HALCON Website / HALCON Operator-Referenz / Kalibrierung / Projektion
KlassenKlassenKlassenKlassen | | | | Operatoren

project_3d_pointT_project_3d_pointProject3dPointproject_3d_pointProject3dPointProject3dPoint (Operator)

Name

project_3d_pointT_project_3d_pointProject3dPointproject_3d_pointProject3dPointProject3dPoint — Projizieren von 3D-Punkten in Bildkoordinaten (Subpixel).

Signatur

project_3d_point( : : X, Y, Z, CameraParam : Row, Column)

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)

void Project3dPoint(const HTuple& X, const HTuple& Y, const HTuple& Z, const HTuple& CameraParam, HTuple* Row, HTuple* Column)

void HCamPar::Project3dPoint(const HTuple& X, const HTuple& Y, const HTuple& Z, HTuple* Row, HTuple* Column) const

void HOperatorSetX.Project3dPoint(
[in] VARIANT X, [in] VARIANT Y, [in] VARIANT Z, [in] VARIANT CameraParam, [out] VARIANT* Row, [out] VARIANT* Column)

VARIANT HCamParX.Project3dPoint(
[in] VARIANT X, [in] VARIANT Y, [in] VARIANT Z, [in] VARIANT CameraParam, [out] VARIANT* Column)

static void HOperatorSet.Project3dPoint(HTuple x, HTuple y, HTuple z, HTuple cameraParam, out HTuple row, out HTuple column)

void HCamPar.Project3dPoint(HTuple x, HTuple y, HTuple z, out HTuple row, out HTuple column)

Beschreibung

project_3d_pointproject_3d_pointProject3dPointproject_3d_pointProject3dPointProject3dPoint projiziert einen oder mehrere 3D-Punkte mit den Koordinaten XXXXXx, YYYYYy und ZZZZZz in das Bildkoordinatensystem (in Pixel) und liefert das Ergebnis in RowRowRowRowRowrow und ColumnColumnColumnColumnColumncolumn zurück. Die Koordinaten XXXXXx, YYYYYy und ZZZZZz sind Kamerakoordinaten, entsprechen also der Position der Punkte relativ zur Kamera.

Die internen Kameraparameter CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam beschreiben dabei die Abbildungseigenschaften der Kamera (siehe calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras).

Parallelisierung

Parameter

XXXXXx (input_control)  point3d.x-array → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

X-Koordinaten der zu projizierenden 3D-Punkte im Kamerakoordinatensystem.

YYYYYy (input_control)  point3d.y-array → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Y-Koordinaten der zu projizierenden 3D-Punkte im Kamerakoordinatensystem.

ZZZZZz (input_control)  point3d.z-array → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Z-Koordinaten der zu projizierenden 3D-Punkte im Kamerakoordinatensystem.

CameraParamCameraParamCameraParamCameraParamCameraParamcameraParam (input_control)  campar → HCamPar, HTupleHTupleHTupleHCamParX, VARIANTHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*) (double / Hlong / BSTR) (double / Hlong / char*)

Interne Kameraparameter.

RowRowRowRowRowrow (output_control)  point.y-array → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Zeilenkoordinaten der projizierten Punkte (in Pixel).

ColumnColumnColumnColumnColumncolumn (output_control)  point.x-array → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Spaltenkoordinaten der projizierten Punkte (in Pixel).

Beispiel (HDevelop)

* Set internal camera parameters and pose of the world coordinate
* system in camera coordinates.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CameraParam)
create_pose (0.1, 0.2, 0.3, 40, 50, 60, \
             'Rp+T', 'gba', 'point', 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], [3.8, 4.2], X, Y, Z)
* Project 3D points into image.
project_3d_point(X, Y, Z, CameraParam, Row, Column)

Beispiel (HDevelop)

* Set internal camera parameters and pose of the world coordinate
* system in camera coordinates.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CameraParam)
create_pose (0.1, 0.2, 0.3, 40, 50, 60, \
             'Rp+T', 'gba', 'point', 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], [3.8, 4.2], X, Y, Z)
* Project 3D points into image.
project_3d_point(X, Y, Z, CameraParam, Row, Column)

Beispiel (HDevelop)

* Set internal camera parameters and pose of the world coordinate
* system in camera coordinates.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CameraParam)
create_pose (0.1, 0.2, 0.3, 40, 50, 60, \
             'Rp+T', 'gba', 'point', 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], [3.8, 4.2], X, Y, Z)
* Project 3D points into image.
project_3d_point(X, Y, Z, CameraParam, Row, Column)

Beispiel (C++ (HALCON 5.0-10.0))

HTuple WorldPose, HomMat3D, X1, Y1, Z1, X2, Y2, Z2;
HTuple CameraParam, Row, Column;
// Set internal camera parameters and pose of the world coordinate
// system in camera coordinates.
// Note that, typically, these values are the result of a prior
// calibration.
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006,
                                654, 519, 1280, 1024, &CameraParam);
create_pose (0.1, 0.2, 0.3, 40, 50, 60,
             'Rp+T', 'gba', 'point', &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] = 4.2;
Z1[0] = 3.8;
affine_trans_point_3d(HomMat3D, X1, Y1, Z1, &X2, &Y2, &Z2);
// Project 3D points into image.
project_3d_point(X2, Y2, Z2, CameraParam, &Row, &Column);

Beispiel (HDevelop)

* Set internal camera parameters and pose of the world coordinate
* system in camera coordinates.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CameraParam)
create_pose (0.1, 0.2, 0.3, 40, 50, 60, \
             'Rp+T', 'gba', 'point', 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], [3.8, 4.2], X, Y, Z)
* Project 3D points into image.
project_3d_point(X, Y, Z, CameraParam, Row, Column)

Beispiel (HDevelop)

* Set internal camera parameters and pose of the world coordinate
* system in camera coordinates.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CameraParam)
create_pose (0.1, 0.2, 0.3, 40, 50, 60, \
             'Rp+T', 'gba', 'point', 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], [3.8, 4.2], X, Y, Z)
* Project 3D points into image.
project_3d_point(X, Y, Z, CameraParam, Row, Column)

Ergebnis

Sind die Parameterwerte korrekt, dann liefert project_3d_pointproject_3d_pointProject3dPointproject_3d_pointProject3dPointProject3dPoint den Wert 2 (H_MSG_TRUE). Gegebenenfalls wird eine Fehlerbehandlung durchgeführt.

Vorgänger

read_cam_parread_cam_parReadCamParread_cam_parReadCamParReadCamPar, affine_trans_point_3daffine_trans_point_3dAffineTransPoint3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3d

Nachfolger

gen_region_pointsgen_region_pointsGenRegionPointsgen_region_pointsGenRegionPointsGenRegionPoints, gen_region_polygongen_region_polygonGenRegionPolygongen_region_polygonGenRegionPolygonGenRegionPolygon, disp_polygondisp_polygonDispPolygondisp_polygonDispPolygonDispPolygon

Siehe auch

camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration, disp_caltabdisp_caltabDispCaltabdisp_caltabDispCaltabDispCaltab, read_cam_parread_cam_parReadCamParread_cam_parReadCamParReadCamPar, get_line_of_sightget_line_of_sightGetLineOfSightget_line_of_sightGetLineOfSightGetLineOfSight, affine_trans_point_3daffine_trans_point_3dAffineTransPoint3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3d, image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane

Modul

Calibration

KlassenKlassenKlassenKlassen | | | | Operatoren
HALCON Operator-Referenz 13.0.4 Copyright © 1996-2019 MVTec Software GmbH