Operator Reference

HALCON Operator Reference / Tools / Geometry
ClassesClasses | | Operators

point_direction_to_pluecker_linepoint_direction_to_pluecker_linePointDirectionToPlueckerLinePointDirectionToPlueckerLinepoint_direction_to_pluecker_line (Operator)

point_direction_to_pluecker_linepoint_direction_to_pluecker_linePointDirectionToPlueckerLinePointDirectionToPlueckerLinepoint_direction_to_pluecker_line — Convert a 3D line given by a point and a direction to Plücker coordinates.

Signature

Herror point_direction_to_pluecker_line(double PointX, double PointY, double PointZ, double DirectionX, double DirectionY, double DirectionZ, double* LineDirectionX, double* LineDirectionY, double* LineDirectionZ, double* LineMomentX, double* LineMomentY, double* LineMomentZ)

Herror T_point_direction_to_pluecker_line(const Htuple PointX, const Htuple PointY, const Htuple PointZ, const Htuple DirectionX, const Htuple DirectionY, const Htuple DirectionZ, Htuple* LineDirectionX, Htuple* LineDirectionY, Htuple* LineDirectionZ, Htuple* LineMomentX, Htuple* LineMomentY, Htuple* LineMomentZ)

void PointDirectionToPlueckerLine(const HTuple& PointX, const HTuple& PointY, const HTuple& PointZ, const HTuple& DirectionX, const HTuple& DirectionY, const HTuple& DirectionZ, HTuple* LineDirectionX, HTuple* LineDirectionY, HTuple* LineDirectionZ, HTuple* LineMomentX, HTuple* LineMomentY, HTuple* LineMomentZ)

static void HMisc::PointDirectionToPlueckerLine(const HTuple& PointX, const HTuple& PointY, const HTuple& PointZ, const HTuple& DirectionX, const HTuple& DirectionY, const HTuple& DirectionZ, HTuple* LineDirectionX, HTuple* LineDirectionY, HTuple* LineDirectionZ, HTuple* LineMomentX, HTuple* LineMomentY, HTuple* LineMomentZ)

static void HMisc::PointDirectionToPlueckerLine(double PointX, double PointY, double PointZ, double DirectionX, double DirectionY, double DirectionZ, double* LineDirectionX, double* LineDirectionY, double* LineDirectionZ, double* LineMomentX, double* LineMomentY, double* LineMomentZ)

static void HOperatorSet.PointDirectionToPlueckerLine(HTuple pointX, HTuple pointY, HTuple pointZ, HTuple directionX, HTuple directionY, HTuple directionZ, out HTuple lineDirectionX, out HTuple lineDirectionY, out HTuple lineDirectionZ, out HTuple lineMomentX, out HTuple lineMomentY, out HTuple lineMomentZ)

static void HMisc.PointDirectionToPlueckerLine(HTuple pointX, HTuple pointY, HTuple pointZ, HTuple directionX, HTuple directionY, HTuple directionZ, out HTuple lineDirectionX, out HTuple lineDirectionY, out HTuple lineDirectionZ, out HTuple lineMomentX, out HTuple lineMomentY, out HTuple lineMomentZ)

static void HMisc.PointDirectionToPlueckerLine(double pointX, double pointY, double pointZ, double directionX, double directionY, double directionZ, out double lineDirectionX, out double lineDirectionY, out double lineDirectionZ, out double lineMomentX, out double lineMomentY, out double lineMomentZ)

def point_direction_to_pluecker_line(point_x: MaybeSequence[float], point_y: MaybeSequence[float], point_z: MaybeSequence[float], direction_x: MaybeSequence[float], direction_y: MaybeSequence[float], direction_z: MaybeSequence[float]) -> Tuple[Sequence[float], Sequence[float], Sequence[float], Sequence[float], Sequence[float], Sequence[float]]

def point_direction_to_pluecker_line_s(point_x: MaybeSequence[float], point_y: MaybeSequence[float], point_z: MaybeSequence[float], direction_x: MaybeSequence[float], direction_y: MaybeSequence[float], direction_z: MaybeSequence[float]) -> Tuple[float, float, float, float, float, float]

Description

point_direction_to_pluecker_linepoint_direction_to_pluecker_linePointDirectionToPlueckerLinePointDirectionToPlueckerLinepoint_direction_to_pluecker_line converts the 3D line given by the point (PointXPointXPointXpointXpoint_x, PointYPointYPointYpointYpoint_y, PointZPointZPointZpointZpoint_z) and the direction (DirectionXDirectionXDirectionXdirectionXdirection_x, DirectionYDirectionYDirectionYdirectionYdirection_y, DirectionZDirectionZDirectionZdirectionZdirection_z) to Plücker coordinates (LineDirectionXLineDirectionXLineDirectionXlineDirectionXline_direction_x, LineDirectionYLineDirectionYLineDirectionYlineDirectionYline_direction_y, LineDirectionZLineDirectionZLineDirectionZlineDirectionZline_direction_z) and (LineMomentXLineMomentXLineMomentXlineMomentXline_moment_x, LineMomentYLineMomentYLineMomentYlineMomentYline_moment_y, LineMomentZLineMomentZLineMomentZlineMomentZline_moment_z). For the definition of Plücker coordinates, see “Solution Guide III-C - 3D Vision”. All input tuples must be of same length.

Let denote the point (PointXPointXPointXpointXpoint_x, PointYPointYPointYpointYpoint_y, PointZPointZPointZpointZpoint_z) and the direction (DirectionXDirectionXDirectionXdirectionXdirection_x, DirectionYDirectionYDirectionYdirectionYdirection_y, DirectionZDirectionZDirectionZdirectionZdirection_z) of the line. To compute the line direction , the length of the vector is computed. If , the direction does not define a line and an error is returned. The further calculations to Plücker coordinates are given in points_to_pluecker_linepoints_to_pluecker_linePointsToPlueckerLinePointsToPlueckerLinepoints_to_pluecker_line.

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

PointXPointXPointXpointXpoint_x (input_control)  point3d.x(-array) → HTupleMaybeSequence[float]HTupleHtuple (real) (double) (double) (double)

X coordinates of the point on the line.

PointYPointYPointYpointYpoint_y (input_control)  point3d.y(-array) → HTupleMaybeSequence[float]HTupleHtuple (real) (double) (double) (double)

Y coordinates of the point on the line.

PointZPointZPointZpointZpoint_z (input_control)  point3d.z(-array) → HTupleMaybeSequence[float]HTupleHtuple (real) (double) (double) (double)

Z coordinates of the point on the line.

DirectionXDirectionXDirectionXdirectionXdirection_x (input_control)  point3d.x(-array) → HTupleMaybeSequence[float]HTupleHtuple (real) (double) (double) (double)

X coordinates of the direction of the line.

DirectionYDirectionYDirectionYdirectionYdirection_y (input_control)  point3d.y(-array) → HTupleMaybeSequence[float]HTupleHtuple (real) (double) (double) (double)

Y coordinates of the direction of the line.

DirectionZDirectionZDirectionZdirectionZdirection_z (input_control)  point3d.z(-array) → HTupleMaybeSequence[float]HTupleHtuple (real) (double) (double) (double)

Z coordinates of the direction of the line.

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

X component of the direction vector of the line.

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

Y component of the direction vector of the line.

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

Z component of the direction vector of the line.

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

X component of the moment vector of the line.

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

Y component of the moment vector of the line.

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

Z component of the moment vector of the line.

Possible Successors

distance_point_pluecker_linedistance_point_pluecker_lineDistancePointPlueckerLineDistancePointPlueckerLinedistance_point_pluecker_line, point_pluecker_line_to_hom_mat3dpoint_pluecker_line_to_hom_mat3dPointPlueckerLineToHomMat3dPointPlueckerLineToHomMat3dpoint_pluecker_line_to_hom_mat3d

Alternatives

points_to_pluecker_linepoints_to_pluecker_linePointsToPlueckerLinePointsToPlueckerLinepoints_to_pluecker_line

See also

pluecker_line_to_point_directionpluecker_line_to_point_directionPlueckerLineToPointDirectionPlueckerLineToPointDirectionpluecker_line_to_point_direction

Module

Foundation

ClassesClasses | | Operators