Operator Reference

HALCON Operator Reference / Transformations / 2D Transformations

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vector_angle_to_rigidT_vector_angle_to_rigidVectorAngleToRigidVectorAngleToRigidvector_angle_to_rigid (Operator)

vector_angle_to_rigidT_vector_angle_to_rigidVectorAngleToRigidVectorAngleToRigidvector_angle_to_rigid — Compute a rigid affine transformation from points and angles.

Signature

vector_angle_to_rigid( : : Row1, Column1, Angle1, Row2, Column2, Angle2 : HomMat2D)

Herror T_vector_angle_to_rigid(const Htuple Row1, const Htuple Column1, const Htuple Angle1, const Htuple Row2, const Htuple Column2, const Htuple Angle2, Htuple* HomMat2D)

void VectorAngleToRigid(const HTuple& Row1, const HTuple& Column1, const HTuple& Angle1, const HTuple& Row2, const HTuple& Column2, const HTuple& Angle2, HTuple* HomMat2D)

void HHomMat2D::VectorAngleToRigid(const HTuple& Row1, const HTuple& Column1, const HTuple& Angle1, const HTuple& Row2, const HTuple& Column2, const HTuple& Angle2)

void HHomMat2D::VectorAngleToRigid(double Row1, double Column1, double Angle1, double Row2, double Column2, double Angle2)

static void HOperatorSet.VectorAngleToRigid(HTuple row1, HTuple column1, HTuple angle1, HTuple row2, HTuple column2, HTuple angle2, out HTuple homMat2D)

void HHomMat2D.VectorAngleToRigid(HTuple row1, HTuple column1, HTuple angle1, HTuple row2, HTuple column2, HTuple angle2)

void HHomMat2D.VectorAngleToRigid(double row1, double column1, double angle1, double row2, double column2, double angle2)

def vector_angle_to_rigid(row_1: Union[float, int], column_1: Union[float, int], angle_1: Union[float, int], row_2: Union[float, int], column_2: Union[float, int], angle_2: Union[float, int]) -> Sequence[float]

Description

vector_angle_to_rigidvector_angle_to_rigidVectorAngleToRigidVectorAngleToRigidvector_angle_to_rigid computes a rigid affine transformation, i.e., a transformation consisting of a rotation and a translation, from a point correspondence and two corresponding angles and returns it as the homogeneous transformation matrix HomMat2DHomMat2DHomMat2DhomMat2Dhom_mat_2d. The matrix consists of 2 components: a rotation matrix R and a translation vector t (also see hom_mat2d_rotatehom_mat2d_rotateHomMat2dRotateHomMat2dRotatehom_mat2d_rotate and hom_mat2d_translatehom_mat2d_translateHomMat2dTranslateHomMat2dTranslatehom_mat2d_translate):

The coordinates of the original point are passed in (Row1Row1Row1row1row_1,Column1Column1Column1column1column_1), while the corresponding angle is passed in Angle1Angle1Angle1angle1angle_1. The coordinates of the transformed point are passed in (Row2Row2Row2row2row_2,Column2Column2Column2column2column_2), while the corresponding angle is passed in Angle2Angle2Angle2angle2angle_2. The following equation describes the transformation of the point using homogeneous vectors:

In particular, the operator vector_angle_to_rigidvector_angle_to_rigidVectorAngleToRigidVectorAngleToRigidvector_angle_to_rigid is useful to construct a rigid affine transformation from the results of the matching operators (e.g., find_ncc_modelfind_ncc_modelFindNccModelFindNccModelfind_ncc_model), which transforms a reference image to the current image or (if the parameters are passed in reverse order) from the current image to the reference image.

HomMat2DHomMat2DHomMat2DhomMat2Dhom_mat_2d can be used directly with operators that transform data using affine transformations, e.g., affine_trans_imageaffine_trans_imageAffineTransImageAffineTransImageaffine_trans_image.

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

Row1Row1Row1row1row_1 (input_control)  point.y → HTupleUnion[float, int]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Row coordinate of the original point.

Column1Column1Column1column1column_1 (input_control)  point.x → HTupleUnion[float, int]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Column coordinate of the original point.

Angle1Angle1Angle1angle1angle_1 (input_control)  angle.rad → HTupleUnion[float, int]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Angle of the original point.

Row2Row2Row2row2row_2 (input_control)  point.y → HTupleUnion[float, int]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Row coordinate of the transformed point.

Column2Column2Column2column2column_2 (input_control)  point.x → HTupleUnion[float, int]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Column coordinate of the transformed point.

Angle2Angle2Angle2angle2angle_2 (input_control)  angle.rad → HTupleUnion[float, int]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Angle of the transformed point.

HomMat2DHomMat2DHomMat2DhomMat2Dhom_mat_2d (output_control)  hom_mat2d → HHomMat2D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Output transformation matrix.

Example (HDevelop)

read_image (Image, 'face_masks/face_mask_01')
* Prepare NCC matching.
gen_rectangle2 (ROI, 616.5, 708.5, rad(-82.4054), 50, 35)
reduce_domain (Image, ROI, ImageReduced)
create_ncc_model (ImageReduced, 'auto', rad(0), rad(360), 'auto',\
                  'use_polarity', ModelID)
read_image (SearchImage, 'face_masks/face_mask_02')
find_ncc_model (SearchImage, ModelID, rad(0), rad(360), 0.7, 1, 0.5,\
                'true', 0, Row, Column, Angle, Score)
get_ncc_model_region (ModelRegion, ModelID)
gen_contour_region_xld (ModelRegion, ModelContours, 'border_holes')
* Create transformation matrix for found match.
vector_angle_to_rigid (0, 0, 0, Row, Column, Angle, HomMat2D)
affine_trans_contour_xld (ModelContours, ContoursAffineTrans, HomMat2D)

Possible Predecessors

get_ncc_model_regionget_ncc_model_regionGetNccModelRegionGetNccModelRegionget_ncc_model_region

Possible Successors

hom_mat2d_inverthom_mat2d_invertHomMat2dInvertHomMat2dInverthom_mat2d_invert, affine_trans_imageaffine_trans_imageAffineTransImageAffineTransImageaffine_trans_image, affine_trans_regionaffine_trans_regionAffineTransRegionAffineTransRegionaffine_trans_region, affine_trans_contour_xldaffine_trans_contour_xldAffineTransContourXldAffineTransContourXldaffine_trans_contour_xld, affine_trans_polygon_xldaffine_trans_polygon_xldAffineTransPolygonXldAffineTransPolygonXldaffine_trans_polygon_xld, affine_trans_point_2daffine_trans_point_2dAffineTransPoint2dAffineTransPoint2daffine_trans_point_2d

Alternatives

vector_to_rigidvector_to_rigidVectorToRigidVectorToRigidvector_to_rigid

See also

vector_field_to_hom_mat2dvector_field_to_hom_mat2dVectorFieldToHomMat2dVectorFieldToHomMat2dvector_field_to_hom_mat2d

Module

Foundation

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