Operator Reference

HALCON Operator Reference / Transformations / 3D Transformations
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hom_mat3d_rotate_localT_hom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalhom_mat3d_rotate_local (Operator)

hom_mat3d_rotate_localT_hom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalhom_mat3d_rotate_local — Add a rotation to a homogeneous 3D transformation matrix.

Signature

hom_mat3d_rotate_local( : : HomMat3D, Phi, Axis : HomMat3DRotate)

Herror T_hom_mat3d_rotate_local(const Htuple HomMat3D, const Htuple Phi, const Htuple Axis, Htuple* HomMat3DRotate)

void HomMat3dRotateLocal(const HTuple& HomMat3D, const HTuple& Phi, const HTuple& Axis, HTuple* HomMat3DRotate)

HHomMat3D HHomMat3D::HomMat3dRotateLocal(const HTuple& Phi, const HTuple& Axis) const

HHomMat3D HHomMat3D::HomMat3dRotateLocal(double Phi, const HString& Axis) const

HHomMat3D HHomMat3D::HomMat3dRotateLocal(double Phi, const char* Axis) const

HHomMat3D HHomMat3D::HomMat3dRotateLocal(double Phi, const wchar_t* Axis) const   ( Windows only)

static void HOperatorSet.HomMat3dRotateLocal(HTuple homMat3D, HTuple phi, HTuple axis, out HTuple homMat3DRotate)

HHomMat3D HHomMat3D.HomMat3dRotateLocal(HTuple phi, HTuple axis)

HHomMat3D HHomMat3D.HomMat3dRotateLocal(double phi, string axis)

def hom_mat3d_rotate_local(hom_mat_3d: Sequence[float], phi: Union[float, int], axis: MaybeSequence[Union[str, float, int]]) -> Sequence[float]

Description

hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalhom_mat3d_rotate_local adds a rotation by the angle PhiPhiPhiphiphi around the axis passed in the parameter AxisAxisAxisaxisaxis to the homogeneous 3D transformation matrix HomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d and returns the resulting matrix in HomMat3DRotateHomMat3DRotateHomMat3DRotatehomMat3DRotatehom_mat_3drotate. The axis can be specified by passing the strings 'x', 'y', or 'z', or by passing a vector [x,y,z] as a tuple.

The rotation is described by a 3×3 rotation matrix R. In contrast to hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate, it is performed relative to the local coordinate system, i.e., the coordinate system described by HomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d; this corresponds to the following chain of transformation matrices:

AxisAxisAxisaxisaxis = 'x'"x""x""x""x":

AxisAxisAxisaxisaxis = 'y'"y""y""y""y":

AxisAxisAxisaxisaxis = 'z'"z""z""z""z":

The fixed point of the transformation is the origin of the local coordinate system, i.e., this point remains unchanged when transformed using HomMat3DRotateHomMat3DRotateHomMat3DRotatehomMat3DRotatehom_mat_3drotate.

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.

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

Rotation angle.

Default: 0.78

Suggested values: 0.1, 0.2, 0.3, 0.4, 0.78, 1.57, 3.14

Value range: 0 ≤ Phi Phi Phi phi phi ≤ 6.28318530718

AxisAxisAxisaxisaxis (input_control)  string(-array) → HTupleMaybeSequence[Union[str, float, int]]HTupleHtuple (string / real / integer) (string / double / int / long) (HString / double / Hlong) (char* / double / Hlong)

Axis, to be rotated around.

Default: 'x' "x" "x" "x" "x"

Suggested values: 'x'"x""x""x""x", 'y'"y""y""y""y", 'z'"z""z""z""z"

HomMat3DRotateHomMat3DRotateHomMat3DRotatehomMat3DRotatehom_mat_3drotate (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_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalhom_mat3d_rotate_local returns 2 ( H_MSG_TRUE) . If necessary, an exception is raised.

Possible Predecessors

hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentityhom_mat3d_identity, hom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocalhom_mat3d_translate_local, hom_mat3d_scale_localhom_mat3d_scale_localHomMat3dScaleLocalHomMat3dScaleLocalhom_mat3d_scale_local, hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalhom_mat3d_rotate_local

Possible Successors

hom_mat3d_translate_localhom_mat3d_translate_localHomMat3dTranslateLocalHomMat3dTranslateLocalhom_mat3d_translate_local, hom_mat3d_scale_localhom_mat3d_scale_localHomMat3dScaleLocalHomMat3dScaleLocalhom_mat3d_scale_local, hom_mat3d_rotate_localhom_mat3d_rotate_localHomMat3dRotateLocalHomMat3dRotateLocalhom_mat3d_rotate_local

See also

hom_mat3d_inverthom_mat3d_invertHomMat3dInvertHomMat3dInverthom_mat3d_invert, hom_mat3d_identityhom_mat3d_identityHomMat3dIdentityHomMat3dIdentityhom_mat3d_identity, hom_mat3d_rotatehom_mat3d_rotateHomMat3dRotateHomMat3dRotatehom_mat3d_rotate, 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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