project_hom_point_hom_mat3dT_project_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3dproject_hom_point_hom_mat3d (算子)

名称

project_hom_point_hom_mat3dT_project_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3dproject_hom_point_hom_mat3d — 使用 3×4 投影矩阵投影齐次三维点。

签名

描述

projective_trans_hom_point_3dprojective_trans_hom_point_3dProjectiveTransHomPoint3dProjectiveTransHomPoint3dProjectiveTransHomPoint3dprojective_trans_hom_point_3d applies the 3×4 projection matrix HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d to all homogeneous input points (PxPxPxPxpxpx,PyPyPyPypypy,PzPzPzPzpzpz,PwPwPwPwpwpw) and returns an array of homogeneous output points (QxQxQxQxqxqx,QyQyQyQyqyqy,QwQwQwQwqwqw). The transformation is described by the homogeneous transformation matrix given in HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d. This corresponds to the following equation (input and output points as homogeneous vectors):

To transform the homogeneous coordinates to Euclidean coordinates, they must be divided by QwQwQwQwqwqw: This can be achieved directly by calling project_point_hom_mat3dproject_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dProjectPointHomMat3dproject_point_hom_mat3d。Thus, project_hom_point_hom_mat3dproject_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3dProjectHomPointHomMat3dproject_hom_point_hom_mat3d is primarily useful for transforming points or point sets for which the resulting points might lie on the line at infinity, i.e., points that potentially have QwQwQwQwqwqw = 0, for which the above division cannot be performed.

Note that, consistent with the conventions used by the projection in calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras, QxQxQxQxqxqx corresponds to the column coordinate of an image and QyQyQyQyqyqy corresponds to the row coordinate.

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

可能的前趋

cam_par_pose_to_hom_mat3dcam_par_pose_to_hom_mat3dCamParPoseToHomMat3dCamParPoseToHomMat3dCamParPoseToHomMat3dcam_par_pose_to_hom_mat3d

替代

project_point_hom_mat3dproject_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dProjectPointHomMat3dproject_point_hom_mat3d, project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPointproject_3d_point

模块

基础