affine_trans_object_model_3dT_affine_trans_object_model_3dAffineTransObjectModel3dAffineTransObjectModel3daffine_trans_object_model_3d (Operator)

Name

affine_trans_object_model_3dT_affine_trans_object_model_3dAffineTransObjectModel3dAffineTransObjectModel3daffine_trans_object_model_3d — Apply an arbitrary affine 3D transformation to 3D object models.

Signature

Description

affine_trans_object_model_3daffine_trans_object_model_3dAffineTransObjectModel3dAffineTransObjectModel3dAffineTransObjectModel3daffine_trans_object_model_3d applies arbitrary affine 3D transformations, i.e., scaling, rotation, and translation, to 3D object models and returns the handles of the transformed 3D object models. The affine transformations are described by the homogeneous transformation matrices given in HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d.

The transformation matrices can be created using the operators hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentityHomMat3dIdentityhom_mat3d_identity, hom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScaleHomMat3dScalehom_mat3d_scale, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate, hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate, etc., or it can be the result of pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d (see affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d).

In general, the operator affine_trans_object_model_3daffine_trans_object_model_3dAffineTransObjectModel3dAffineTransObjectModel3dAffineTransObjectModel3daffine_trans_object_model_3d is not necessary in the context of shape based 3D matching. Instead, if a rotation of the 3D object model into a reference orientation should be performed, appropriate values for the parameters RefRotXRefRotXRefRotXRefRotXrefRotXref_rot_x, RefRotYRefRotYRefRotYRefRotYrefRotYref_rot_y, RefRotZRefRotZRefRotZRefRotZrefRotZref_rot_z, and OrderOfRotationOrderOfRotationOrderOfRotationOrderOfRotationorderOfRotationorder_of_rotation should be passed to the operator create_shape_model_3dcreate_shape_model_3dCreateShapeModel3dCreateShapeModel3dCreateShapeModel3dcreate_shape_model_3d.

affine_trans_object_model_3daffine_trans_object_model_3dAffineTransObjectModel3dAffineTransObjectModel3dAffineTransObjectModel3daffine_trans_object_model_3d transforms one or more 3D object models with the same transformation matrix if only one transformation matrix is passed in HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d (N:1). If a single 3D object model is passed in ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d, it is transformed with all passed transformation matrices (1:N). If the number of transformation matrices corresponds to the number of 3D object models, every 3D object model is transformed individually with the respective transformation matrix (N:N). In those cases, N can be zero, i.e., no matrix or no 3D object model can be passed to the operator. In this case, an empty tuple is returned in ObjectModel3DAffineTransObjectModel3DAffineTransObjectModel3DAffineTransObjectModel3DAffineTransobjectModel3DAffineTransobject_model_3daffine_trans. This can be used to, for example, transform the results of other operators without checking first if at least one matrix was returned.

Attention

affine_trans_object_model_3daffine_trans_object_model_3dAffineTransObjectModel3dAffineTransObjectModel3dAffineTransObjectModel3daffine_trans_object_model_3d transforms the attributes of type 3D points, 3D point normals, and the prepared shape model for shape-based 3D matching. All other attributes are copied without modification. To transform 3D primitives, the operator rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d must be used.

Execution Information

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Automatically parallelized on internal data level.

Parameters

Result

affine_trans_object_model_3daffine_trans_object_model_3dAffineTransObjectModel3dAffineTransObjectModel3dAffineTransObjectModel3daffine_trans_object_model_3d returns 2 ( H_MSG_TRUE) if all parameters are correct. If necessary, an exception is raised.

Possible Predecessors

read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3dread_object_model_3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3dxyz_to_object_model_3d

Possible Successors

project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3dproject_object_model_3d, object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyzObjectModel3dToXyzobject_model_3d_to_xyz

See also

affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d, rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d, projective_trans_object_model_3dprojective_trans_object_model_3dProjectiveTransObjectModel3dProjectiveTransObjectModel3dProjectiveTransObjectModel3dprojective_trans_object_model_3d

Module

3D Metrology