rigid_trans_object_model_3dT_rigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d (算子)

名称

rigid_trans_object_model_3dT_rigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d — 将刚性三维变换应用于三维对象模型。

签名

描述

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3drigid_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 PosePosePosePoseposepose, 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_poseCreatePoseCreatePoseCreatePosecreate_pose, pose_invertpose_invertPoseInvertPoseInvertPoseInvertpose_invert, etc., or it can be the result of get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsGetObjectModel3dParamsget_object_model_3d_params。

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d transforms one or more 3D object models with the same pose if only one transformation matrix is passed in PosePosePosePoseposepose (N:1). If a single 3D object model is passed in ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_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 ObjectModel3DRigidTransObjectModel3DRigidTransObjectModel3DRigidTransObjectModel3DRigidTransobjectModel3DRigidTransobject_model_3drigid_trans. This can be used to, for example, transform the results of find_surface_modelfind_surface_modelFindSurfaceModelFindSurfaceModelFindSurfaceModelfind_surface_model without checking first if at least one match was returned.

注意

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3drigid_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. All other attributes are copied without modification.

执行信息

• 多线程类型：可重入（与非独占算子并行运行）。
• 多线程作用域：全局（可从任何线程调用）。
• 在内部数据级别上自动并行化。

参数

结果

rigid_trans_object_model_3drigid_trans_object_model_3dRigidTransObjectModel3dRigidTransObjectModel3dRigidTransObjectModel3drigid_trans_object_model_3d 在所有参数正确时返回 2 ( H_MSG_TRUE )。如有必要，则抛出异常。

可能的前趋

read_object_model_3dread_object_model_3dReadObjectModel3dReadObjectModel3dReadObjectModel3dread_object_model_3d, xyz_to_object_model_3dxyz_to_object_model_3dXyzToObjectModel3dXyzToObjectModel3dXyzToObjectModel3dxyz_to_object_model_3d, fit_primitives_object_model_3dfit_primitives_object_model_3dFitPrimitivesObjectModel3dFitPrimitivesObjectModel3dFitPrimitivesObjectModel3dfit_primitives_object_model_3d

可能的后继

project_object_model_3dproject_object_model_3dProjectObjectModel3dProjectObjectModel3dProjectObjectModel3dproject_object_model_3d, object_model_3d_to_xyzobject_model_3d_to_xyzObjectModel3dToXyzObjectModel3dToXyzObjectModel3dToXyzobject_model_3d_to_xyz, get_object_model_3d_paramsget_object_model_3d_paramsGetObjectModel3dParamsGetObjectModel3dParamsGetObjectModel3dParamsget_object_model_3d_params

另见

affine_trans_point_3daffine_trans_point_3dAffineTransPoint3dAffineTransPoint3dAffineTransPoint3daffine_trans_point_3d, affine_trans_object_model_3daffine_trans_object_model_3dAffineTransObjectModel3dAffineTransObjectModel3dAffineTransObjectModel3daffine_trans_object_model_3d

模块

三维计量