proj_hom_mat2d_to_pose — Compute a pose out of a homography describing the relation between world and image coordinates.
proj_hom_mat2d_to_pose computes a pose out of a homography Homography 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_mat2d. To compute a pose, a camera matrix (obtained by cam_par_to_cam_mat, for example) has to be passed in CameraMatrix. By setting the Parameter Method, it is possible to choose which computation algorithm is used. Currently a direct decomposition (Method = 'decomposition') and a singular value decomposition based method (Method = '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_mat2d and proj_hom_mat2d_to_pose are similar to vector_to_pose for 2D objects, whereas no refinement due to redundance is possible.
The homography from world- to image coordinates.
The camera calibration matrix K.
Type of pose computation.
Default value: 'decomposition'
List of values: 'decomposition', 'decomposition_svd'
Pose of the 2D object.
proj_hom_mat2d_to_pose returns 2 (H_MSG_TRUE) if all parameter values are correct.
vector_to_proj_hom_mat2d, image_points_to_world_plane, vector_to_pose, camera_calibration