HALCON Reference Manual 10.0.2
Name
project_3d_pointT_project_3d_pointproject_3d_pointProject3dPointProject3dPoint — Project 3D points into (sub-)pixel image coordinates.
Herror T_project_3d_point(const Htuple X, const Htuple Y, const Htuple Z, const Htuple CameraParam, Htuple* Row, Htuple* Column)
Herror project_3d_point(const HTuple& X, const HTuple& Y, const HTuple& Z, const HTuple& CameraParam, HTuple* Row, HTuple* Column)
static void HOperatorSet.Project3dPoint(HTuple x, HTuple y, HTuple z, HTuple cameraParam, out HTuple row, out HTuple column)
static void HMisc.Project3dPoint(HTuple x, HTuple y, HTuple z, HTuple cameraParam, out HTuple row, out HTuple column)
project_3d_pointproject_3d_pointproject_3d_pointProject3dPointProject3dPoint projects one or more 3D points (with coordinates
XXXXx, YYYYy, and ZZZZz) into the image plane (in pixels) and
returns the result in RowRowRowRowrow and ColumnColumnColumnColumncolumn. The coordinates
XXXXx, YYYYy, and ZZZZz are given in the camera coordinate
system, i.e., they describe the position of the points relative to the
camera.
The internal camera parameters CameraParamCameraParamCameraParamCameraParamcameraParam describe the projection
characteristics of the camera (see write_cam_parwrite_cam_parwrite_cam_parWriteCamParWriteCamPar).
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
XXXXx (input_control) real-array → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)
X coordinates of the 3D points to be projected in the
camera coordinate system.
YYYYy (input_control) real-array → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)
Y coordinates of the 3D points to be projected in the
camera coordinate system.
ZZZZz (input_control) real-array → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)
Z coordinates of the 3D points to be projected in the
camera coordinate system.
Internal camera parameters.
Number of elements: ((CameraParam == 8) || (CameraParam == 11)) || (CameraParam == 12)
RowRowRowRowrow (output_control) real-array → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)
Row coordinates of the projected points (in pixels).
Column coordinates of the projected points (in pixels).
* read pose of the world coordinate system in camera coordinates
read_pose('worldpose.dat', WorldPose)
* convert pose into transformation matrix
pose_to_hom_mat3d(WorldPose, HomMat3D)
* transform 3D points from world into the camera coordinate system
affine_trans_point_3d(HomMat3D, [3.0, 3.2], [4.5, 4.5], [5.8, 6.2], X, Y, Z)
* read internal camera parameters
read_cam_par('campar.dat', CameraParam)
* project 3D points into image
project_3d_point(X, Y, Z, CameraParam, Row, Column)
* read pose of the world coordinate system in camera coordinates
read_pose('worldpose.dat', WorldPose)
* convert pose into transformation matrix
pose_to_hom_mat3d(WorldPose, HomMat3D)
* transform 3D points from world into the camera coordinate system
affine_trans_point_3d(HomMat3D, [3.0, 3.2], [4.5, 4.5], [5.8, 6.2], X, Y, Z)
* read internal camera parameters
read_cam_par('campar.dat', CameraParam)
* project 3D points into image
project_3d_point(X, Y, Z, CameraParam, Row, Column)
HTuple WorldPose, HomMat3D, X1, Y1, Z1, X2, Y2, Z2;
HTuple CameraParam, Row, Column;
// read pose of the world coordinate system in camera coordinates
read_pose("worldpose.dat", &WorldPose);
// convert pose into transformation matrix
pose_to_hom_mat3d(WorldPose, &HomMat3D);
// transform 3D points from source into destination coordinate system
X1[1] = 3.2;
X1[0] = 3.0;
Y1[1] = 4.5;
Y1[0] = 4.5;
Z1[1] = 6.2;
Z1[0] = 5.8;
affine_trans_point_3d(HomMat3D, X1, Y1, Z1, &X2, &Y2, &Z2);
// read internal camera parameters
read_cam_par("campar.dat", &CameraParam);
// project 3D points into image
project_3d_point(X2, Y2, Z2, CameraParam, &Row, &Column);
* read pose of the world coordinate system in camera coordinates
read_pose('worldpose.dat', WorldPose)
* convert pose into transformation matrix
pose_to_hom_mat3d(WorldPose, HomMat3D)
* transform 3D points from world into the camera coordinate system
affine_trans_point_3d(HomMat3D, [3.0, 3.2], [4.5, 4.5], [5.8, 6.2], X, Y, Z)
* read internal camera parameters
read_cam_par('campar.dat', CameraParam)
* project 3D points into image
project_3d_point(X, Y, Z, CameraParam, Row, Column)
* read pose of the world coordinate system in camera coordinates
read_pose('worldpose.dat', WorldPose)
* convert pose into transformation matrix
pose_to_hom_mat3d(WorldPose, HomMat3D)
* transform 3D points from world into the camera coordinate system
affine_trans_point_3d(HomMat3D, [3.0, 3.2], [4.5, 4.5], [5.8, 6.2], X, Y, Z)
* read internal camera parameters
read_cam_par('campar.dat', CameraParam)
* project 3D points into image
project_3d_point(X, Y, Z, CameraParam, Row, Column)
project_3d_pointproject_3d_pointproject_3d_pointProject3dPointProject3dPoint returns 2 (H_MSG_TRUE) if all parameter values are
correct. If necessary, an exception is raised.
read_cam_parread_cam_parread_cam_parReadCamParReadCamPar,
affine_trans_point_3daffine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3d
gen_region_pointsgen_region_pointsgen_region_pointsGenRegionPointsGenRegionPoints,
gen_region_polygongen_region_polygongen_region_polygonGenRegionPolygonGenRegionPolygon,
disp_polygondisp_polygondisp_polygonDispPolygonDispPolygon
camera_calibrationcamera_calibrationcamera_calibrationCameraCalibrationCameraCalibration,
disp_caltabdisp_caltabdisp_caltabDispCaltabDispCaltab,
read_cam_parread_cam_parread_cam_parReadCamParReadCamPar,
get_line_of_sightget_line_of_sightget_line_of_sightGetLineOfSightGetLineOfSight,
affine_trans_point_3daffine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3d
Calibration
| HALCON Reference Manual 10.0.2 |
Copyright © 1996-2011 MVTec Software GmbH |