Operator Reference

HALCON Operator Reference / 3D Object Model / Transformations

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rigid_trans_object_model_3dT_rigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d (Operator)

rigid_trans_object_model_3dT_rigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d — Apply a rigid 3D transformation to 3D object models.

Signature

rigid_trans_object_model_3d( : : ObjectModel3D, Pose : ObjectModel3DRigidTrans)

Herror T_rigid_trans_object_model_3d(const Htuple ObjectModel3D, const Htuple Pose, Htuple* ObjectModel3DRigidTrans)

void RigidTransObjectModel3d(const HTuple& ObjectModel3D, const HTuple& Pose, HTuple* ObjectModel3DRigidTrans)

static HObjectModel3DArray HObjectModel3D::RigidTransObjectModel3d(const HObjectModel3DArray& ObjectModel3D, const HPoseArray& Pose)

HObjectModel3D HObjectModel3D::RigidTransObjectModel3d(const HPose& Pose) const

static void HOperatorSet.RigidTransObjectModel3d(HTuple objectModel3D, HTuple pose, out HTuple objectModel3DRigidTrans)

static HObjectModel3D[] HObjectModel3D.RigidTransObjectModel3d(HObjectModel3D[] objectModel3D, HPose[] pose)

HObjectModel3D HObjectModel3D.RigidTransObjectModel3d(HPose pose)

def rigid_trans_object_model_3d(object_model_3d: MaybeSequence[HHandle], pose: Sequence[Union[float, int]]) -> Sequence[HHandle]

def rigid_trans_object_model_3d_s(object_model_3d: MaybeSequence[HHandle], pose: Sequence[Union[float, int]]) -> HHandle

Description

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d applies rigid 3D transformations, i.e., rotations and translations, to 3D object models and returns the handles of the transformed 3D object models. The transformations are described by the poses given in PosePosePoseposepose, which are in the form , where mcsi denotes the coordinate system of the input object model and cst the coordinate system of the transformed model, e.g., the coordinate system of the scene (see Transformations / Poses and “Solution Guide III-C - 3D Vision”). A pose can be created using the operators create_posecreate_poseCreatePoseCreatePosecreate_pose, pose_invertpose_invertPoseInvertPoseInvertpose_invert, etc., or it can be the result of get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsget_object_model_3d_params.

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d transforms one or more 3D object models with the same pose if only one transformation matrix is passed in PosePosePoseposepose (N:1). If a single 3D object model is passed in ObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d, it is transformed with all passed poses (1:N). If the number of poses corresponds to the number of 3D object models, every 3D object model is transformed individually with the respective pose (N:N). In those cases, N can be zero, i.e., no pose or no 3D object model can be passed to the operator. In this case, an empty tuple is returned in ObjectModel3DRigidTransObjectModel3DRigidTransObjectModel3DRigidTransobjectModel3DRigidTransobject_model_3drigid_trans. This can be used to, for example, transform the results of find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelfind_surface_model without checking first if at least one match was returned.

Attention

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d transforms the attributes of type 3D points, 3D point normals, and the prepared shape model for shape-based 3D matching, as well as 3D primitives. Precomputed data structures for 3D distance computation are not copied. All other attributes are copied without modification.

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

ObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d (input_control)  object_model_3d(-array) → HObjectModel3D, HTupleMaybeSequence[HHandle]HTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handles of the 3D object models.

PosePosePoseposepose (input_control)  pose(-array) → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Poses.

ObjectModel3DRigidTransObjectModel3DRigidTransObjectModel3DRigidTransobjectModel3DRigidTransobject_model_3drigid_trans (output_control)  object_model_3d(-array) → HObjectModel3D, HTupleSequence[HHandle]HTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handles of the transformed 3D object models.

Result

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3drigid_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_3dReadObjectModel3dReadObjectModel3dread_object_model_3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dxyz_to_object_model_3d, fit_primitives_object_model_3dfit_primitives_object_model_3dFitPrimitivesObjectModel3dFitPrimitivesObjectModel3dfit_primitives_object_model_3d

Possible Successors

project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dproject_object_model_3d, object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyzobject_model_3d_to_xyz, get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsget_object_model_3d_params

See also

affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d, affine_trans_object_model_3daffine_trans_object_model_3dAffineTransObjectModel3dAffineTransObjectModel3daffine_trans_object_model_3d

Module

3D Metrology

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