HALCON Reference Manual 10.0.2
Table of Contents / Calibration / Rectification ClassesClassesClasses | | | Operators

image_points_to_world_planeT_image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane (Operator)

Name

image_points_to_world_planeT_image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane — Transform image points into the plane z=0 of a world coordinate system.

Signature

image_points_to_world_plane( : : CameraParam, WorldPose, Rows, Cols, Scale : X, Y)

Herror T_image_points_to_world_plane(const Htuple CameraParam, const Htuple WorldPose, const Htuple Rows, const Htuple Cols, const Htuple Scale, Htuple* X, Htuple* Y)

Herror image_points_to_world_plane(const HTuple& CameraParam, const HTuple& WorldPose, const HTuple& Rows, const HTuple& Cols, const HTuple& Scale, HTuple* X, HTuple* Y)

void HOperatorSetX.ImagePointsToWorldPlane(
[in] VARIANT CameraParam, [in] VARIANT WorldPose, [in] VARIANT Rows, [in] VARIANT Cols, [in] VARIANT Scale, [out] VARIANT* X, [out] VARIANT* Y)

VARIANT HMiscX.ImagePointsToWorldPlane(
[in] VARIANT CameraParam, [in] VARIANT WorldPose, [in] VARIANT Rows, [in] VARIANT Cols, [in] VARIANT Scale, [out] VARIANT* Y)

static void HOperatorSet.ImagePointsToWorldPlane(HTuple cameraParam, HTuple worldPose, HTuple rows, HTuple cols, HTuple scale, out HTuple x, out HTuple y)

static void HMisc.ImagePointsToWorldPlane(HTuple cameraParam, HPose worldPose, HTuple rows, HTuple cols, HTuple scale, out HTuple x, out HTuple y)

static void HMisc.ImagePointsToWorldPlane(HTuple cameraParam, HPose worldPose, HTuple rows, HTuple cols, string scale, out HTuple x, out HTuple y)

Description

The operator image_points_to_world_planeimage_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane transforms image points which are given in RowsRowsRowsRowsrows and ColsColsColsColscols into the plane z=0 in a world coordinate system and returns their 3D coordinates in XXXXx and YYYYy. The world coordinate system is chosen by passing its 3D pose relative to the camera coordinate system in WorldPoseWorldPoseWorldPoseWorldPoseworldPose. In CameraParamCameraParamCameraParamCameraParamcameraParam you must pass the internal camera parameters (see write_cam_parwrite_cam_parwrite_cam_parWriteCamParWriteCamPar for the sequence of the parameters and the underlying camera model).

In many cases CameraParamCameraParamCameraParamCameraParamcameraParam and WorldPoseWorldPoseWorldPoseWorldPoseworldPose are the result of calibrating the camera with the operator calibrate_camerascalibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCameras. See below for an example.

With the parameter ScaleScaleScaleScalescale you can scale the resulting 3D coordinates. The parameter ScaleScaleScaleScalescale must be specified as the ratio desired unit/original unit. 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 set the desired unit directly by selecting 'm'"m""m""m""m", 'cm'"cm""cm""cm""cm", 'mm'"mm""mm""mm""mm" or 'um'"um""um""um""um" for the parameter ScaleScaleScaleScalescale.

Internally, the operator first computes the line of sight between the projection center and the image contour points in the camera coordinate system, taking into account the radial distortions. The line of sight is then transformed into the world coordinate system specified in WorldPoseWorldPoseWorldPoseWorldPoseworldPose. By intersecting the plane z=0 with the line of sight the 3D coordinates XXXXx and YYYYy are obtained.

Parallelization

Parameters

CameraParamCameraParamCameraParamCameraParamcameraParam (input_control)  number-array → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

Internal camera parameters.

Number of elements: ((CameraParam == 8) || (CameraParam == 11)) || (CameraParam == 12)

WorldPoseWorldPoseWorldPoseWorldPoseworldPose (input_control)  pose-array → HPose, HTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

3D pose of the world coordinate system in camera coordinates.

Number of elements: 7

RowsRowsRowsRowsrows (input_control)  coordinates.y-array → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

Row coordinates of the points to be transformed.

Default value: 100.0

ColsColsColsColscols (input_control)  coordinates.x-array → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

Column coordinates of the points to be transformed.

Default value: 100.0

ScaleScaleScaleScalescale (input_control)  number → HTupleHTupleVARIANTHtuple (string / integer / real) (string / int / long / double) (char* / Hlong / double) (BSTR / Hlong / double) (char* / Hlong / double)

Scale or dimension

Default value: 'm' "m" "m" "m" "m"

Suggested values: 'm'"m""m""m""m", 'cm'"cm""cm""cm""cm", 'mm'"mm""mm""mm""mm", 'microns'"microns""microns""microns""microns", 'um'"um""um""um""um", 1.0, 0.01, 0.001, 1.0e-6, 0.0254, 0.3048, 0.9144

XXXXx (output_control)  coordinates.x-array → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)

X coordinates of the points in the world coordinate system.

YYYYy (output_control)  coordinates.y-array → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)

Y coordinates of the points in the world coordinate system.

Example (HDevelop)

*  perform camera calibration (with standard calibration plate)
camera_calibration(NX, NY, NZ, NRow, NCol, StartCamParam, NStartPose, \
                   'all', FinalCamParam, NFinalPose, Errors)
*  world coordinate system is defined by calibration plate in first image
FinalPose1 := NFinalPose[0:6]
*  compensate thickness of plate
set_origin_pose(FinalPose1, 0, 0, 0.0006, WorldPose)
*  transform image points into world coordinate system (unit mm)
image_points_to_world_plane(FinalCamParam, WorldPose, PointRows, PointCols, \
                            'mm', PointXCoord, PointYCoord)

Example (HDevelop)

*  perform camera calibration (with standard calibration plate)
camera_calibration(NX, NY, NZ, NRow, NCol, StartCamParam, NStartPose, \
                   'all', FinalCamParam, NFinalPose, Errors)
*  world coordinate system is defined by calibration plate in first image
FinalPose1 := NFinalPose[0:6]
*  compensate thickness of plate
set_origin_pose(FinalPose1, 0, 0, 0.0006, WorldPose)
*  transform image points into world coordinate system (unit mm)
image_points_to_world_plane(FinalCamParam, WorldPose, PointRows, PointCols, \
                            'mm', PointXCoord, PointYCoord)

Example (C++)

HTuple  NX, NY, NZ, NRow, NCol;
HTuple  StartCamParam, NStartPose, FinalCamParam, NFinalPose, Errors;
HTuple  FinalPose1, WorldPose;
HTuple  PointRows, PointCols, PointXCoord, PointYCoord;
// perform camera calibration (with standard calibration plate)
camera_calibration(NX, NY, NZ, NRow, NCol, StartCamParam, NStartPose, "all",
                   &FinalCamParam, &NFinalPose, &Errors);
// world coordinate system is defined by calibration plate in first image
FinalPose1 = NFinalPose(0,6);
// compensate thickness of plate
set_origin_pose(FinalPose1, 0, 0, 0.0006, &WorldPose);
// transform image points into world coordinate system (unit mm)
image_points_to_world_plane(FinalCamParam, WorldPose, PointRows, PointCols,
                            "mm", &PointXCoord, &PointYCoord)

Example (HDevelop)

*  perform camera calibration (with standard calibration plate)
camera_calibration(NX, NY, NZ, NRow, NCol, StartCamParam, NStartPose, \
                   'all', FinalCamParam, NFinalPose, Errors)
*  world coordinate system is defined by calibration plate in first image
FinalPose1 := NFinalPose[0:6]
*  compensate thickness of plate
set_origin_pose(FinalPose1, 0, 0, 0.0006, WorldPose)
*  transform image points into world coordinate system (unit mm)
image_points_to_world_plane(FinalCamParam, WorldPose, PointRows, PointCols, \
                            'mm', PointXCoord, PointYCoord)

Example (HDevelop)

*  perform camera calibration (with standard calibration plate)
camera_calibration(NX, NY, NZ, NRow, NCol, StartCamParam, NStartPose, \
                   'all', FinalCamParam, NFinalPose, Errors)
*  world coordinate system is defined by calibration plate in first image
FinalPose1 := NFinalPose[0:6]
*  compensate thickness of plate
set_origin_pose(FinalPose1, 0, 0, 0.0006, WorldPose)
*  transform image points into world coordinate system (unit mm)
image_points_to_world_plane(FinalCamParam, WorldPose, PointRows, PointCols, \
                            'mm', PointXCoord, PointYCoord)

Result

image_points_to_world_planeimage_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised.

Possible Predecessors

create_posecreate_posecreate_poseCreatePoseCreatePose, hom_mat3d_to_posehom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPose, camera_calibrationcamera_calibrationcamera_calibrationCameraCalibrationCameraCalibration, hand_eye_calibrationhand_eye_calibrationhand_eye_calibrationHandEyeCalibrationHandEyeCalibration, set_origin_poseset_origin_poseset_origin_poseSetOriginPoseSetOriginPose

See also

contour_to_world_plane_xldcontour_to_world_plane_xldcontour_to_world_plane_xldContourToWorldPlaneXldContourToWorldPlaneXld

Module

Calibration

Table of Contents / Calibration / Rectification ClassesClassesClasses | | | Operators
HALCON Reference Manual 10.0.2 Copyright © 1996-2011 MVTec Software GmbH