object_model_3d_to_xyzT_object_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyz (Operator)

Name

object_model_3d_to_xyzT_object_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyz — Transform 3D points from a 3D object model to images.

Signature

Description

The operator object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyzObjectModel3dToXyz transforms the 3D points of the 3D object model ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D into the three images XXXXx, YYYYy, and ZZZZz.

Two transformation modes are possible. The parameter TypeTypeTypeTypetype is used to select one of them:

'cartesian'"cartesian""cartesian""cartesian""cartesian":

First, each point is transformed into the camera coordinate system using the given PosePosePosePosepose. Then, these coordinates are projected into the image coordinate system based on the internal camera parameters CamParamCamParamCamParamCamParamcamParam.

The internal camera parameters CamParamCamParamCamParamCamParamcamParam describe the projection characteristics of the camera (see Calibration / Multi-View). The PosePosePosePosepose is in the form , where ccs denotes camera coordinate system and mcs the model coordinate system (which is a 3D world coordinate system), see Transformations / Poses and “Solution Guide III-C - 3D Vision”. Hence, it describes the position and orientation of the model coordinate system relative to the camera coordinate system.

The X-, Y-, and Z-coordinates of the transformed point are written into the corresponding image at the position of the projection. If multiple points are projected to the same image coordinates, the point with the smallest Z-value is written (hidden-point removal). The dimensions of the returned images are defined by the camera parameters.

The returned images show the object as it would look like when seeing it with the specified camera under the specified pose.

'from_xyz_map'"from_xyz_map""from_xyz_map""from_xyz_map""from_xyz_map":

This transformation mode works only if the 3D object model was created with the operator xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3d. It writes each 3D point to the image coordinate where it originally came from, using the mapping attribute that is stored within the 3D object model.

The parameters CamParamCamParamCamParamCamParamcamParam and PosePosePosePosepose are ignored. The dimensions of the returned images are equal to the dimensions of the original images that were used with xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3d to create the 3D object model and can be queried from get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsGetObjectModel3dParams with 'mapping_size'"mapping_size""mapping_size""mapping_size""mapping_size".

This transformation mode is faster than 'cartesian'"cartesian""cartesian""cartesian""cartesian". It is suitable, e.g., to visualize the results of a segmentation done with segment_object_model_3dsegment_object_model_3dSegmentObjectModel3dSegmentObjectModel3dSegmentObjectModel3d.

Attention

Cameras with hypercentric lenses are not supported.

Execution Information

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

Parameters

Result

The operator object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyzObjectModel3dToXyz returns the value 2 (H_MSG_TRUE) if the given parameters are correct. Otherwise, an exception will be raised.

Possible Predecessors

read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3d

Alternatives

project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3d

See also

xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3d, get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsGetObjectModel3dParams

Module

3D Metrology