HALCON 19.11.0.0 / HALCON Operator Reference / Calibration / Projection
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project_hom_point_hom_mat3dT_project_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3d (Operator)

Name

project_hom_point_hom_mat3dT_project_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3d — Project a homogeneous 3D point using a 3×4 projection matrix.

Signature

project_hom_point_hom_mat3d( : : HomMat3D, Px, Py, Pz, Pw : Qx, Qy, Qw)

Herror T_project_hom_point_hom_mat3d(const Htuple HomMat3D, const Htuple Px, const Htuple Py, const Htuple Pz, const Htuple Pw, Htuple* Qx, Htuple* Qy, Htuple* Qw)

void ProjectHomPointHomMat3d(const HTuple& HomMat3D, const HTuple& Px, const HTuple& Py, const HTuple& Pz, const HTuple& Pw, HTuple* Qx, HTuple* Qy, HTuple* Qw)

HTuple HHomMat3D::ProjectHomPointHomMat3d(const HTuple& Px, const HTuple& Py, const HTuple& Pz, const HTuple& Pw, HTuple* Qy, HTuple* Qw) const

double HHomMat3D::ProjectHomPointHomMat3d(double Px, double Py, double Pz, double Pw, double* Qy, double* Qw) const

static void HOperatorSet.ProjectHomPointHomMat3d(HTuple homMat3D, HTuple px, HTuple py, HTuple pz, HTuple pw, out HTuple qx, out HTuple qy, out HTuple qw)

HTuple HHomMat3D.ProjectHomPointHomMat3d(HTuple px, HTuple py, HTuple pz, HTuple pw, out HTuple qy, out HTuple qw)

double HHomMat3D.ProjectHomPointHomMat3d(double px, double py, double pz, double pw, out double qy, out double qw)

Description

projective_trans_hom_point_3dprojective_trans_hom_point_3dProjectiveTransHomPoint3dProjectiveTransHomPoint3dProjectiveTransHomPoint3d applies the 3×4 projection matrix HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D to all homogeneous input points (PxPxPxPxpx,PyPyPyPypy,PzPzPzPzpz,PwPwPwPwpw) and returns an array of homogeneous output points (QxQxQxQxqx,QyQyQyQyqy,QwQwQwQwqw). The transformation is described by the homogeneous transformation matrix given in HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D. This corresponds to the following equation (input and output points as homogeneous vectors):

To transform the homogeneous coordinates to Euclidean coordinates, they must be divided by QwQwQwQwqw: This can be achieved directly by calling project_point_hom_mat3dproject_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dProjectPointHomMat3d. Thus, project_hom_point_hom_mat3dproject_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3dProjectHomPointHomMat3d is primarily useful for transforming points or point sets for which the resulting points might lie on the line at infinity, i.e., points that potentially have QwQwQwQwqw = 0, for which the above division cannot be performed.

Note that, consistent with the conventions used by the projection in calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras, QxQxQxQxqx corresponds to the column coordinate of an image and QyQyQyQyqy corresponds to the row coordinate.

Execution Information

Parameters

HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D (input_control)  hom_mat3d → HHomMat3D, HTupleHTupleHtuple (real) (double) (double) (double)

3×4 projection matrix.

PxPxPxPxpx (input_control)  number(-array) → HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point (x coordinate).

PyPyPyPypy (input_control)  number(-array) → HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point (y coordinate).

PzPzPzPzpz (input_control)  number(-array) → HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point (z coordinate).

PwPwPwPwpw (input_control)  number(-array) → HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point (w coordinate).

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

Output point (x coordinate).

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

Output point (y coordinate).

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

Output point (w coordinate).

Possible Predecessors

cam_par_pose_to_hom_mat3dcam_par_pose_to_hom_mat3dCamParPoseToHomMat3dCamParPoseToHomMat3dCamParPoseToHomMat3d

Alternatives

project_point_hom_mat3dproject_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dProjectPointHomMat3d, project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPoint

Module

Foundation

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