Operator Reference

HALCON Operator Reference / Transformations / 3D Transformations

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hom_mat3d_translateT_hom_mat3d_translateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate (Operator)

hom_mat3d_translateT_hom_mat3d_translateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate — Add a translation to a homogeneous 3D transformation matrix.

Signature

hom_mat3d_translate( : : HomMat3D, Tx, Ty, Tz : HomMat3DTranslate)

Herror T_hom_mat3d_translate(const Htuple HomMat3D, const Htuple Tx, const Htuple Ty, const Htuple Tz, Htuple* HomMat3DTranslate)

void HomMat3dTranslate(const HTuple& HomMat3D, const HTuple& Tx, const HTuple& Ty, const HTuple& Tz, HTuple* HomMat3DTranslate)

HHomMat3D HHomMat3D::HomMat3dTranslate(const HTuple& Tx, const HTuple& Ty, const HTuple& Tz) const

HHomMat3D HHomMat3D::HomMat3dTranslate(double Tx, double Ty, double Tz) const

static void HOperatorSet.HomMat3dTranslate(HTuple homMat3D, HTuple tx, HTuple ty, HTuple tz, out HTuple homMat3DTranslate)

HHomMat3D HHomMat3D.HomMat3dTranslate(HTuple tx, HTuple ty, HTuple tz)

HHomMat3D HHomMat3D.HomMat3dTranslate(double tx, double ty, double tz)

def hom_mat3d_translate(hom_mat_3d: Sequence[float], tx: Union[float, int], ty: Union[float, int], tz: Union[float, int]) -> Sequence[float]

Description

hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate adds a translation by the vector t = (TxTxTxtxtx,TyTyTytyty,TzTzTztztz) to the homogeneous 3D transformation matrix HomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d and returns the resulting matrix in HomMat3DTranslateHomMat3DTranslateHomMat3DTranslatehomMat3DTranslatehom_mat_3dtranslate. The translation is performed relative to the global (i.e., fixed) coordinate system; this corresponds to the following chain of transformation matrices:

To perform the transformation in the local coordinate system, i.e., the one described by HomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d, use hom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocalhom_mat3d_translate_local.

Attention

Note that homogeneous matrices are stored row-by-row as a tuple; the last row is usually not stored because it is identical for all homogeneous matrices that describe an affine transformation. For example, the homogeneous matrix is stored as the tuple [ra, rb, rc, td, re, rf, rg, th, ri, rj, rk, tl]. However, it is also possible to process full 4×4 matrices, which represent a projective 4D transformation.

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

HomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d (input_control)  hom_mat3d → HHomMat3D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Input transformation matrix.

TxTxTxtxtx (input_control)  point3d.x → HTupleUnion[float, int]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Translation along the x-axis.

Default: 64

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

TyTyTytyty (input_control)  point3d.y → HTupleUnion[float, int]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Translation along the y-axis.

Default: 64

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

TzTzTztztz (input_control)  point3d.z → HTupleUnion[float, int]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Translation along the z-axis.

Default: 64

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

HomMat3DTranslateHomMat3DTranslateHomMat3DTranslatehomMat3DTranslatehom_mat_3dtranslate (output_control)  hom_mat3d → HHomMat3D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Output transformation matrix.

Result

If the parameters are valid, the operator hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate returns 2 ( H_MSG_TRUE) . If necessary, an exception is raised.

Possible Predecessors

hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentityhom_mat3d_identity, hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate, hom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScalehom_mat3d_scale, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate

Possible Successors

hom_mat3d_translatehom_mat3d_translateHomMat3dTranslateHomMat3dTranslatehom_mat3d_translate, hom_mat3d_scalehom_mat3d_scaleHomMat3dScaleHomMat3dScalehom_mat3d_scale, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate

See also

hom_mat3d_inverthom_mat3d_invertHomMat3dInvertHomMat3dInverthom_mat3d_invert, hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentityhom_mat3d_identity, hom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocalhom_mat3d_translate_local, pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d, hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose, hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposehom_mat3d_compose

Module

Foundation

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