3D shape model.

CamParamCamParamCamParamCamParamcamParam (input_control)  campar HCamPar, HTupleHTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)

Internal camera parameters.

PosePosePosePosepose (input_control)  pose HPose, HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

3D pose of the 3D shape model in the world coordinate system.

HiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalHiddenSurfaceRemovalhiddenSurfaceRemoval (input_control)  string HTupleHTupleHtuple (string) (string) (HString) (char*)

Remove hidden surfaces?

Default value: 'true' "true" "true" "true" "true"

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

MinFaceAngleMinFaceAngleMinFaceAngleMinFaceAngleminFaceAngle (input_control)  angle.rad HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

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_3dProjectShapeModel3dProjectShapeModel3dProjectShapeModel3d returns the value 2 (H_MSG_TRUE). If necessary an exception is raised.

Possible Predecessors

create_shape_model_3dcreate_shape_model_3dCreateShapeModel3dCreateShapeModel3dCreateShapeModel3d, read_shape_model_3dread_shape_model_3dReadShapeModel3dReadShapeModel3dReadShapeModel3d, get_shape_model_3d_paramsget_shape_model_3d_paramsGetShapeModel3dParamsGetShapeModel3dParamsGetShapeModel3dParams, find_shape_model_3dfind_shape_model_3dFindShapeModel3dFindShapeModel3dFindShapeModel3d

Alternatives

project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3d

See also

convert_point_3d_cart_to_spherconvert_point_3d_cart_to_spherConvertPoint3dCartToSpherConvertPoint3dCartToSpherConvertPoint3dCartToSpher, convert_point_3d_spher_to_cartconvert_point_3d_spher_to_cartConvertPoint3dSpherToCartConvertPoint3dSpherToCartConvertPoint3dSpherToCart, create_cam_pose_look_at_pointcreate_cam_pose_look_at_pointCreateCamPoseLookAtPointCreateCamPoseLookAtPointCreateCamPoseLookAtPoint, trans_pose_shape_model_3dtrans_pose_shape_model_3dTransPoseShapeModel3dTransPoseShapeModel3dTransPoseShapeModel3d

Module

3D Metrology


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