vector_to_pose — Compute an absolute pose out of point correspondences between world and image coordinates.
The operator vector_to_pose computes a pose out of at least four point correspondences of 3D world coordinates [m] (WorldX, WorldY, WorldZ) and 2D image coordinates (ImageRow, ImageColumn). At first, the radial distortion of all image points is removed. By setting the parameter Method it is possible, to choose what kind of algorithm is used for the following pose computation. Currently an 'analytic', as well as an 'iterative' method are supported. Furthermore, if world points are planar (WorldZ = 0) it is also possible to choose 'planar_analytic'. The z-component of world coordinates can be left empty (WorldZ = ) as only 2D correspondences are used in that case.
In general, the analytic method (Method = 'analytic') returns the most robust results. Only, if just four points are used or if the world points are close to planar, the iterative method (Method = 'iterative') is slightly more robust. For world points that lie in a plane, the method 'planar_analytic' should be used.
The results of all algorithms are at last internally refined by the method used in camera_calibration, which minimizes geometric errors due to redundance. All methods need the inner camera parameters obtained from camera_calibration to solve the pose estimation problem. They have to be passed in CameraParam.
The user can specify in QualityType one or more quality measures of the pose to be evaluated. The resulting quality evaluations are returned concatenated in Quality. Currently, only 'error' is supported. It corresponds to the average error distances in pixels, which is returned by camera_calibration.
X-Component of world coordinates.
Number of elements: WorldX >= 4
Y-Component of world coordinates.
Number of elements: WorldY == WorldX
Z-Component of world coordinates.
Number of elements: WorldZ == WorldX || WorldZ == 0
Row-Component of image coordinates.
Number of elements: ImageRow == WorldX
Column-Component of image coordinates.
Number of elements: ImageColumn == WorldX
The inner camera parameters from camera calibration.
Number of elements: CameraParam == 8 || CameraParam == 10 || CameraParam == 12 || CameraParam == 14
Kind of algorithm
Default value: 'iterative'
List of values: 'analytic', 'iterative', 'planar_analytic'
Type of pose quality to be returned in Quality.
Default value: 'error'
List of values: 'error'
vector_to_pose returns 2 (H_MSG_TRUE) if all parameter values are correct.
proj_hom_mat2d_to_pose, vector_to_rel_pose, camera_calibration