Operator Reference

HALCON Operator Reference / Transformations / Dual Quaternions
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dual_quat_trans_point_3dT_dual_quat_trans_point_3dDualQuatTransPoint3dDualQuatTransPoint3ddual_quat_trans_point_3d (Operator)

dual_quat_trans_point_3dT_dual_quat_trans_point_3dDualQuatTransPoint3dDualQuatTransPoint3ddual_quat_trans_point_3d — Transform a 3D point with a unit dual quaternion.

Signature

dual_quat_trans_point_3d( : : DualQuaternion, Px, Py, Pz : Tx, Ty, Tz)

Herror T_dual_quat_trans_point_3d(const Htuple DualQuaternion, const Htuple Px, const Htuple Py, const Htuple Pz, Htuple* Tx, Htuple* Ty, Htuple* Tz)

void DualQuatTransPoint3d(const HTuple& DualQuaternion, const HTuple& Px, const HTuple& Py, const HTuple& Pz, HTuple* Tx, HTuple* Ty, HTuple* Tz)

HTuple HDualQuaternion::DualQuatTransPoint3d(const HTuple& Px, const HTuple& Py, const HTuple& Pz, HTuple* Ty, HTuple* Tz) const

double HDualQuaternion::DualQuatTransPoint3d(double Px, double Py, double Pz, double* Ty, double* Tz) const

static void HOperatorSet.DualQuatTransPoint3d(HTuple dualQuaternion, HTuple px, HTuple py, HTuple pz, out HTuple tx, out HTuple ty, out HTuple tz)

HTuple HDualQuaternion.DualQuatTransPoint3d(HTuple px, HTuple py, HTuple pz, out HTuple ty, out HTuple tz)

double HDualQuaternion.DualQuatTransPoint3d(double px, double py, double pz, out double ty, out double tz)

def dual_quat_trans_point_3d(dual_quaternion: Sequence[Union[float, int]], px: MaybeSequence[Union[float, int]], py: MaybeSequence[Union[float, int]], pz: MaybeSequence[Union[float, int]]) -> Tuple[Sequence[float], Sequence[float], Sequence[float]]

def dual_quat_trans_point_3d_s(dual_quaternion: Sequence[Union[float, int]], px: MaybeSequence[Union[float, int]], py: MaybeSequence[Union[float, int]], pz: MaybeSequence[Union[float, int]]) -> Tuple[float, float, float]

Description

The operator dual_quat_trans_point_3ddual_quat_trans_point_3dDualQuatTransPoint3dDualQuatTransPoint3ddual_quat_trans_point_3d transforms a 3D point (PxPxPxpxpx, PyPyPypypy, PzPzPzpzpz) by a 3D rigid transformation that is given by the unit dual quaternion DualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion and returns the transformed 3D point in (TxTxTxtxtx, TyTyTytyty, TzTzTztztz).

For a brief introduction to dual quaternions, see “Solution Guide III-C - 3D Vision”.

Attention

dual_quat_trans_point_3ddual_quat_trans_point_3dDualQuatTransPoint3dDualQuatTransPoint3ddual_quat_trans_point_3d returns meaningful results only if DualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion is a unit dual quaternion.

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

DualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion (input_control)  dual_quaternion → HDualQuaternion, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Unit dual quaternion representing the transformation.

PxPxPxpxpx (input_control)  point3d.x(-array) → HTupleMaybeSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point(s) (x coordinate).

Default: 64

Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024

PyPyPypypy (input_control)  point3d.y(-array) → HTupleMaybeSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point(s) (y coordinate).

Default: 64

Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024

PzPzPzpzpz (input_control)  point3d.z(-array) → HTupleMaybeSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Input point(s) (z coordinate).

Default: 64

Suggested values: 0, 16, 32, 64, 128, 256, 512, 1024

TxTxTxtxtx (output_control)  point3d.x(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Output point(s) (x coordinate).

TyTyTytyty (output_control)  point3d.y(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Output point(s) (y coordinate).

TzTzTztztz (output_control)  point3d.z(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Output point(s) (z coordinate).

Example (HDevelop)

* dual_quat_trans_point_3d (DualQuat, Px, Py, Pz, Tx, Ty, Tz)
* is equivalent to the following code:
dual_quat_to_hom_mat3d (DualQuat, HomMat3D)
affine_trans_point_3d (HomMat3D, Px, Py, Pz, Tx, Ty, Tz)

Possible Predecessors

dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposedual_quat_compose, pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatpose_to_dual_quat, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat

Alternatives

dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3ddual_quat_to_hom_mat3d, affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d

See also

dual_quat_to_posedual_quat_to_poseDualQuatToPoseDualQuatToPosedual_quat_to_pose, dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize, serialize_dual_quatserialize_dual_quatSerializeDualQuatSerializeDualQuatserialize_dual_quat, deserialize_dual_quatdeserialize_dual_quatDeserializeDualQuatDeserializeDualQuatdeserialize_dual_quat, quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3dquat_rotate_point_3d, dual_quat_trans_line_3ddual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3ddual_quat_trans_line_3d

Module

Foundation

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