project_3d_pointT_project_3d_pointProject3dPointProject3dPointproject_3d_point (Operator)
Name
project_3d_pointT_project_3d_pointProject3dPointProject3dPointproject_3d_point — Project 3D points into (sub-)pixel image coordinates.
Signature
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
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]]
Description
project_3d_pointproject_3d_pointProject3dPointProject3dPointproject_3d_point projects one or more 3D points (with coordinates
XXXxx, YYYyy, and ZZZzz) into the image plane (in pixels) and
returns the result in RowRowRowrowrow and ColumnColumnColumncolumncolumn. The coordinates
XXXxx, YYYyy, and ZZZzz are given in the camera coordinate
system, i.e., they describe the position of the points relative to the
camera.
The internal camera parameters CameraParamCameraParamCameraParamcameraParamcamera_param describe the projection
characteristics of the camera (see Calibration for
details).
Execution Information
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Automatically parallelized on internal data level.
Parameters
XXXxx (input_control) point3d.x-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
X coordinates of the 3D points to be projected in the
camera coordinate system.
YYYyy (input_control) point3d.y-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Y coordinates of the 3D points to be projected in the
camera coordinate system.
ZZZzz (input_control) point3d.z-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Z coordinates of the 3D points to be projected in the
camera coordinate system.
CameraParamCameraParamCameraParamcameraParamcamera_param (input_control) campar → HCamPar, HTupleSequence[Union[int, float, str]]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Internal camera parameters.
RowRowRowrowrow (output_control) point.y-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Row coordinates of the projected points (in pixels).
ColumnColumnColumncolumncolumn (output_control) point.x-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Column coordinates of the projected points (in pixels).
Example (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)
Example (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)
Example (C++)
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);
Example (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)
Result
project_3d_pointproject_3d_pointProject3dPointProject3dPointproject_3d_point returns 2 (
H_MSG_TRUE)
if all parameter values are
correct. If necessary, an exception is raised.
Possible Predecessors
read_cam_parread_cam_parReadCamParReadCamParread_cam_par,
affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d
Possible Successors
gen_region_pointsgen_region_pointsGenRegionPointsGenRegionPointsgen_region_points,
gen_region_polygongen_region_polygonGenRegionPolygonGenRegionPolygongen_region_polygon,
disp_polygondisp_polygonDispPolygonDispPolygondisp_polygon
See also
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationcamera_calibration,
disp_caltabdisp_caltabDispCaltabDispCaltabdisp_caltab,
read_cam_parread_cam_parReadCamParReadCamParread_cam_par,
get_line_of_sightget_line_of_sightGetLineOfSightGetLineOfSightget_line_of_sight,
affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d,
image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlaneimage_points_to_world_plane
Module
Calibration