gen_image_to_world_plane_mapT_gen_image_to_world_plane_mapGenImageToWorldPlaneMapGenImageToWorldPlaneMap — Generate a projection map that describes the mapping between the image
plane and a the plane z=0 of a world coordinate system.
gen_image_to_world_plane_mapgen_image_to_world_plane_mapGenImageToWorldPlaneMapGenImageToWorldPlaneMapGenImageToWorldPlaneMap generates a projection map MapMapMapMapmap,
which describes the mapping between the image plane and the plane z=0
(plane of measurements) in a world coordinate system. This map can be used
to rectify an image with the operator map_imagemap_imageMapImageMapImageMapImage. The rectified
image shows neither radial nor perspective distortions; it corresponds to
an image acquired by a distortion-free camera that looks perpendicularly
onto the plane of measurements. The world coordinate system (wcs)
is chosen by passing its 3D pose relative to the camera coordinate system
(ccs) in
WorldPoseWorldPoseWorldPoseWorldPoseworldPose. Thus the pose is expected in the form
(see Transformations / Poses
and “Solution Guide III-C - 3D Vision”).
In CameraParamCameraParamCameraParamCameraParamcameraParam you must pass the internal camera
parameters (see Calibration for the sequence of the
parameters and the underlying camera model).
With the parameter ScaleScaleScaleScalescale you can specify the size of a pixel in the
transformed image. There are two typical scenarios: First, you can scale the
image such that pixel coordinates in the transformed image directly
correspond to metric units, e.g., that one pixel corresponds to one
micron. This is useful if you want to perform measurements in the
transformed image which will then directly result in metric results.
The second scenario is to scale the image such that its content appears in
a size similar to the original image. This is useful, e.g., if you want to
perform shape-based matching in the transformed image.
ScaleScaleScaleScalescale must be specified as the ratio desired pixel
size/original unit. A pixel size of 1um means that a pixel in the
transformed image corresponds to the area 1um x 1um in the
plane of measurements. The original unit is determined by the coordinates of
the calibration object. If the original unit is meters (which is the case if
you use the standard calibration plate), you can use the parameter values
'm'"m""m""m""m", 'cm'"cm""cm""cm""cm", 'mm'"mm""mm""mm""mm", 'microns'"microns""microns""microns""microns", or
'um'"um""um""um""um" to directly set the unit of pixel coordinates in the
transformed image.
The mapping function is stored in the output image MapMapMapMapmap.
MapMapMapMapmap has the same size as the resulting images after the mapping.
MapTypeMapTypeMapTypeMapTypemapType is used to specify the type of the output MapMapMapMapmap.
If 'nearest_neighbor'"nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor" is chosen, MapMapMapMapmap consists of one image
containing one channel, in which for each pixel of the resulting image the
linearized coordinate of the pixel of the input image is stored that is the
nearest neighbor to the transformed coordinates. If 'bilinear'"bilinear""bilinear""bilinear""bilinear"
interpolation is chosen, MapMapMapMapmap consists of one image containing five
channels. In the first channel for each pixel in the resulting image the
linearized coordinates of the pixel in the input image is stored that is in
the upper left position relative to the transformed coordinates.
The four other channels contain the weights of the four neighboring pixels
of the transformed coordinates which are used for the bilinear
interpolation, in the following order:
2
3
4
5
The second channel, for example, contains the weights of the pixels that
lie to the upper left relative to the transformed coordinates.
If 'coord_map_sub_pix'"coord_map_sub_pix""coord_map_sub_pix""coord_map_sub_pix""coord_map_sub_pix" is chosen, MapMapMapMapmap consists of
one vector field image of the semantic type 'vector_field_absolute', in
which for each pixel of the resulting image the subpixel precise
coordinates in the input image are stored.
If you want to re-use the created map in another program, you can save it as
a multi-channel image with the operator write_imagewrite_imageWriteImageWriteImageWriteImage, using the
format 'tiff'"tiff""tiff""tiff""tiff".
Execution Information
Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
List of values: 'bilinear'"bilinear""bilinear""bilinear""bilinear", 'coord_map_sub_pix'"coord_map_sub_pix""coord_map_sub_pix""coord_map_sub_pix""coord_map_sub_pix", 'nearest_neighbor'"nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor"
Example (HDevelop)
* Calibrate camera.
calibrate_cameras (CalibDataID, Error)
* Obtain camera parameters.
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
* Example values, if no calibration data is available:
CamParam := ['area_scan_division', 0.0087, -1859, 8.65e-006, 8.6e-006, \
362.5, 291.6, 768, 576]
* Get reference pose (pose 4 of calibration object 0).
get_calib_data (CalibDataID, 'calib_obj_pose',\
[0,4], 'pose', Pose)
* Example values, if no calibration data is available:
Pose := [-0.11, -0.21, 2.51, 352.73, 346.73, 336.48, 0]
* Compensate thickness of plate.
set_origin_pose (Pose, -1.125, -1.0, 0, PoseNewOrigin)
* Transform the image into the world plane.
read_image (Image, 'calib/calib-3d-coord-04')
gen_image_to_world_plane_map (MapSingle, CamParam, PoseNewOrigin,\
CamParam[6], CamParam[7], 900, 800, 0.0025, 'bilinear')
map_image (Image, MapSingle, ImageMapped)
Result
gen_image_to_world_plane_mapgen_image_to_world_plane_mapGenImageToWorldPlaneMapGenImageToWorldPlaneMapGenImageToWorldPlaneMap returns 2 (H_MSG_TRUE) if all parameter values
are correct. If necessary, an exception is raised.