Name
image_to_world_planeT_image_to_world_planeImageToWorldPlaneimage_to_world_planeImageToWorldPlaneImageToWorldPlane — Rectify an image by transforming it into the plane z=0 of a world
coordinate system.
Herror image_to_world_plane(Hobject Image, Hobject* ImageWorld, const HTuple& CameraParam, const HTuple& WorldPose, const HTuple& Width, const HTuple& Height, const HTuple& Scale, const HTuple& Interpolation)
HImage HImage::ImageToWorldPlane(const HTuple& CameraParam, const HTuple& WorldPose, const HTuple& Width, const HTuple& Height, const HTuple& Scale, const HTuple& Interpolation) const
HImageArray HImageArray::ImageToWorldPlane(const HTuple& CameraParam, const HTuple& WorldPose, const HTuple& Width, const HTuple& Height, const HTuple& Scale, const HTuple& Interpolation) const
void ImageToWorldPlane(const HObject& Image, HObject* ImageWorld, const HTuple& CameraParam, const HTuple& WorldPose, const HTuple& Width, const HTuple& Height, const HTuple& Scale, const HTuple& Interpolation)
HImage HImage::ImageToWorldPlane(const HCamPar& CameraParam, const HPose& WorldPose, Hlong Width, Hlong Height, const HTuple& Scale, const HString& Interpolation) const
HImage HImage::ImageToWorldPlane(const HCamPar& CameraParam, const HPose& WorldPose, Hlong Width, Hlong Height, const HString& Scale, const HString& Interpolation) const
HImage HImage::ImageToWorldPlane(const HCamPar& CameraParam, const HPose& WorldPose, Hlong Width, Hlong Height, const char* Scale, const char* Interpolation) const
HImage HCamPar::ImageToWorldPlane(const HImage& Image, const HPose& WorldPose, Hlong Width, Hlong Height, const HTuple& Scale, const HString& Interpolation) const
HImage HCamPar::ImageToWorldPlane(const HImage& Image, const HPose& WorldPose, Hlong Width, Hlong Height, const HString& Scale, const HString& Interpolation) const
HImage HCamPar::ImageToWorldPlane(const HImage& Image, const HPose& WorldPose, Hlong Width, Hlong Height, const char* Scale, const char* Interpolation) const
HImage HPose::ImageToWorldPlane(const HImage& Image, const HCamPar& CameraParam, Hlong Width, Hlong Height, const HTuple& Scale, const HString& Interpolation) const
HImage HPose::ImageToWorldPlane(const HImage& Image, const HCamPar& CameraParam, Hlong Width, Hlong Height, const HString& Scale, const HString& Interpolation) const
HImage HPose::ImageToWorldPlane(const HImage& Image, const HCamPar& CameraParam, Hlong Width, Hlong Height, const char* Scale, const char* Interpolation) const
void HOperatorSetX.ImageToWorldPlane(
[in] IHUntypedObjectX* Image, [out] IHUntypedObjectX** ImageWorld, [in] VARIANT CameraParam, [in] VARIANT WorldPose, [in] VARIANT Width, [in] VARIANT Height, [in] VARIANT Scale, [in] VARIANT Interpolation)
IHImageX* HImageX.ImageToWorldPlane(
[in] VARIANT CameraParam, [in] VARIANT WorldPose, [in] Hlong Width, [in] Hlong Height, [in] VARIANT Scale, [in] BSTR Interpolation)
IHImageX* HCamParX.ImageToWorldPlane(
[in] IHImageX* Image, [in] VARIANT CameraParam, [in] VARIANT WorldPose, [in] Hlong Width, [in] Hlong Height, [in] VARIANT Scale, [in] BSTR Interpolation)
IHImageX* HPoseX.ImageToWorldPlane(
[in] IHImageX* Image, [in] VARIANT CameraParam, [in] VARIANT WorldPose, [in] Hlong Width, [in] Hlong Height, [in] VARIANT Scale, [in] BSTR Interpolation)
static void HOperatorSet.ImageToWorldPlane(HObject image, out HObject imageWorld, HTuple cameraParam, HTuple worldPose, HTuple width, HTuple height, HTuple scale, HTuple interpolation)
HImage HImage.ImageToWorldPlane(HCamPar cameraParam, HPose worldPose, int width, int height, HTuple scale, string interpolation)
HImage HImage.ImageToWorldPlane(HCamPar cameraParam, HPose worldPose, int width, int height, string scale, string interpolation)
HImage HCamPar.ImageToWorldPlane(HImage image, HPose worldPose, int width, int height, HTuple scale, string interpolation)
HImage HCamPar.ImageToWorldPlane(HImage image, HPose worldPose, int width, int height, string scale, string interpolation)
HImage HPose.ImageToWorldPlane(HImage image, HCamPar cameraParam, int width, int height, HTuple scale, string interpolation)
HImage HPose.ImageToWorldPlane(HImage image, HCamPar cameraParam, int width, int height, string scale, string interpolation)
image_to_world_planeimage_to_world_planeImageToWorldPlaneimage_to_world_planeImageToWorldPlaneImageToWorldPlane rectifies an image ImageImageImageImageImageimage by
transforming it into the plane z=0 (plane of measurements) in a world
coordinate system. The resulting rectified image ImageWorldImageWorldImageWorldImageWorldImageWorldimageWorld shows
neither radial nor perspective distortions; it corresponds to an image
acquired by a distortion-free camera that looks perpendicularly onto the
plane of measurements. The world coordinate system is chosen by passing its
3D pose relative to the camera coordinate system in WorldPoseWorldPoseWorldPoseWorldPoseWorldPoseworldPose. In
CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam you must pass the internal camera parameters (see
calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras for the sequence of the parameters and the underlying
camera model).
In many cases CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam and WorldPoseWorldPoseWorldPoseWorldPoseWorldPoseworldPose are the result of
calibrating the camera with the operator calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras. See
below for an example.
The pixel position of the upper left corner of the output image
ImageWorldImageWorldImageWorldImageWorldImageWorldimageWorld is determined by the origin of the world coordinate
system. The size of the output image ImageWorldImageWorldImageWorldImageWorldImageWorldimageWorld can be chosen by
the parameters WidthWidthWidthWidthWidthwidth, HeightHeightHeightHeightHeightheight, and
ScaleScaleScaleScaleScalescale. WidthWidthWidthWidthWidthwidth and HeightHeightHeightHeightHeightheight must be given in pixels.
With the parameter ScaleScaleScaleScaleScalescale you can specify the size of a pixel in the
transformed image. There are two typical scenarios: First, you can scale the
image such that pixel coordinates in the transformed image directly
correspond to metric units, e.g., that one pixel corresponds to one
micron. This is useful if you want to perform measurements in the transformed
image which will then directly result in metric results. The second scenario
is to scale the image such that its content appears in a size similar to the
original image. This is useful, e.g., if you want to perform shape-based
matching in the transformed image.
ScaleScaleScaleScaleScalescale must be specified as the ratio desired pixel
size/original unit. A pixel size of 1um means that a pixel in the
transformed image corresponds to the area 1um x 1um in the
plane of measurements. The original unit is determined by the coordinates of
the calibration object. If the original unit is meters (which is the case if
you use the standard calibration plate), you can use the parameter values
'm'"m""m""m""m""m", 'cm'"cm""cm""cm""cm""cm", 'mm'"mm""mm""mm""mm""mm", 'microns'"microns""microns""microns""microns""microns", or
'um'"um""um""um""um""um" to directly set the unit of pixel coordinates in the
transformed image.
The parameter InterpolationInterpolationInterpolationInterpolationInterpolationinterpolation specifies, whether bilinear
interpolation ('bilinear'"bilinear""bilinear""bilinear""bilinear""bilinear") should be applied between the pixels in
the input image or whether the gray value of the nearest neighboring pixel
('nearest_neighbor'"nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor") should be used.
If several images have to be rectified using the same parameters,
gen_image_to_world_plane_mapgen_image_to_world_plane_mapGenImageToWorldPlaneMapgen_image_to_world_plane_mapGenImageToWorldPlaneMapGenImageToWorldPlaneMap in combination with map_imagemap_imageMapImagemap_imageMapImageMapImage is
much more efficient than the operator image_to_world_planeimage_to_world_planeImageToWorldPlaneimage_to_world_planeImageToWorldPlaneImageToWorldPlane because
the mapping function needs to be computed only once.
image_to_world_planeimage_to_world_planeImageToWorldPlaneimage_to_world_planeImageToWorldPlaneImageToWorldPlane can be executed on OpenCL devices if the input
image does not exceed the maximum size of image objects of the selected
device. There can be slight differences in the output compared to the
execution on the CPU.
- Supports OpenCL compute devices.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Automatically parallelized on tuple level.
Internal camera parameters.
3D pose of the world coordinate system in camera
coordinates.
Number of elements: 7
Width of the resulting image in pixels.
Restriction: Width >= 1
Height of the resulting image in pixels.
Restriction: Height >= 1
ScaleScaleScaleScaleScalescale (input_control) number → HTupleHTupleHTupleVARIANTHtuple (string / integer / real) (string / int / long / double) (HString / Hlong / double) (char* / Hlong / double) (BSTR / Hlong / double) (char* / Hlong / double)
Scale or unit
Default value:
'm'
"m"
"m"
"m"
"m"
"m"
Suggested values: 'm'"m""m""m""m""m", 'cm'"cm""cm""cm""cm""cm", 'mm'"mm""mm""mm""mm""mm", 'microns'"microns""microns""microns""microns""microns", 'um'"um""um""um""um""um", 1.0, 0.01, 0.001, 1.0e-6, 0.0254, 0.3048, 0.9144
Restriction: Scale > 0
Type of interpolation.
Default value:
'bilinear'
"bilinear"
"bilinear"
"bilinear"
"bilinear"
"bilinear"
List of values: 'bilinear'"bilinear""bilinear""bilinear""bilinear""bilinear", 'nearest_neighbor'"nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor"
* Calibrate camera.
calibrate_cameras (CalibDataID, Error)
* Obtain camera parameters.
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
* Example values, if no calibration data is available:
CamParam := ['area_scan_division', 0.0087, -1859, 8.65e-006, 8.6e-006, \
362.5, 291.6, 768, 576]
* Get reference pose (pose 4 of calibration object 0).
get_calib_data (CalibDataID, 'calib_obj_pose',\
[0,4], 'pose', Pose)
* Example values, if no calibration data is available:
Pose := [-0.11, -0.21, 2.51, 352.73, 346.73, 336.48, 0]
* Compensate thickness of plate.
set_origin_pose (Pose, -1.125, -1.0, 0, PoseNewOrigin)
* Transform the image into the world plane.
read_image (Image, 'calib/calib-3d-coord-04')
image_to_world_plane (Image, ImageWorld, CamParam, PoseNewOrigin,\
900, 800, 0.0025, 'bilinear')
* Cleanup
clear_calib_data (CalibDataID)
image_to_world_planeimage_to_world_planeImageToWorldPlaneimage_to_world_planeImageToWorldPlaneImageToWorldPlane returns 2 (H_MSG_TRUE) if all parameter values
are correct. If necessary, an exception is raised.
create_posecreate_poseCreatePosecreate_poseCreatePoseCreatePose,
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPosehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose,
camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration,
hand_eye_calibrationhand_eye_calibrationHandEyeCalibrationhand_eye_calibrationHandEyeCalibrationHandEyeCalibration,
set_origin_poseset_origin_poseSetOriginPoseset_origin_poseSetOriginPoseSetOriginPose
gen_image_to_world_plane_mapgen_image_to_world_plane_mapGenImageToWorldPlaneMapgen_image_to_world_plane_mapGenImageToWorldPlaneMapGenImageToWorldPlaneMap,
map_imagemap_imageMapImagemap_imageMapImageMapImage
contour_to_world_plane_xldcontour_to_world_plane_xldContourToWorldPlaneXldcontour_to_world_plane_xldContourToWorldPlaneXldContourToWorldPlaneXld,
image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane
Calibration