Name
image_points_to_world_planeT_image_points_to_world_planeImagePointsToWorldPlaneimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane — Transform image points into the plane z=0 of a world coordinate system.
void ImagePointsToWorldPlane(const HTuple& CameraParam, const HTuple& WorldPose, const HTuple& Rows, const HTuple& Cols, const HTuple& Scale, HTuple* X, HTuple* Y)
static void HMisc::ImagePointsToWorldPlane(const HTuple& CameraParam, const HPose& WorldPose, const HTuple& Rows, const HTuple& Cols, const HTuple& Scale, HTuple* X, HTuple* Y)
static void HMisc::ImagePointsToWorldPlane(const HTuple& CameraParam, const HPose& WorldPose, const HTuple& Rows, const HTuple& Cols, const HString& Scale, HTuple* X, HTuple* Y)
static void HMisc::ImagePointsToWorldPlane(const HTuple& CameraParam, const HPose& WorldPose, const HTuple& Rows, const HTuple& Cols, const char* 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)
The operator image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane transforms image points
which are given in RowsRowsRowsRowsRowsrows and ColsColsColsColsColscols into the plane z=0 in a
world coordinate system and returns their 3D coordinates in XXXXXx and
YYYYYy. 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.
With the parameter ScaleScaleScaleScaleScalescale you can scale the resulting 3D coordinates.
The parameter ScaleScaleScaleScaleScalescale 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""m", 'cm'"cm""cm""cm""cm""cm", 'mm'"mm""mm""mm""mm""mm" or
'um'"um""um""um""um""um" for the parameter ScaleScaleScaleScaleScalescale.
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
WorldPoseWorldPoseWorldPoseWorldPoseWorldPoseworldPose. By intersecting the plane z=0 with the line of sight the
3D coordinates XXXXXx and YYYYYy are obtained.
It is recommended to use only those image points RowsRowsRowsRowsRowsrows and
ColsColsColsColsColscols, that lie within the calibrated image size. The mathematical
model does only work well for image points, that lie within the calibration
range.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Internal camera parameters.
Number of elements: CameraParam == 8 || CameraParam == 10 || CameraParam == 11 || CameraParam == 12 || CameraParam == 14
3D pose of the world coordinate system in camera
coordinates.
Number of elements: 7
RowsRowsRowsRowsRowsrows (input_control) coordinates.y-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)
Row coordinates of the points to be transformed.
Default value: 100.0
ColsColsColsColsColscols (input_control) coordinates.x-array → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)
Column coordinates of the points to be transformed.
Default value: 100.0
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 dimension
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
XXXXXx (output_control) coordinates.x-array → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)
X coordinates of the points in the world coordinate
system.
YYYYYy (output_control) coordinates.y-array → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)
Y coordinates of the points in the world coordinate
system.
* Perform camera calibration (with standard calibration plate)
calibrate_cameras (CalibDataID, Error)
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
* Get reference pose (pose 2 of calibration object 0)
get_calib_data (CalibDataID, 'calib_obj_pose',\
[0,2], 'pose', WorldPose)
* Compensate thickness of plate
set_origin_pose(ObjInCameraPose, 0, 0, 0.0006, WorldPose)
* Transform image points into world coordinate system (unit mm)
image_points_to_world_plane(CamParam, WorldPose, PointRows, PointColumns, \
'mm', PointXCoord, PointYCoord)
image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane 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
contour_to_world_plane_xldcontour_to_world_plane_xldContourToWorldPlaneXldcontour_to_world_plane_xldContourToWorldPlaneXldContourToWorldPlaneXld
Calibration