Name
proj_hom_mat2d_to_poseT_proj_hom_mat2d_to_poseProjHomMat2dToPoseproj_hom_mat2d_to_poseProjHomMat2dToPoseProjHomMat2dToPose — Compute a pose out of a homography describing the relation between world
and image coordinates.
proj_hom_mat2d_to_poseproj_hom_mat2d_to_poseProjHomMat2dToPoseproj_hom_mat2d_to_poseProjHomMat2dToPoseProjHomMat2dToPose 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_mat2dVectorToProjHomMat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dVectorToProjHomMat2d. To compute
a pose, a camera matrix (obtained by cam_par_to_cam_matcam_par_to_cam_matCamParToCamMatcam_par_to_cam_matCamParToCamMatCamParToCamMat, for
example) has to be passed in CameraMatrixCameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrix. 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_mat2dVectorToProjHomMat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dVectorToProjHomMat2d and
proj_hom_mat2d_to_poseproj_hom_mat2d_to_poseProjHomMat2dToPoseproj_hom_mat2d_to_poseProjHomMat2dToPoseProjHomMat2dToPose are similar to vector_to_posevector_to_poseVectorToPosevector_to_poseVectorToPoseVectorToPose
for 2D objects, whereas no refinement due to redundance is
possible.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
The homography from world- to image coordinates.
The camera calibration matrix K.
Type of pose computation.
Default value:
'decomposition'
"decomposition"
"decomposition"
"decomposition"
"decomposition"
"decomposition"
List of values: 'decomposition'"decomposition""decomposition""decomposition""decomposition""decomposition", 'decomposition_svd'"decomposition_svd""decomposition_svd""decomposition_svd""decomposition_svd""decomposition_svd"
proj_hom_mat2d_to_poseproj_hom_mat2d_to_poseProjHomMat2dToPoseproj_hom_mat2d_to_poseProjHomMat2dToPoseProjHomMat2dToPose returns 2 (H_MSG_TRUE) if all parameter values
are correct.
image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane,
vector_to_proj_hom_mat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dVectorToProjHomMat2d
vector_to_proj_hom_mat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dVectorToProjHomMat2d,
image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane,
vector_to_posevector_to_poseVectorToPosevector_to_poseVectorToPoseVectorToPose,
camera_calibrationcamera_calibrationCameraCalibrationcamera_calibrationCameraCalibrationCameraCalibration
Calibration