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

project_3d_pointT_project_3d_pointProject3dPointProject3dPointproject_3d_point (Operator)

Name

project_3d_pointT_project_3d_pointProject3dPointProject3dPointproject_3d_point — 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)

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

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)

def project_3d_point(x: Sequence[float], y: Sequence[float], z: Sequence[float], camera_param: Sequence[Union[int, float, str]]) -> Tuple[Sequence[float], Sequence[float]]

Beschreibung

project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPointproject_3d_point 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 CameraParamCameraParamCameraParamCameraParamcameraParamcamera_param beschreiben dabei die Abbildungseigenschaften der Kamera (siehe Kalibrierung).

Ausführungsinformationen

Parameter

XXXXxx (input_control)  point3d.x-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

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

YYYYyy (input_control)  point3d.y-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

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

ZZZZzz (input_control)  point3d.z-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

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

CameraParamCameraParamCameraParamCameraParamcameraParamcamera_param (input_control)  campar → HCamPar, HTupleSequence[Union[int, float, str]]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)

Interne Kameraparameter.

RowRowRowRowrowrow (output_control)  point.y-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Zeilenkoordinaten der projizierten Punkte (in Pixel).

ColumnColumnColumnColumncolumncolumn (output_control)  point.x-array → HTupleSequence[float]HTupleHtuple (real) (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 (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_pointProject3dPointProject3dPointProject3dPointproject_3d_point den Wert TRUE. Gegebenenfalls wird eine Fehlerbehandlung durchgeführt.

Vorgänger

read_cam_parread_cam_parReadCamParReadCamParReadCamParread_cam_par, affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d

Nachfolger

gen_region_pointsgen_region_pointsGenRegionPointsGenRegionPointsGenRegionPointsgen_region_points, gen_region_polygongen_region_polygonGenRegionPolygonGenRegionPolygonGenRegionPolygongen_region_polygon, disp_polygondisp_polygonDispPolygonDispPolygonDispPolygondisp_polygon

Siehe auch

camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration, disp_caltabdisp_caltabDispCaltabDispCaltabDispCaltabdisp_caltab, read_cam_parread_cam_parReadCamParReadCamParReadCamParread_cam_par, get_line_of_sightget_line_of_sightGetLineOfSightGetLineOfSightGetLineOfSightget_line_of_sight, affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d, image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlaneImagePointsToWorldPlaneimage_points_to_world_plane

Modul

Calibration

KlassenKlassen | | Operatoren
HALCON Operator-Referenz 21.05.0.0 Copyright © 1996-2021 MVTec Software GmbH
Follow us on