HALCON 21.05.0.0 / HALCON Operator Reference / Calibration / Projection
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project_hom_point_hom_mat3dT_project_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3dproject_hom_point_hom_mat3d (Operator)

Name

project_hom_point_hom_mat3dT_project_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3dproject_hom_point_hom_mat3d — 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)

def project_hom_point_hom_mat3d(hom_mat_3d: Sequence[float], px: MaybeSequence[Union[float, int]], py: MaybeSequence[Union[float, int]], pz: MaybeSequence[Union[float, int]], pw: MaybeSequence[Union[float, int]]) -> Tuple[Sequence[float], Sequence[float], Sequence[float]]

def project_hom_point_hom_mat3d_s(hom_mat_3d: Sequence[float], px: MaybeSequence[Union[float, int]], py: MaybeSequence[Union[float, int]], pz: MaybeSequence[Union[float, int]], pw: MaybeSequence[Union[float, int]]) -> Tuple[float, float, float]

Description

projective_trans_hom_point_3dprojective_trans_hom_point_3dProjectiveTransHomPoint3dProjectiveTransHomPoint3dProjectiveTransHomPoint3dprojective_trans_hom_point_3d applies the 3×4 projection matrix HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d to all homogeneous input points (PxPxPxPxpxpx,PyPyPyPypypy,PzPzPzPzpzpz,PwPwPwPwpwpw) and returns an array of homogeneous output points (QxQxQxQxqxqx,QyQyQyQyqyqy,QwQwQwQwqwqw). The transformation is described by the homogeneous transformation matrix given in HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d. 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 QwQwQwQwqwqw: This can be achieved directly by calling project_point_hom_mat3dproject_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dProjectPointHomMat3dproject_point_hom_mat3d. Thus, project_hom_point_hom_mat3dproject_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3dProjectHomPointHomMat3dproject_hom_point_hom_mat3d 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 QwQwQwQwqwqw = 0, for which the above division cannot be performed.

Note that, consistent with the conventions used by the projection in calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras, QxQxQxQxqxqx corresponds to the column coordinate of an image and QyQyQyQyqyqy corresponds to the row coordinate.

Execution Information

Parameters

HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d (input_control)  hom_mat3d → HHomMat3D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

3×4 projection matrix.

PxPxPxPxpxpx (input_control)  number(-array) → HTupleMaybeSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point (x coordinate).

PyPyPyPypypy (input_control)  number(-array) → HTupleMaybeSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point (y coordinate).

PzPzPzPzpzpz (input_control)  number(-array) → HTupleMaybeSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point (z coordinate).

PwPwPwPwpwpw (input_control)  number(-array) → HTupleMaybeSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point (w coordinate).

QxQxQxQxqxqx (output_control)  real(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Output point (x coordinate).

QyQyQyQyqyqy (output_control)  real(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Output point (y coordinate).

QwQwQwQwqwqw (output_control)  real(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Output point (w coordinate).

Possible Predecessors

cam_par_pose_to_hom_mat3dcam_par_pose_to_hom_mat3dCamParPoseToHomMat3dCamParPoseToHomMat3dCamParPoseToHomMat3dcam_par_pose_to_hom_mat3d

Alternatives

project_point_hom_mat3dproject_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dProjectPointHomMat3dproject_point_hom_mat3d, project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPointproject_3d_point

Module

Foundation

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HALCON Operator Reference 21.05.0.0 Copyright © 1996-2021 MVTec Software GmbH
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