Code Example: Generating Models and Searching

Parameters can be exported from NxView using the Copy as Json buttons and used in examples as described below.

1. Generating a Model

To successfully generate a model, a stereo camera must be opened and a disparity map must be calculated together with a previous capture command.

 1std::string generateModelParams = R"(
 2   {
 3     "AngularResolution": 0.349065850398865896,
 4     "Filename": "<PATH_TO_STL/PLY>",
 5     "Function": "GenerateModel",
 6     "RelativeModelSamplingDistance": 0.05,
 7     "Subsampling": 0,
 8     "Viewpoints": "All"
 9   }
10)";
11
12NxLibCommand generateModel(cmdPartFinder);
13generateModel.parameters() << generateModelParams;
14generateModel.execute();
15int generatedModelId = generateModel.result()[itmModelId].asInt();

  • The marked section below generateModelParams can be replaced with the generated parameter representation of the Copy as JSON button inside the Model Generation tab.

  • generatedModelId is read out to be used to reference the ModelId in an upcoming Find subcommand.

2. Search for Parts

 1std::string findParams = R"(
 2   {
 3     "Cluster": {
 4       "Count": 0,
 5       "MaximumClusterSize": 0
 6     },
 7     "CoverageDistanceThreshold": 0,
 8     "Function": "Find",
 9     "Hypothesis": {
10       "Count": 20000,
11       "Score": 0.7
12     },
13     "ModelId": 0,
14     "CombinedScore": 0.61
15   }
16)";
17
18NxLibCommand find(cmdPartFinder);
19find.parameters() << findParams;
20find.parameters()[itmModelId] = generatedModelId;
21find.execute();

  • The marked section below findParams can be replaced with the generated parameter representation of the Copy as JSON button inside the Search tab.

  • ModelId has to be set to fit to a model currently available in NxLib, either by a previous GenerateModel or LoadModel subcommand. In this example, generatedModelId refers to the result of the GenerateModel execution above.