HALCON 17.12 / HALCON Operator Reference / Transformations / Misc
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convert_point_3d_spher_to_cartconvert_point_3d_spher_to_cartConvertPoint3dSpherToCartConvertPoint3dSpherToCart (Operator)

Name

convert_point_3d_spher_to_cartconvert_point_3d_spher_to_cartConvertPoint3dSpherToCartConvertPoint3dSpherToCart — Convert spherical coordinates of a 3D point to Cartesian coordinates.

Signature

convert_point_3d_spher_to_cart( : : Longitude, Latitude, Radius, EquatPlaneNormal, ZeroMeridian : X, Y, Z)

Herror convert_point_3d_spher_to_cart(double Longitude, double Latitude, double Radius, const char* EquatPlaneNormal, const char* ZeroMeridian, double* X, double* Y, double* Z)

Herror T_convert_point_3d_spher_to_cart(const Htuple Longitude, const Htuple Latitude, const Htuple Radius, const Htuple EquatPlaneNormal, const Htuple ZeroMeridian, Htuple* X, Htuple* Y, Htuple* Z)

void ConvertPoint3dSpherToCart(const HTuple& Longitude, const HTuple& Latitude, const HTuple& Radius, const HTuple& EquatPlaneNormal, const HTuple& ZeroMeridian, HTuple* X, HTuple* Y, HTuple* Z)

static void HMisc::ConvertPoint3dSpherToCart(const HTuple& Longitude, const HTuple& Latitude, const HTuple& Radius, const HString& EquatPlaneNormal, const HString& ZeroMeridian, HTuple* X, HTuple* Y, HTuple* Z)

static void HMisc::ConvertPoint3dSpherToCart(double Longitude, double Latitude, double Radius, const HString& EquatPlaneNormal, const HString& ZeroMeridian, double* X, double* Y, double* Z)

static void HMisc::ConvertPoint3dSpherToCart(double Longitude, double Latitude, double Radius, const char* EquatPlaneNormal, const char* ZeroMeridian, double* X, double* Y, double* Z)

static void HOperatorSet.ConvertPoint3dSpherToCart(HTuple longitude, HTuple latitude, HTuple radius, HTuple equatPlaneNormal, HTuple zeroMeridian, out HTuple x, out HTuple y, out HTuple z)

static void HMisc.ConvertPoint3dSpherToCart(HTuple longitude, HTuple latitude, HTuple radius, string equatPlaneNormal, string zeroMeridian, out HTuple x, out HTuple y, out HTuple z)

static void HMisc.ConvertPoint3dSpherToCart(double longitude, double latitude, double radius, string equatPlaneNormal, string zeroMeridian, out double x, out double y, out double z)

Description

The operator convert_point_3d_spher_to_cartconvert_point_3d_spher_to_cartConvertPoint3dSpherToCartConvertPoint3dSpherToCartConvertPoint3dSpherToCart converts the spherical coordinates of a 3D point, which are given in LongitudeLongitudeLongitudeLongitudelongitude, LatitudeLatitudeLatitudeLatitudelatitude, and RadiusRadiusRadiusRadiusradius, into the Cartesian coordinates XXXXx, YYYYy, and ZZZZz. The spherical coordinates LongitudeLongitudeLongitudeLongitudelongitude and LatitudeLatitudeLatitudeLatitudelatitude must be specified in radians. Furthermore, the LatitudeLatitudeLatitudeLatitudelatitude must be within the range , where the latitude of the north pole is , and hence, the latitude of the south pole is .

The orientation of the spherical coordinate system with respect to the Cartesian coordinate system can be specified with the parameters EquatPlaneNormalEquatPlaneNormalEquatPlaneNormalEquatPlaneNormalequatPlaneNormal and ZeroMeridianZeroMeridianZeroMeridianZeroMeridianzeroMeridian.

EquatPlaneNormalEquatPlaneNormalEquatPlaneNormalEquatPlaneNormalequatPlaneNormal determines the normal of the equatorial plane (longitude == 0) pointing to the north pole (positive latitude) and may take the following values:

'x'"x""x""x""x":

The equatorial plane is the yz plane. The positive x axis points to the north pole.

'-x'"-x""-x""-x""-x":

The equatorial plane is the yz plane. The positive x axis points to the south pole.

'y'"y""y""y""y":

The equatorial plane is the xz plane. The positive y axis points to the north pole.

'-y'"-y""-y""-y""-y":

The equatorial plane is the xz plane. The positive y axis points to the south pole.

'z'"z""z""z""z":

The equatorial plane is the xy plane. The positive z axis points to the north pole.

'-z'"-z""-z""-z""-z":

The equatorial plane is the xy plane. The positive z axis points to the south pole.

The position of the zero meridian can be specified with the parameter ZeroMeridianZeroMeridianZeroMeridianZeroMeridianzeroMeridian. For this, the coordinate axis (lying in the equatorial plane) that points to the zero meridian must be passed. The following values for ZeroMeridianZeroMeridianZeroMeridianZeroMeridianzeroMeridian are valid:

'x'"x""x""x""x":

The positive x axis points in the direction of the zero meridian.

'-x'"-x""-x""-x""-x":

The negative x axis points in the direction of the zero meridian.

'y'"y""y""y""y":

The positive y axis points in the direction of the zero meridian.

'-y'"-y""-y""-y""-y":

The negative y axis points in the direction of the zero meridian.

'z'"z""z""z""z":

The positive z axis points in the direction of the zero meridian.

'-z'"-z""-z""-z""-z":

The negative z axis points in the direction of the zero meridian.

Only reasonable combinations of EquatPlaneNormalEquatPlaneNormalEquatPlaneNormalEquatPlaneNormalequatPlaneNormal and ZeroMeridianZeroMeridianZeroMeridianZeroMeridianzeroMeridian are permitted, i.e., the normal of the equatorial plane must not be parallel to the direction of the zero meridian. For example, the combination EquatPlaneNormalEquatPlaneNormalEquatPlaneNormalEquatPlaneNormalequatPlaneNormal='y'"y""y""y""y" and ZeroMeridianZeroMeridianZeroMeridianZeroMeridianzeroMeridian='-y'"-y""-y""-y""-y" is not permitted.

Note that in order to guarantee a consistent conversion back from Cartesian to spherical coordinates by using convert_point_3d_cart_to_spherconvert_point_3d_cart_to_spherConvertPoint3dCartToSpherConvertPoint3dCartToSpherConvertPoint3dCartToSpher, the same values must be passed for EquatPlaneNormalEquatPlaneNormalEquatPlaneNormalEquatPlaneNormalequatPlaneNormal and ZeroMeridianZeroMeridianZeroMeridianZeroMeridianzeroMeridian as were passed to convert_point_3d_spher_to_cartconvert_point_3d_spher_to_cartConvertPoint3dSpherToCartConvertPoint3dSpherToCartConvertPoint3dSpherToCart.

The operator convert_point_3d_spher_to_cartconvert_point_3d_spher_to_cartConvertPoint3dSpherToCartConvertPoint3dSpherToCartConvertPoint3dSpherToCart can be used, for example, to convert a camera position that is given in spherical coordinates into Cartesian coordinates. The result can then be utilized to create a complete camera pose by passing the Cartesian coordinates to create_cam_pose_look_at_pointcreate_cam_pose_look_at_pointCreateCamPoseLookAtPointCreateCamPoseLookAtPointCreateCamPoseLookAtPoint.

Execution Information

Parameters

LongitudeLongitudeLongitudeLongitudelongitude (input_control)  angle.rad(-array) → HTupleHTupleHtuple (real) (double) (double) (double)

Longitude of the 3D point.

LatitudeLatitudeLatitudeLatitudelatitude (input_control)  angle.rad(-array) → HTupleHTupleHtuple (real) (double) (double) (double)

Latitude of the 3D point.

Restriction: - pi / 2 <= Latitude && Latitude <= pi / 2

RadiusRadiusRadiusRadiusradius (input_control)  real(-array) → HTupleHTupleHtuple (real) (double) (double) (double)

Radius of the 3D point.

EquatPlaneNormalEquatPlaneNormalEquatPlaneNormalEquatPlaneNormalequatPlaneNormal (input_control)  string → HTupleHTupleHtuple (string) (string) (HString) (char*)

Normal vector of the equatorial plane (points to the north pole).

Default value: '-y' "-y" "-y" "-y" "-y"

List of values: '-x'"-x""-x""-x""-x", '-y'"-y""-y""-y""-y", '-z'"-z""-z""-z""-z", 'x'"x""x""x""x", 'y'"y""y""y""y", 'z'"z""z""z""z"

ZeroMeridianZeroMeridianZeroMeridianZeroMeridianzeroMeridian (input_control)  string → HTupleHTupleHtuple (string) (string) (HString) (char*)

Coordinate axis in the equatorial plane that points to the zero meridian.

Default value: '-z' "-z" "-z" "-z" "-z"

List of values: '-x'"-x""-x""-x""-x", '-y'"-y""-y""-y""-y", '-z'"-z""-z""-z""-z", 'x'"x""x""x""x", 'y'"y""y""y""y", 'z'"z""z""z""z"

XXXXx (output_control)  real(-array) → HTupleHTupleHtuple (real) (double) (double) (double)

X coordinate of the 3D point.

YYYYy (output_control)  real(-array) → HTupleHTupleHtuple (real) (double) (double) (double)

Y coordinate of the 3D point.

ZZZZz (output_control)  real(-array) → HTupleHTupleHtuple (real) (double) (double) (double)

Z coordinate of the 3D point.

Result

If the parameters are valid, the operator convert_point_3d_spher_to_cartconvert_point_3d_spher_to_cartConvertPoint3dSpherToCartConvertPoint3dSpherToCartConvertPoint3dSpherToCart returns the value 2 (H_MSG_TRUE). If necessary an exception is raised.

Possible Predecessors

get_shape_model_3d_paramsget_shape_model_3d_paramsGetShapeModel3dParamsGetShapeModel3dParamsGetShapeModel3dParams

See also

convert_point_3d_cart_to_spherconvert_point_3d_cart_to_spherConvertPoint3dCartToSpherConvertPoint3dCartToSpherConvertPoint3dCartToSpher

Module

3D Metrology

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HALCON Operator Reference 17.12 Copyright © 1996-2017 MVTec Software GmbH