Test profile
Here is a simpe
test profile
for the MonoPose3D tool. It contains a set of images of an object with known
dimensions (the pingpong balls above). The images are taken with varying
camera positions (this can also be interpreted as varying object positions),
and the MonoPose3D tool calculates these positions based on a set of
RadialArcFinder tools locating the balls.
Mono3D test profile
 Locates four points on an object and resamples the
image based on the 3D Image.
Setup
3D Reference tools  3D Reference system
selection
3D axis visualization  the axes drawn in the image
Points  up to 12 points
These are 2D tool results connected to its corresponding 3D position.
 Active  toggle
calculation of this point
Camera point
 Tool  tool that reports
a point
 Result  which point
result to use
Object point

x,y,z coordinates given in the 3D coordinate system
Tool Mode

Dynamic  the tool updates its results based on the current image

Manual  using initial pose  no calculations in the image: the
initial pose is used to deliver results.
Initial Pose 
a
static pose. These numbers are readonly and for information only. They
correspond to results in the Camera Pose mode under Advanced.
 t.X, t.Y, t.Z  translation values for the initial pose
 R.X, R.Y, R.Z  rotation values (Euler angles) for the
initial pose
 Update now  use the last calculated results to update the
initial pose
 Clear  remove contents of the initial pose
Dynamic Mode

Fall back to previous pose if calculation fails or is rejected 
if the pose calculation fails or is rejected due to constraints, the
last result can be reissued.
Advanced
Object points  The algorithm used by this tool changes if
the 3D object points all lie in the same plane. In general, autodetecting
this is safe, but the detection can be turned off.
 Auto  autodetect object point coplanarity
 Not coplanar  object points describe a 3D object
 Coplanar  object points are coplanar
Reported results  whether results should be reported as object
pose changes or camera pose changes
 Object pose  results reported as if the object is moving
 Camera pose  results reported as if the camera is moving (in
effect working exactly like the CameraPose3D tool)
Constraints

Max RMS  match accuracy

Min valid points  fail if fewer object points were used

Max t.X difference  deviation from the Initial pose:
translation in X

Max t.X difference  deviation from the Initial pose:
translation in Y

Max t.X difference  deviation from the Initial pose:
translation in Z

Max t.X difference  deviation from the Initial pose:
rotation in X

Max t.X difference  deviation from the Initial pose:
rotation in Y

Max t.X difference  deviation from the Initial pose:
rotation in Z
Visualisation
Point 112 
2D input points 
Results
Tref[.x/.y/.z] 
Incoming reference pose (translation) 
Rref.x/.y/.z[.x/.y/.z] 
Incoming reference pose (rotation) 
Tinit[.x/.y/.z] 
Initial pose (translation) 
Rinit[.x/.y/.z] 
Initial pose (rotation) 
T[.x/.y/.z] 
Resulting pose (translation) 
R[.x/.y/.z] 
Resulting pose (rotation) 
dT[.x/.y/.z] 
Initial/resulting pose difference (translation) 
dR[.x/.y/.z] 
Initial/resulting pose difference
(rotation) 
Coplanar 
1 if object points are coplanar 
RMS 
Model fit, in object units 
Points 
Number of valid incoming points 
PoseOK 
1 if current pose is OK (dynamic or manual) 
