rigid_trans_object_model_3dT_rigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3d (Operator)

Name

rigid_trans_object_model_3dT_rigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3d — Apply a rigid 3D transformation to 3D object models.

Signature

Description

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3d applies rigid 3D transformations, i.e., rotations and translations, to 3D object models and returns the handles of the transformed 3D object models. The transformations are described by the poses given in PosePosePosePosepose, which are in the form , where mcsi denotes the coordinate system of the input object model and cst the coordinate system of the transformed model, e.g., the coordinate system of the scene (see Transformations / Poses and “Solution Guide III-C - 3D Vision”). A pose can be created using the operators create_posecreate_poseCreatePoseCreatePoseCreatePose, pose_invertpose_invertPoseInvertPoseInvertPoseInvert, etc., or it can be the result of get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsGetObjectModel3dParams.

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3d transforms one or more 3D object models with the same pose if only one transformation matrix is passed in PosePosePosePosepose (N:1). If a single 3D object model is passed in ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3D, it is transformed with all passed poses (1:N). If the number of poses corresponds to the number of 3D object models, every 3D object model is transformed individually with the respective pose (N:N). In those cases, N can be zero, i.e., no pose or no 3D object model can be passed to the operator. In this case, an empty tuple is returned in ObjectModel3DRigidTransObjectModel3DRigidTransObjectModel3DRigidTransObjectModel3DRigidTransobjectModel3DRigidTrans. This can be used to, for example, transform the results of find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModel without checking first if at least one match was returned.

Attention

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3d copies the attributes of type triangle, face, polygon, line, 2D mapping coordinates, and extended attribute without modification.

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

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3d returns 2 (H_MSG_TRUE) if all parameters are correct. If necessary, an exception is raised.

Possible Predecessors

read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3d, fit_primitives_object_model_3dfit_primitives_object_model_3dFitPrimitivesObjectModel3dFitPrimitivesObjectModel3dFitPrimitivesObjectModel3d

Possible Successors

project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3d, object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyzObjectModel3dToXyz, get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsGetObjectModel3dParams

See also

affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3dAffineTransPoint3d, affine_trans_object_model_3daffine_trans_object_model_3dAffineTransObjectModel3dAffineTransObjectModel3dAffineTransObjectModel3d

Module

3D Metrology