Name
object_model_3d_to_xyzT_object_model_3d_to_xyzObjectModel3dToXyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyz — Transform 3D points from a 3D object model to images.
Herror object_model_3d_to_xyz(Hobject* X, Hobject* Y, Hobject* Z, const HTuple& ObjectModel3D, const HTuple& Type, const HTuple& CamParam, const HTuple& Pose)
HImage HObjectModel3D::ObjectModel3dToXyz(HImage* Y, HImage* Z, const HTuple& Type, const HTuple& CamParam, const HTuple& Pose) const
void ObjectModel3dToXyz(HObject* X, HObject* Y, HObject* Z, const HTuple& ObjectModel3D, const HTuple& Type, const HTuple& CamParam, const HTuple& Pose)
HImage HObjectModel3D::ObjectModel3dToXyz(HImage* Y, HImage* Z, const HString& Type, const HTuple& CamParam, const HPose& Pose) const
HImage HObjectModel3D::ObjectModel3dToXyz(HImage* Y, HImage* Z, const char* Type, const HTuple& CamParam, const HPose& Pose) const
void HOperatorSetX.ObjectModel3dToXyz(
[out] IHUntypedObjectX** X, [out] IHUntypedObjectX** Y, [out] IHUntypedObjectX** Z, [in] VARIANT ObjectModel3D, [in] VARIANT Type, [in] VARIANT CamParam, [in] VARIANT Pose)
IHImageX* HObjectModel3DX.ObjectModel3dToXyz(
[out] IHImageX** Y, [out] IHImageX** Z, [in] BSTR Type, [in] VARIANT CamParam, [in] VARIANT Pose)
static void HOperatorSet.ObjectModel3dToXyz(out HObject x, out HObject y, out HObject z, HTuple objectModel3D, HTuple type, HTuple camParam, HTuple pose)
HImage HObjectModel3D.ObjectModel3dToXyz(out HImage y, out HImage z, string type, HTuple camParam, HPose pose)
The operator object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyz transforms the 3D points of
the 3D object model ObjectModel3DObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D into the three images
XXXXXx, YYYYYy, and ZZZZZz.
Two transformation modes are possible. The parameter TypeTypeTypeTypeTypetype is
used to select one of them:
- 'cartesian'"cartesian""cartesian""cartesian""cartesian""cartesian":
-
First, each point is transformed into the camera coordinate system
using the given PosePosePosePosePosepose. Then, these coordinates are projected into
the image coordinate system based on the internal camera parameters
CamParamCamParamCamParamCamParamCamParamcamParam.
The internal camera parameters CamParamCamParamCamParamCamParamCamParamcamParam describe the
projection characteristics of the camera (see
write_cam_parwrite_cam_parWriteCamParwrite_cam_parWriteCamParWriteCamPar). The PosePosePosePosePosepose describes the position and
orientation of the world coordinate system with respect to the
camera coordinate system.
The X-, Y-, and Z-coordinates of the transformed point are written into
the corresponding image at the position of the projection.
If multiple points are projected to the same image coordinates, the
point with the smallest Z-value is written (hidden-point removal).
The dimensions of the returned images are defined by the camera
parameters.
The returned images show the object as it would look like when seeing it
with the specified camera under the specified pose.
- 'from_xyz_map'"from_xyz_map""from_xyz_map""from_xyz_map""from_xyz_map""from_xyz_map":
-
This transformation mode works only if the 3D object model was created
with the operator xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3d.
It writes each 3D point to the image coordinate where it originally
came from, using the mapping attribute that is stored within the
3D object model.
The parameters CamParamCamParamCamParamCamParamCamParamcamParam and PosePosePosePosePosepose are ignored.
The dimensions of the returned images are equal to the dimensions of the
original images that were used with xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3d to
create the 3D object model.
This transformation mode is faster than 'cartesian'"cartesian""cartesian""cartesian""cartesian""cartesian".
It is suitable, e.g., to visualize the results of a segmentation done with
segment_object_model_3dsegment_object_model_3dSegmentObjectModel3dsegment_object_model_3dSegmentObjectModel3dSegmentObjectModel3d.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Image with the X-Coordinates of the 3D points.
Image with the Y-Coordinates of the 3D points.
Image with the Z-Coordinates of the 3D points.
Handle of the 3D object model.
Type of the conversion.
Default value:
'cartesian'
"cartesian"
"cartesian"
"cartesian"
"cartesian"
"cartesian"
List of values: 'cartesian'"cartesian""cartesian""cartesian""cartesian""cartesian", 'from_xyz_map'"from_xyz_map""from_xyz_map""from_xyz_map""from_xyz_map""from_xyz_map"
Camera parameters.
Number of elements: CamParam == 8 || CamParam == 10 || CamParam == 11 || CamParam == 12 || CamParam == 14
Pose of the 3D object model.
Number of elements: Pose == 0 || Pose == 7 || Pose == 12
The operator object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyz returns the value
2 (H_MSG_TRUE) if the given parameters are correct. Otherwise, an exception
will be raised.
read_object_model_3dread_object_model_3dReadObjectModel3dread_object_model_3dReadObjectModel3dReadObjectModel3d,
xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3d
project_object_model_3dproject_object_model_3dProjectObjectModel3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3d
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
3D Metrology