vector_angle_to_rigidT_vector_angle_to_rigidVectorAngleToRigidVectorAngleToRigidvector_angle_to_rigid (Operator)

Name

vector_angle_to_rigidT_vector_angle_to_rigidVectorAngleToRigidVectorAngleToRigidvector_angle_to_rigid — Compute a rigid affine transformation from points and angles.

Signature

vector_angle_to_rigid( : : Row1, Column1, Angle1, Row2, Column2, Angle2 : HomMat2D)

Description

vector_angle_to_rigidvector_angle_to_rigidVectorAngleToRigidVectorAngleToRigidVectorAngleToRigidvector_angle_to_rigid computes a rigid affine transformation, i.e., a transformation consisting of a rotation and a translation, from a point correspondence and two corresponding angles and returns it as the homogeneous transformation matrix HomMat2DHomMat2DHomMat2DHomMat2DhomMat2Dhom_mat_2d. The matrix consists of 2 components: a rotation matrix R and a translation vector t (also see hom_mat2d_rotatehom_mat2d_rotateHomMat2dRotateHomMat2dRotateHomMat2dRotatehom_mat2d_rotate and hom_mat2d_translatehom_mat2d_translateHomMat2dTranslateHomMat2dTranslateHomMat2dTranslatehom_mat2d_translate):

The coordinates of the original point are passed in (Row1Row1Row1Row1row1row_1,Column1Column1Column1Column1column1column_1), while the corresponding angle is passed in Angle1Angle1Angle1Angle1angle1angle_1. The coordinates of the transformed point are passed in (Row2Row2Row2Row2row2row_2,Column2Column2Column2Column2column2column_2), while the corresponding angle is passed in Angle2Angle2Angle2Angle2angle2angle_2. The following equation describes the transformation of the point using homogeneous vectors:

In particular, the operator vector_angle_to_rigidvector_angle_to_rigidVectorAngleToRigidVectorAngleToRigidVectorAngleToRigidvector_angle_to_rigid is useful to construct a rigid affine transformation from the results of the matching operators (e.g., find_shape_modelfind_shape_modelFindShapeModelFindShapeModelFindShapeModelfind_shape_model ), which transforms a reference image to the current image or (if the parameters are passed in reverse order) from the current image to the reference image.

HomMat2DHomMat2DHomMat2DHomMat2DhomMat2Dhom_mat_2d can be used directly with operators that transform data using affine transformations, e.g., affine_trans_imageaffine_trans_imageAffineTransImageAffineTransImageAffineTransImageaffine_trans_image.

Execution Information

Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Processed without parallelization.

Parameters

Row1Row1Row1Row1row1row_1 (input_control) point.y → (real / integer)

Row coordinate of the original point.

Column1Column1Column1Column1column1column_1 (input_control) point.x → (real / integer)

Column coordinate of the original point.

Angle1Angle1Angle1Angle1angle1angle_1 (input_control) angle.rad → (real / integer)

Angle of the original point.

Row2Row2Row2Row2row2row_2 (input_control) point.y → (real / integer)

Row coordinate of the transformed point.

Column2Column2Column2Column2column2column_2 (input_control) point.x → (real / integer)

Column coordinate of the transformed point.

Angle2Angle2Angle2Angle2angle2angle_2 (input_control) angle.rad → (real / integer)

Angle of the transformed point.

HomMat2DHomMat2DHomMat2DHomMat2DhomMat2Dhom_mat_2d (output_control) hom_mat2d → (real)

Output transformation matrix.

Example (HDevelop)

create_shape_model (ImageReduced, 0, rad(-45), rad(180), 0, \
                      'none', 'use_polarity', 30, 10, ModelID)
get_shape_model_contours (ModelXLD, ModelID, 1)
find_shape_model (SearchImage, ModelID, rad(-45), rad(180), \
                      0.5, 1, 0.5, 'interpolation', \
                                        0, 0, Row, Column, Angle, Score)
* Create transformation matrix
vector_angle_to_rigid (0, 0, 0, Row, Column, Angle, HomMat2DObject)
* Transform model contours for visualization
affine_trans_contour_xld (ModelXLD, ObjectXLD, HomMat2DObject)
* Calculate true position of the model origin in the search image
affine_trans_pixel (HomMat2DObject, 0, 0, RowObject, ColObject)