proj_hom_mat2d_to_poseT_proj_hom_mat2d_to_poseProjHomMat2dToPoseProjHomMat2dToPoseproj_hom_mat2d_to_pose (算子)
名称
proj_hom_mat2d_to_poseT_proj_hom_mat2d_to_poseProjHomMat2dToPoseProjHomMat2dToPoseproj_hom_mat2d_to_pose — 根据描述世界坐标和图像坐标之间关系的单应性计算一个姿态。
签名
描述
proj_hom_mat2d_to_poseproj_hom_mat2d_to_poseProjHomMat2dToPoseProjHomMat2dToPoseProjHomMat2dToPoseproj_hom_mat2d_to_pose computes a pose out of a homography
HomographyHomographyHomographyHomographyhomographyhomography that describes the relation between 2D world-
(unit meters) and 2D image coordinates. The homography can be
obtained by the use of vector_to_proj_hom_mat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dVectorToProjHomMat2dVectorToProjHomMat2dvector_to_proj_hom_mat2d。To compute
a pose, a camera matrix (obtained by cam_par_to_cam_matcam_par_to_cam_matCamParToCamMatCamParToCamMatCamParToCamMatcam_par_to_cam_mat, for
example) has to be passed in CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrixcamera_matrix. By setting the
Parameter MethodMethodMethodMethodmethodmethod, it is possible to choose which
computation algorithm is used. Currently a direct decomposition
(MethodMethodMethodMethodmethodmethod = 'decomposition') and a singular value
decomposition based method (MethodMethodMethodMethodmethodmethod = 'decomposition_svd')
are supported. In general due to numeric reasons, the direct
decomposition method returns more stable results.
The subsequent calls of vector_to_proj_hom_mat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dVectorToProjHomMat2dVectorToProjHomMat2dvector_to_proj_hom_mat2d and
proj_hom_mat2d_to_poseproj_hom_mat2d_to_poseProjHomMat2dToPoseProjHomMat2dToPoseProjHomMat2dToPoseproj_hom_mat2d_to_pose are similar to vector_to_posevector_to_poseVectorToPoseVectorToPoseVectorToPosevector_to_pose
for 2D objects, whereas no refinement due to redundancy is
possible.
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
HomographyHomographyHomographyHomographyhomographyhomography (输入控制) hom_mat2d → HHomMat2D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
The homography from world- to image coordinates.
CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrixcamera_matrix (输入控制) hom_mat2d → HHomMat2D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
The camera calibration matrix K.
MethodMethodMethodMethodmethodmethod (输入控制) string → HTuplestrHTupleHtuple (string) (string) (HString) (char*)
Type of pose computation.
默认值：
'decomposition'
"decomposition"
"decomposition"
"decomposition"
"decomposition"
"decomposition"
值列表：
'decomposition'"decomposition""decomposition""decomposition""decomposition""decomposition", 'decomposition_svd'"decomposition_svd""decomposition_svd""decomposition_svd""decomposition_svd""decomposition_svd"
PosePosePosePoseposepose (输出控制) pose → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Pose of the 2D object.
结果
proj_hom_mat2d_to_poseproj_hom_mat2d_to_poseProjHomMat2dToPoseProjHomMat2dToPoseProjHomMat2dToPoseproj_hom_mat2d_to_pose 在所有参数值正确时返回 2 ( H_MSG_TRUE )。
可能的前趋
image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlaneImagePointsToWorldPlaneimage_points_to_world_plane,
vector_to_proj_hom_mat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dVectorToProjHomMat2dVectorToProjHomMat2dvector_to_proj_hom_mat2d
另见
vector_to_proj_hom_mat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dVectorToProjHomMat2dVectorToProjHomMat2dvector_to_proj_hom_mat2d,
image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlaneImagePointsToWorldPlaneimage_points_to_world_plane,
vector_to_posevector_to_poseVectorToPoseVectorToPoseVectorToPosevector_to_pose,
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration
模块
标定