M3dmod
This example demonstrates how to use the 3D model finder module to define surface models and search for them in 3D scenes.
Language: Python
Functions used: M3ddispAlloc, M3ddispControl, M3ddispCopy, M3ddispFree, M3ddispInquire, M3ddispSelect, M3ddispSetView, M3dgraControl, M3dgraCopy, M3dgraRemove, M3dmodAlloc, M3dmodAllocResult, M3dmodControl, M3dmodDefine, M3dmodDraw3d, M3dmodFind, M3dmodFree, M3dmodGetResult, M3dmodPreprocess, MappAlloc, MappControl, MappFree, MappTimer, MbufFree, MbufInquireContainer, MbufRestore, MobjInquire, MsysAlloc, MsysFree
Categories: Overview, General, Industries, Machining, Automation, Applications, Finding/Locating, Identifying, Modules, 3D Display, 3D Graphics, 3D Model Finder, Buffer, What's New, AIL 10.0 SP6
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
##########################################################################
#
# File name: M3dmod.py
#
# Synopsis: This example demonstrates how to use the 3D model finder module
# to define surface models and search for them in 3D scenes.
# A simple single model search is presented first followed by a more
# complex example of multiple occurrences in a complex scene.
#
# (C) 1992-2026 Zebra Technologies Corp. and/or its affiliates
# All Rights Reserved
##########################################################################
import ail11 as AIL
import os
# --------------------------------------------------------------
# CDisplay
# Class that manages the 2D/3D displays for 3D examples.
# --------------------------------------------------------------
class CDisplay:
def __init__(self, AilSystem):
self.m_AilSystem = AilSystem
self.m_AilDisplay = AIL.M_NULL
self.m_AilGraphicList = AIL.M_NULL
self.m_DisplayType = AIL.M_NULL
self.m_Lut = AIL.M_NULL
self.m_AilDepthMap = AIL.M_NULL
self.m_IntensityMap = AIL.M_NULL
# --------------------------------------------------------------
# Allocates a 3D display and returns its identifier.
# --------------------------------------------------------------
def Alloc3dDisplayId(self):
# Try to allocate a 3d display.
AIL.MappControl(AIL.M_DEFAULT, AIL.M_ERROR, AIL.M_PRINT_DISABLE)
self.m_AilDisplay = AIL.M3ddispAlloc(self.m_AilSystem, AIL.M_DEFAULT, "M_DEFAULT", AIL.M_DEFAULT)
AIL.MappControl(AIL.M_DEFAULT, AIL.M_ERROR, AIL.M_PRINT_ENABLE)
if self.m_AilDisplay == AIL.M_NULL:
print()
print("The current system does not support the 3D display.")
print("A 2D display will be used instead.")
# Allocate a 2d display instead.
self.m_AilDisplay = AIL.MdispAlloc(self.m_AilSystem, AIL.M_DEFAULT, "M_DEFAULT", AIL.M_DEFAULT)
self.m_Lut = AIL.MbufAllocColor(self.m_AilSystem, 3, 256, 1, AIL.M_UNSIGNED + 8, AIL.M_LUT)
AIL.MgenLutFunction(self.m_Lut, AIL.M_COLORMAP_TURBO + AIL.M_FLIP, AIL.M_DEFAULT,
AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT,
AIL.M_DEFAULT)
self.m_DisplayType = AIL.MobjInquire(self.m_AilDisplay, AIL.M_OBJECT_TYPE)
self.GetGraphicListId()
# --------------------------------------------------------------
# Sets the window size.
# --------------------------------------------------------------
def Size(self, SizeX, SizeY):
if (self.m_DisplayType == AIL.M_3D_DISPLAY):
AIL.M3ddispControl(self.m_AilDisplay, AIL.M_SIZE_X, SizeX)
AIL.M3ddispControl(self.m_AilDisplay, AIL.M_SIZE_Y, SizeY)
else:
self.m_AilDepthMap = AIL.MbufAlloc2d(self.m_AilSystem, int(SizeX), int(SizeY), AIL.M_UNSIGNED + 8, AIL.M_IMAGE | AIL.M_PROC | AIL.M_DISP)
self.m_IntensityMap = AIL.MbufAllocColor(self.m_AilSystem, 3, int(SizeX), int(SizeY), AIL.M_UNSIGNED + 8, AIL.M_IMAGE | AIL.M_PROC | AIL.M_DISP)
# --------------------------------------------------------------
# Sets the window position x.
# --------------------------------------------------------------
def PositionX(self, PositionX):
if (self.m_DisplayType == AIL.M_3D_DISPLAY):
AIL.M3ddispControl(self.m_AilDisplay, AIL.M_WINDOW_INITIAL_POSITION_X, PositionX)
else:
AIL.MdispControl(self.m_AilDisplay, AIL.M_WINDOW_INITIAL_POSITION_X, PositionX)
# --------------------------------------------------------------
# Displays the container in the 3D or 2D display.
# --------------------------------------------------------------
def DisplayContainer(self, AilContainer, UseLut):
if (self.m_DisplayType == AIL.M_3D_DISPLAY):
Label = AIL.M3ddispSelect(self.m_AilDisplay, AilContainer, AIL.M_DEFAULT, AIL.M_DEFAULT)
if (UseLut):
AIL.M3dgraCopy(AIL.M_COLORMAP_TURBO + AIL.M_FLIP, AIL.M_DEFAULT, self.m_AilGraphicList, Label, AIL.M_COLOR_LUT, AIL.M_DEFAULT)
AIL.M3dgraControl(self.m_AilGraphicList, Label, AIL.M_COLOR_USE_LUT, AIL.M_TRUE)
AIL.M3dgraControl(self.m_AilGraphicList, Label, AIL.M_COLOR_COMPONENT_BAND, 2)
AIL.M3dgraControl(self.m_AilGraphicList, Label, AIL.M_COLOR_COMPONENT, AIL.M_COMPONENT_RANGE)
# Set the display's rotation axis center. This will keep the
# behaviour of auto rotate consistent as we move its interest point.
AIL.M3ddispCopy(AIL.M_VIEW_INTEREST_POINT, self.m_AilDisplay, AIL.M_ROTATION_AXIS_CENTER, AIL.M_DEFAULT)
else:
# Project into a depthmap.
AIL.M3dimCalibrateDepthMap(AilContainer, self.m_AilDepthMap, self.m_IntensityMap, AIL.M_NULL, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_CENTER)
if (UseLut):
# Associate a LUT.
AIL.MbufControl(self.m_AilDepthMap, AIL.M_ASSOCIATED_LUT, self.m_Lut)
AIL.M3dimProject(AilContainer, self.m_AilDepthMap, AIL.M_NULL, AIL.M_POINT_BASED, AIL.M_MAX_Z, AIL.M_DEFAULT, AIL.M_DEFAULT)
AIL.MdispSelect(self.m_AilDisplay, self.m_AilDepthMap)
else:
HasReflectanceColor = AIL.MbufInquireContainer(AilContainer, AIL.M_COMPONENT_REFLECTANCE, AIL.M_COMPONENT_ID) != AIL.M_NULL
HasIntensityColor = AIL.MbufInquireContainer(AilContainer, AIL.M_COMPONENT_INTENSITY, AIL.M_COMPONENT_ID) != AIL.M_NULL
if (HasReflectanceColor or HasIntensityColor):
AIL.M3dimProject(AilContainer, self.m_AilDepthMap, self.m_IntensityMap, AIL.M_POINT_BASED, AIL.M_MAX_Z, AIL.M_DEFAULT, AIL.M_DEFAULT)
AIL.MdispSelect(self.m_AilDisplay, self.m_IntensityMap)
else:
AIL.M3dimProject(AilContainer, self.m_AilDepthMap, AIL.M_NULL, AIL.M_POINT_BASED, AIL.M_MAX_Z, AIL.M_DEFAULT, AIL.M_DEFAULT)
AIL.MdispSelect(self.m_AilDisplay, self.m_AilDepthMap)
# --------------------------------------------------------------
# Set the title.
# --------------------------------------------------------------
def Title(self, Title):
if (self.m_DisplayType == AIL.M_3D_DISPLAY):
AIL.M3ddispControl(self.m_AilDisplay, AIL.M_TITLE, Title)
else:
AIL.MdispControl(self.m_AilDisplay, AIL.M_TITLE, Title)
# --------------------------------------------------------------
# Set the 3D disply view.
# --------------------------------------------------------------
def SetView(self, Mode, Param1, Param2, Param3):
if (self.m_DisplayType == AIL.M_3D_DISPLAY):
AIL.M3ddispSetView(self.m_AilDisplay, Mode, Param1, Param2, Param3, AIL.M_DEFAULT)
# Set the display's rotation axis center. This will keep the
# behaviour of auto rotate consistent as we move its interest point.
AIL.M3ddispCopy(AIL.M_VIEW_INTEREST_POINT, self.m_AilDisplay, AIL.M_ROTATION_AXIS_CENTER, AIL.M_DEFAULT)
# --------------------------------------------------------------
# Draw the 3d model occurrences found.
# --------------------------------------------------------------
def Draw(self, AilResult):
if (self.m_DisplayType == AIL.M_3D_DISPLAY):
return AIL.M3dmodDraw3d(AIL.M_DEFAULT, AilResult, AIL.M_ALL, self.m_AilGraphicList, AIL.M_DEFAULT, AIL.M_DEFAULT)
else:
Ail3dGraphicList = AIL.M3dgraAlloc(self.m_AilSystem, AIL.M_DEFAULT)
AIL.M3dmodDraw3d(AIL.M_DEFAULT, AilResult, AIL.M_ALL, Ail3dGraphicList, AIL.M_DEFAULT, AIL.M_DEFAULT)
# Clear the graphic list.
AIL.MgraControlList(self.m_AilGraphicList, AIL.M_ALL, AIL.M_DEFAULT, AIL.M_DELETE, AIL.M_DEFAULT)
# Get all 3d graphics.
Labels = AIL.M3dgraInquire(Ail3dGraphicList, AIL.M_ROOT_NODE, AIL.M_CHILDREN + AIL.M_RECURSIVE)
Matrix = AIL.M3dgeoAlloc(self.m_AilSystem, AIL.M_TRANSFORMATION_MATRIX, AIL.M_DEFAULT)
AilContainer = AIL.MbufAllocContainer(self.m_AilSystem, AIL.M_PROC | AIL.M_DISP, AIL.M_DEFAULT)
# Draw all 3d boxes and dots in the 2d display.
for Label in Labels:
GraphicType = AIL.M3dgraInquire(Ail3dGraphicList, Label, AIL.M_GRAPHIC_TYPE)
if (GraphicType == AIL.M_GRAPHIC_TYPE_DOTS):
Color = AIL.M3dgraInquire(Ail3dGraphicList, Label, AIL.M_COLOR)
PointsX = AIL.M3dgraInquire(Ail3dGraphicList, Label, AIL.M_POINTS_X)
PointsY = AIL.M3dgraInquire(Ail3dGraphicList, Label, AIL.M_POINTS_Y)
AIL.MgraControl(AIL.M_DEFAULT, AIL.M_COLOR, Color)
AIL.MgraControl(AIL.M_DEFAULT, AIL.M_INPUT_UNITS, AIL.M_WORLD)
AIL.MgraDots(AIL.M_DEFAULT, self.m_AilGraphicList, AIL.M_DEFAULT, PointsX, PointsY, AIL.M_DEFAULT)
elif (GraphicType == AIL.M_GRAPHIC_TYPE_BOX):
CenterX = AIL.M3dgraInquire(Ail3dGraphicList, Label, AIL.M_CENTER_X)
CenterY = AIL.M3dgraInquire(Ail3dGraphicList, Label, AIL.M_CENTER_Y)
SizeX = AIL.M3dgraInquire(Ail3dGraphicList, Label, AIL.M_SIZE_X)
SizeY = AIL.M3dgraInquire(Ail3dGraphicList, Label, AIL.M_SIZE_Y)
AIL.M3dgraCopy(Ail3dGraphicList, Label, Matrix, AIL.M_DEFAULT, AIL.M_TRANSFORMATION_MATRIX, AIL.M_DEFAULT)
(RotZ, RotX, RotY) = AIL.M3dgeoMatrixGetTransform(Matrix, AIL.M_ROTATION_ZXY, None, None, None, AIL.M_NULL, AIL.M_DEFAULT)
AIL.MgraControl(AIL.M_DEFAULT, AIL.M_COLOR, AIL.M_COLOR_WHITE)
AIL.MgraControl(AIL.M_DEFAULT, AIL.M_INPUT_UNITS, AIL.M_WORLD)
AIL.MgraRectAngle(AIL.M_DEFAULT, self.m_AilGraphicList, CenterX, CenterY, SizeX, SizeY, -RotZ, AIL.M_CENTER_AND_DIMENSION)
AIL.M3dgeoFree(Matrix)
AIL.M3dgraFree(Ail3dGraphicList)
AIL.MbufFree(AilContainer)
return 0
# --------------------------------------------------------------
# Updates the displayed image.
# --------------------------------------------------------------
def UpdateDisplay(self, AilContainer, UseLut):
if (self.m_DisplayType == AIL.M_3D_DISPLAY):
return; # Containers are updated automatically in the 3D display
else:
self.DisplayContainer(AilContainer, UseLut)
def Clear(self, Label):
if (self.m_DisplayType == AIL.M_3D_DISPLAY):
AIL.M3dgraRemove(self.m_AilGraphicList, Label, AIL.M_DEFAULT)
else:
AIL.MgraControlList(self.m_AilGraphicList, AIL.M_ALL, AIL.M_DEFAULT, AIL.M_DELETE, AIL.M_DEFAULT)
# --------------------------------------------------------------
# Free the display.
# --------------------------------------------------------------
def FreeDisplay(self):
if (self.m_DisplayType == AIL.M_DISPLAY):
AIL.MdispFree(self.m_AilDisplay)
AIL.MbufFree(self.m_Lut)
AIL.MbufFree(self.m_AilDepthMap)
AIL.MbufFree(self.m_IntensityMap)
AIL.MgraFree(self.m_AilGraphicList)
else:
AIL.M3ddispFree(self.m_AilDisplay)
# --------------------------------------------------------------
# Gets the display's graphic list, or allocates a standalone one.
# --------------------------------------------------------------
def GetGraphicListId(self):
if (self.m_DisplayType == AIL.M_3D_DISPLAY):
self.m_AilGraphicList = AIL.M3ddispInquire(self.m_AilDisplay, AIL.M_3D_GRAPHIC_LIST_ID)
else:
# Associate a graphic list.
self.m_AilGraphicList = AIL.MgraAllocList(self.m_AilSystem, AIL.M_DEFAULT)
AIL.MdispControl(self.m_AilDisplay, AIL.M_ASSOCIATED_GRAPHIC_LIST_ID, self.m_AilGraphicList)
# Input scanned point cloud files.
SINGLE_MODEL = os.path.join(AIL.M_IMAGE_PATH, "SimpleModel.mbufc")
SINGLE_SCENE = os.path.join(AIL.M_IMAGE_PATH, "SimpleScene.mbufc")
COMPLEX_MODEL1 = os.path.join(AIL.M_IMAGE_PATH, "ComplexModel1.ply")
COMPLEX_MODEL2 = os.path.join(AIL.M_IMAGE_PATH, "ComplexModel2.ply")
COMPLEX_SCENE = os.path.join(AIL.M_IMAGE_PATH, "ComplexScene.ply")
# Constants.
DISP_SIZE_X = 480
DISP_SIZE_Y = 420
# --------------------------------------------------------------
# Simple scene with a single occurrence.
# --------------------------------------------------------------
def SimpleSceneSurfaceFinder(AilSystem, DisplayModel : CDisplay, DisplayScene : CDisplay):
# Allocate a surface Model Finder context.
AilContext = AIL.M3dmodAlloc(AilSystem, AIL.M_FIND_SURFACE_CONTEXT, AIL.M_DEFAULT)
# Allocate a surface Model Finder result.
AilResult = AIL.M3dmodAllocResult(AilSystem, AIL.M_FIND_SURFACE_RESULT, AIL.M_DEFAULT)
# Restore the model container and display it.
AilModelContainer = AIL.MbufRestore(SINGLE_MODEL, AilSystem)
DisplayModel.SetView(AIL.M_AZIM_ELEV_ROLL, 45, -35, 180)
DisplayModel.DisplayContainer(AilModelContainer, True)
print("The 3D point cloud of the model is restored from a file and displayed.")
# Load the single model scene point cloud.
AilSceneContainer = AIL.MbufRestore(SINGLE_SCENE, AilSystem)
DisplayScene.SetView(AIL.M_AZIM_ELEV_ROLL, 202, -20.0, 182.0)
DisplayScene.DisplayContainer(AilSceneContainer, True)
print("The 3D point cloud of the scene is restored from a file and displayed.\n")
print("Press any key to start.\n");
AIL.MosGetch()
# Define the surface model.
AIL.M3dmodDefine(AilContext, AIL.M_ADD_FROM_POINT_CLOUD, AIL.M_SURFACE,
AilModelContainer, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT,
AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT)
print("Define the model using the given model point cloud.\n")
# Set the search perseverance.
print("Set the lowest perseverance to increase the search speed for a simple scene.\n")
AIL.M3dmodControl(AilContext, AIL.M_DEFAULT, AIL.M_PERSEVERANCE, 0.0)
print("Set the scene complexity to low to increase the search speed for a simple scene.\n")
AIL.M3dmodControl(AilContext, AIL.M_DEFAULT, AIL.M_SCENE_COMPLEXITY, AIL.M_LOW)
# Preprocess the search context.
AIL.M3dmodPreprocess(AilContext, AIL.M_DEFAULT)
print("M_COMPONENT_NORMALS_AIL is added to the point cloud if not present.\n")
# The surface finder requires the existence of M_COMPONENT_NORMALS_AIL in the point cloud.
AddComponentNormalsIfMissing(AilSceneContainer)
print("3D surface finder is running..\n")
# Reset the timer.
AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_RESET + AIL.M_SYNCHRONOUS)
# Find the model.
AIL.M3dmodFind(AilContext, AilSceneContainer, AilResult, AIL.M_DEFAULT)
# Read the find time.
ComputationTime = AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_READ + AIL.M_SYNCHRONOUS)
ShowResults(AilResult, ComputationTime)
DisplayScene.Draw(AilResult)
print("Press any key to continue.\n")
AIL.MosGetch()
# Free objects.
AIL.M3dmodFree(AilContext)
AIL.M3dmodFree(AilResult)
AIL.MbufFree(AilModelContainer)
AIL.MbufFree(AilSceneContainer)
# --------------------------------------------------------------
# Complex scene with multiple occurrences.
# --------------------------------------------------------------
def ComplexSceneSurfaceFinder(AilSystem, DisplayModel : CDisplay, DisplayScene : CDisplay):
# Allocate a surface 3D Model Finder context.
AilContext = AIL.M3dmodAlloc(AilSystem, AIL.M_FIND_SURFACE_CONTEXT, AIL.M_DEFAULT)
# Allocate a surface 3D Model Finder result.
AilResult = AIL.M3dmodAllocResult(AilSystem, AIL.M_FIND_SURFACE_RESULT, AIL.M_DEFAULT)
DisplayModel.Clear(AIL.M_ALL)
DisplayScene.Clear(AIL.M_ALL)
# Restore the first model container and display it.
AilModelContainer = AIL.MbufRestore(COMPLEX_MODEL1, AilSystem)
DisplayModel.SetView(AIL.M_AZIM_ELEV_ROLL, 290, -67, 265)
DisplayModel.DisplayContainer(AilModelContainer, False)
DisplayModel.SetView(AIL.M_AUTO, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT)
print("The 3D point cloud of the first model is restored from a file and displayed.")
# Load the complex scene point cloud.
AilSceneContainer = AIL.MbufRestore(COMPLEX_SCENE, AilSystem)
DisplayScene.SetView(AIL.M_AZIM_ELEV_ROLL, 260, -72, 142)
DisplayScene.DisplayContainer(AilSceneContainer, False)
DisplayScene.SetView(AIL.M_AUTO, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT)
DisplayScene.SetView(AIL.M_ZOOM, 1.2, AIL.M_DEFAULT, AIL.M_DEFAULT)
print("The 3D point cloud of the scene is restored from a file and displayed.\n")
print("Press any key to start.\n")
AIL.MosGetch()
print("M_COMPONENT_NORMALS_AIL is added to the point cloud if not present.\n")
# The surface finder requires the existence of M_COMPONENT_NORMALS_AIL in the point cloud.
AddComponentNormalsIfMissing(AilSceneContainer)
# Define the surface model.
AIL.M3dmodDefine(AilContext, AIL.M_ADD_FROM_POINT_CLOUD, AIL.M_SURFACE,
AilModelContainer, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT,
AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT)
# Find all ocurrences.
AIL.M3dmodControl(AilContext, 0, AIL.M_NUMBER, AIL.M_ALL)
AIL.M3dmodControl(AilContext, 0, AIL.M_COVERAGE_MAX, 75)
AIL.M3dmodPreprocess(AilContext, AIL.M_DEFAULT)
print("3D surface finder is running..\n")
# Reset the timer.
AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_RESET + AIL.M_SYNCHRONOUS)
# Find the model.
AIL.M3dmodFind(AilContext, AilSceneContainer, AilResult, AIL.M_DEFAULT)
# Read the find time.
ComputationTime = AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_READ + AIL.M_SYNCHRONOUS)
ShowResults(AilResult, ComputationTime)
Label = DisplayScene.Draw(AilResult)
print("Press any key to continue.\n")
AIL.MosGetch()
DisplayScene.Clear(Label)
AIL.MbufFree(AilModelContainer)
AilModelContainer = AIL.MbufRestore(COMPLEX_MODEL2, AilSystem)
DisplayModel.DisplayContainer(AilModelContainer, False)
DisplayModel.SetView(AIL.M_AUTO, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT)
print("The 3D point cloud of the second model is restored from file and displayed.\n")
# Delete the previous model.
AIL.M3dmodDefine(AilContext, AIL.M_DELETE, AIL.M_DEFAULT, 0, AIL.M_DEFAULT,
AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT,
AIL.M_DEFAULT)
# Define the surface model.
AIL.M3dmodDefine(AilContext, AIL.M_ADD_FROM_POINT_CLOUD, AIL.M_SURFACE,
AilModelContainer, AIL.M_DEFAULT, AIL.M_DEFAULT,
AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT)
# Find all ocurrences.
AIL.M3dmodControl(AilContext, 0, AIL.M_NUMBER, AIL.M_ALL)
AIL.M3dmodControl(AilContext, 0, AIL.M_COVERAGE_MAX, 95)
AIL.M3dmodPreprocess(AilContext, AIL.M_DEFAULT)
print("3D surface finder is running..\n")
# Reset the timer.
AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_RESET + AIL.M_SYNCHRONOUS)
# Find the model.
AIL.M3dmodFind(AilContext, AilSceneContainer, AilResult, AIL.M_DEFAULT)
# Read the find time.
ComputationTime = AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_READ + AIL.M_SYNCHRONOUS)
ShowResults(AilResult, ComputationTime)
DisplayScene.Draw(AilResult)
print("Press any key to end.\n")
AIL.MosGetch()
# Free objects.
AIL.M3dmodFree(AilContext)
AIL.M3dmodFree(AilResult)
AIL.MbufFree(AilModelContainer)
AIL.MbufFree(AilSceneContainer)
# --------------------------------------------------------------
# Adds the component M_COMPONENT_NORMALS_AIL if it's not found.
# --------------------------------------------------------------
def AddComponentNormalsIfMissing(AilContainer):
AilNormals = AIL.MbufInquireContainer(AilContainer, AIL.M_COMPONENT_NORMALS_AIL, AIL.M_COMPONENT_ID)
if (AilNormals != AIL.M_NULL):
return
SizeX = AIL.MbufInquireContainer(AilContainer, AIL.M_COMPONENT_RANGE, AIL.M_SIZE_X)
SizeY = AIL.MbufInquireContainer(AilContainer, AIL.M_COMPONENT_RANGE, AIL.M_SIZE_Y)
if (SizeX < 50 or SizeY < 50):
AIL.M3dimNormals(AIL.M_NORMALS_CONTEXT_TREE, AilContainer, AilContainer, AIL.M_DEFAULT)
else:
AIL.M3dimNormals(AIL.M_NORMALS_CONTEXT_ORGANIZED, AilContainer, AilContainer, AIL.M_DEFAULT)
# --------------------------------------------------------------
# Shows the surface finder results.
# --------------------------------------------------------------
def ShowResults(AilResult, ComputationTime):
Status = AIL.M3dmodGetResult(AilResult, AIL.M_DEFAULT, AIL.M_STATUS)
if (Status != AIL.M_COMPLETE):
print("The find process is not completed.")
NbOcc = int(AIL.M3dmodGetResult(AilResult, AIL.M_DEFAULT, AIL.M_NUMBER))
print("Found {0} occurrence(s) in {1:.2f} s.".format(NbOcc, ComputationTime))
print()
if (NbOcc == 0):
return
print("Index Score Score_Target");
print("------------------------------------------------------");
for i in range(NbOcc):
ScoreTarget = AIL.M3dmodGetResult(AilResult, i, AIL.M_SCORE_TARGET)
Score = AIL.M3dmodGetResult(AilResult, i, AIL.M_SCORE)
print(" {0} {1:.4f} {2:6.2f} ".format( i, Score, ScoreTarget))
print()
# --------------------------------------------------------------
# Main.
# --------------------------------------------------------------
def M3dmodExample():
print("[EXAMPLE NAME]")
print("M3dmod")
print()
print("[SYNOPSIS]")
print("This example demonstrates how to use the 3D model finder module")
print("to define surface models and search for them in 3D scenes.")
print()
print("[MODULES USED]")
print("Modules used: 3D Model Finder, 3D Display, 3D Graphics, and 3D Image")
print("Processing.")
print()
# Allocate objects.
AilApplication = AIL.MappAlloc(AIL.M_NULL, AIL.M_DEFAULT)
AilSystem = AIL.MsysAlloc(AIL.M_DEFAULT, AIL.M_SYSTEM_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT)
# Allocate the display.
DisplayModel = CDisplay(AilSystem)
DisplayModel.Alloc3dDisplayId()
DisplayModel.Size(DISP_SIZE_X / 2, DISP_SIZE_Y / 2)
DisplayModel.Title("Model Cloud")
DisplayScene = CDisplay(AilSystem)
DisplayScene.Alloc3dDisplayId()
DisplayScene.Size(DISP_SIZE_X, DISP_SIZE_Y)
DisplayScene.PositionX((1.04 * 0.5 * DISP_SIZE_X))
DisplayScene.Title("Scene Cloud")
SimpleSceneSurfaceFinder(AilSystem, DisplayModel, DisplayScene)
ComplexSceneSurfaceFinder(AilSystem, DisplayModel, DisplayScene)
# Free objects.
DisplayModel.FreeDisplay()
DisplayScene.FreeDisplay()
AIL.MsysFree(AilSystem)
AIL.MappFree(AilApplication)
return 0
if __name__ == "__main__":
M3dmodExample()