HALCON Reference Manual 10.0.2
Table of Contents / Transformations / 2D Transformations ClassesClassesClasses | | | Operators

hom_mat2d_rotate_localT_hom_mat2d_rotate_localhom_mat2d_rotate_localHomMat2dRotateLocalHomMat2dRotateLocal (Operator)

Name

hom_mat2d_rotate_localT_hom_mat2d_rotate_localhom_mat2d_rotate_localHomMat2dRotateLocalHomMat2dRotateLocal — Add a rotation to a homogeneous 2D transformation matrix.

Signature

hom_mat2d_rotate_local( : : HomMat2D, Phi : HomMat2DRotate)

Herror T_hom_mat2d_rotate_local(const Htuple HomMat2D, const Htuple Phi, Htuple* HomMat2DRotate)

Herror hom_mat2d_rotate_local(const HTuple& HomMat2D, const HTuple& Phi, HTuple* HomMat2DRotate)

void HOperatorSetX.HomMat2dRotateLocal(
[in] VARIANT HomMat2d, [in] VARIANT Phi, [out] VARIANT* HomMat2dRotate)

IHHomMat2DX* HHomMat2DX.HomMat2dRotateLocal([in] VARIANT Phi)

static void HOperatorSet.HomMat2dRotateLocal(HTuple homMat2D, HTuple phi, out HTuple homMat2DRotate)

HHomMat2D HHomMat2D.HomMat2dRotateLocal(HTuple phi)

HHomMat2D HHomMat2D.HomMat2dRotateLocal(double phi)

Description

hom_mat2d_rotate_localhom_mat2d_rotate_localhom_mat2d_rotate_localHomMat2dRotateLocalHomMat2dRotateLocal adds a rotation by the angle PhiPhiPhiPhiphi to the homogeneous 2D transformation matrix HomMat2DHomMat2DHomMat2DHomMat2DhomMat2D and returns the resulting matrix in HomMat2DRotateHomMat2DRotateHomMat2DRotateHomMat2DRotatehomMat2DRotate. The rotation is described by a 2x2 rotation matrix R. In contrast to hom_mat2d_rotatehom_mat2d_rotatehom_mat2d_rotateHomMat2dRotateHomMat2dRotate, it is performed relative to the local coordinate system, i.e., the coordinate system described by HomMat2DHomMat2DHomMat2DHomMat2DhomMat2D; this corresponds to the following chain of transformation matrices: 

                              / cos(Phi) -sin(Phi) 0 \
  HomMat2DRotate = HomMat2D * | sin(Phi)  cos(Phi) 0 |
                              \    0         0     1 /

       R = | cos(Phi) -sin(Phi) |
           | sin(Phi)  cos(Phi) |

The fixed point of the transformation is the origin of the local coordinate system, i.e., this point remains unchanged when transformed using HomMat2DRotateHomMat2DRotateHomMat2DRotateHomMat2DRotatehomMat2DRotate.

Attention

It should be noted that homogeneous transformation matrices refer to a general right-handed mathematical coordinate system. If a homogeneous transformation matrix is used to transform images, regions, XLD contours, or any other data that has been extracted from images, the row coordinates of the transformation must be passed in the x coordinates, while the column coordinates must be passed in the y coordinates. Consequently, the order of passing row and column coordinates follows the usual order (RowRowRowRowrow,ColumnColumnColumnColumncolumn). This convention is essential to obtain a right-handed coordinate system for the transformation of iconic data, and consequently to ensure in particular that rotations are performed in the correct mathematical direction.

Note that homogeneous matrices are stored row-by-row as a tuple; the last row is usually not stored because it is identical for all homogeneous matrices that describe an affine transformation. For example, the homogeneous matrix 

    / ra rb tc \
    | rd re tf |
    \ 0  0  1  /

is stored as the tuple [ra, rb, tc, rd, re, tf]. However, it is also possible to process full 3x3 matrices, which represent a projective 2D transformation.

Parallelization

Parameters

HomMat2DHomMat2DHomMat2DHomMat2DhomMat2D (input_control)  hom_mat2d-array → HHomMat2D, HTupleHTupleHHomMat2DX, VARIANTHtuple (real) (double) (double) (double) (double)

Input transformation matrix.

PhiPhiPhiPhiphi (input_control)  angle.rad → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

Rotation angle.

Default value: 0.78

Suggested values: 0.1, 0.2, 0.3, 0.4, 0.78, 1.57, 3.14

Typical range of values: 0 ≤ Phi Phi Phi Phi phi ≤ 6.28318530718

HomMat2DRotateHomMat2DRotateHomMat2DRotateHomMat2DRotatehomMat2DRotate (output_control)  hom_mat2d-array → HHomMat2D, HTupleHTupleHHomMat2DX, VARIANTHtuple (real) (double) (double) (double) (double)

Output transformation matrix.

Result

If the parameters are valid, the operator hom_mat2d_rotate_localhom_mat2d_rotate_localhom_mat2d_rotate_localHomMat2dRotateLocalHomMat2dRotateLocal returns 2 (H_MSG_TRUE). If necessary, an exception is raised.

Possible Predecessors

hom_mat2d_identityhom_mat2d_identityhom_mat2d_identityHomMat2dIdentityHomMat2dIdentity, hom_mat2d_translate_localhom_mat2d_translate_localhom_mat2d_translate_localHomMat2dTranslateLocalHomMat2dTranslateLocal, hom_mat2d_scale_localhom_mat2d_scale_localhom_mat2d_scale_localHomMat2dScaleLocalHomMat2dScaleLocal, hom_mat2d_rotate_localhom_mat2d_rotate_localhom_mat2d_rotate_localHomMat2dRotateLocalHomMat2dRotateLocal, hom_mat2d_slant_localhom_mat2d_slant_localhom_mat2d_slant_localHomMat2dSlantLocalHomMat2dSlantLocal

Possible Successors

hom_mat2d_translate_localhom_mat2d_translate_localhom_mat2d_translate_localHomMat2dTranslateLocalHomMat2dTranslateLocal, hom_mat2d_scale_localhom_mat2d_scale_localhom_mat2d_scale_localHomMat2dScaleLocalHomMat2dScaleLocal, hom_mat2d_rotate_localhom_mat2d_rotate_localhom_mat2d_rotate_localHomMat2dRotateLocalHomMat2dRotateLocal, hom_mat2d_slant_localhom_mat2d_slant_localhom_mat2d_slant_localHomMat2dSlantLocalHomMat2dSlantLocal

See also

hom_mat2d_rotatehom_mat2d_rotatehom_mat2d_rotateHomMat2dRotateHomMat2dRotate

Module

Foundation

Table of Contents / Transformations / 2D Transformations ClassesClassesClasses | | | Operators
HALCON Reference Manual 10.0.2 Copyright © 1996-2011 MVTec Software GmbH