object_model_3d_to_xyzT_object_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyz (Operator)


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


object_model_3d_to_xyz( : X, Y, Z : ObjectModel3D, Type, CamParam, Pose : )

Herror T_object_model_3d_to_xyz(Hobject* X, Hobject* Y, Hobject* Z, const Htuple ObjectModel3D, const Htuple Type, const Htuple CamParam, const Htuple Pose)

void ObjectModel3dToXyz(HObject* X, HObject* Y, HObject* Z, const HTuple& ObjectModel3D, const HTuple& Type, const HTuple& CamParam, const HTuple& Pose)

HImage HObjectModel3D::ObjectModel3dToXyz(HImage* Y, HImage* Z, const HString& Type, const HCamPar& CamParam, const HPose& Pose) const

HImage HObjectModel3D::ObjectModel3dToXyz(HImage* Y, HImage* Z, const char* Type, const HCamPar& CamParam, const HPose& Pose) const

HImage HObjectModel3D::ObjectModel3dToXyz(HImage* Y, HImage* Z, const wchar_t* Type, const HCamPar& CamParam, const HPose& Pose) const   (Windows only)

HImage HCamPar::ObjectModel3dToXyz(HImage* Y, HImage* Z, const HObjectModel3D& ObjectModel3D, const HString& Type, const HPose& Pose) const

HImage HCamPar::ObjectModel3dToXyz(HImage* Y, HImage* Z, const HObjectModel3D& ObjectModel3D, const char* Type, const HPose& Pose) const

HImage HCamPar::ObjectModel3dToXyz(HImage* Y, HImage* Z, const HObjectModel3D& ObjectModel3D, const wchar_t* Type, const HPose& Pose) const   (Windows only)

static void HOperatorSet.ObjectModel3dToXyz(out HObject x, out HObject y, out HObject z, HTuple objectModel3D, HTuple type, HTuple camParam, HTuple pose)

HImage HObjectModel3D.ObjectModel3dToXyz(out HImage y, out HImage z, string type, HCamPar camParam, HPose pose)

HImage HCamPar.ObjectModel3dToXyz(out HImage y, out HImage z, HObjectModel3D objectModel3D, string type, HPose pose)


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:


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.


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.


Cameras with hypercentric lenses are not supported.

Execution Information


XXXXx (output_object)  singlechannelimage objectHImageHImageHobject * (real)

Image with the X-Coordinates of the 3D points.

YYYYy (output_object)  singlechannelimage objectHImageHImageHobject * (real)

Image with the Y-Coordinates of the 3D points.

ZZZZz (output_object)  singlechannelimage objectHImageHImageHobject * (real)

Image with the Z-Coordinates of the 3D points.

ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D (input_control)  object_model_3d HObjectModel3D, HTupleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the 3D object model.

TypeTypeTypeTypetype (input_control)  string HTupleHTupleHtuple (string) (string) (HString) (char*)

Type of the conversion.

Default value: 'cartesian' "cartesian" "cartesian" "cartesian" "cartesian"

List of values: 'cartesian'"cartesian""cartesian""cartesian""cartesian", 'from_xyz_map'"from_xyz_map""from_xyz_map""from_xyz_map""from_xyz_map"

CamParamCamParamCamParamCamParamcamParam (input_control)  campar HCamPar, HTupleHTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)

Camera parameters.

PosePosePosePosepose (input_control)  pose HPose, HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Pose of the 3D object model.

Number of elements: Pose == 0 || Pose == 7 || Pose == 12


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



See also

xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3d, get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsGetObjectModel3dParams


3D Metrology