essential_to_fundamental_matrixT_essential_to_fundamental_matrixEssentialToFundamentalMatrixEssentialToFundamentalMatrixessential_to_fundamental_matrix (算子)

名称

essential_to_fundamental_matrixT_essential_to_fundamental_matrixEssentialToFundamentalMatrixEssentialToFundamentalMatrixessential_to_fundamental_matrix — 从本质矩阵计算基础矩阵。

签名

描述

The fundamental matrix is the entity describing the epipolar constraint in image coordinates (C,R) and the essential matrix is its counterpart for 3D direction vectors (X,Y,1): Image coordinates result from 3D direction vectors by multiplication with the camera matrix CamMat: Therefore, the fundamental matrix FMatrixFMatrixFMatrixFMatrixFMatrixfmatrix is calculated from the essential matrix EMatrixEMatrixEMatrixEMatrixEMatrixematrix and the camera matrices CamMat1CamMat1CamMat1CamMat1camMat1cam_mat_1, CamMat2CamMat2CamMat2CamMat2camMat2cam_mat_2 by the following formula: The transformation of the essential matrix to the fundamental matrix goes along with the propagation of the covariance matrices CovEMatCovEMatCovEMatCovEMatcovEMatcov_emat to CovFMatCovFMatCovFMatCovFMatcovFMatcov_fmat. If CovEMatCovEMatCovEMatCovEMatcovEMatcov_emat is empty CovFMatCovFMatCovFMatCovFMatcovFMatcov_fmat will be empty too.

The conversion operator essential_to_fundamental_matrixessential_to_fundamental_matrixEssentialToFundamentalMatrixEssentialToFundamentalMatrixEssentialToFundamentalMatrixessential_to_fundamental_matrix is used especially for a subsequent visualization of the epipolar line structure via the fundamental matrix, which depicts the underlying stereo geometry.

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）。
• 未采用并行化处理。

参数

可能的前趋

vector_to_essential_matrixvector_to_essential_matrixVectorToEssentialMatrixVectorToEssentialMatrixVectorToEssentialMatrixvector_to_essential_matrix

替代

rel_pose_to_fundamental_matrixrel_pose_to_fundamental_matrixRelPoseToFundamentalMatrixRelPoseToFundamentalMatrixRelPoseToFundamentalMatrixrel_pose_to_fundamental_matrix

模块

三维计量