vector_to_pose T_vector_to_pose VectorToPose VectorToPose (Operator)
Name
vector_to_pose T_vector_to_pose VectorToPose VectorToPose
Signature
void VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn CameraParam Method QualityType Pose Quality
static HPose HImage ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn CameraParam Method QualityType Quality
static HPose HImage ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn CameraParam Method QualityType Quality
static HPose HImage ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn CameraParam Method QualityType Quality
static HPose HImage ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn CameraParam Method QualityType Quality
(Windows only)
HPose HCamPar ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn Method QualityType Quality
HPose HCamPar ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn Method QualityType Quality
HPose HCamPar ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn Method QualityType Quality
HPose HCamPar ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn Method QualityType Quality
(Windows only)
HTuple HPose ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn CameraParam Method QualityType
double HPose ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn CameraParam Method QualityType
double HPose ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn CameraParam Method QualityType
double HPose ::VectorToPose (const HTuple& WorldX WorldY WorldZ ImageRow ImageColumn CameraParam Method QualityType
(Windows only)
static void HOperatorSet .VectorToPose (HTuple worldX HTuple worldY HTuple worldZ HTuple imageRow HTuple imageColumn HTuple cameraParam HTuple method HTuple qualityType HTuple pose HTuple quality
static HPose HImage .VectorToPose (HTuple worldX HTuple worldY HTuple worldZ HTuple imageRow HTuple imageColumn HCamPar cameraParam method HTuple qualityType HTuple quality
static HPose HImage .VectorToPose (HTuple worldX HTuple worldY HTuple worldZ HTuple imageRow HTuple imageColumn HCamPar cameraParam method qualityType quality
HPose HCamPar .VectorToPose (HTuple worldX HTuple worldY HTuple worldZ HTuple imageRow HTuple imageColumn method HTuple qualityType HTuple quality
HPose HCamPar .VectorToPose (HTuple worldX HTuple worldY HTuple worldZ HTuple imageRow HTuple imageColumn method qualityType quality
HTuple HPose .VectorToPose (HTuple worldX HTuple worldY HTuple worldZ HTuple imageRow HTuple imageColumn HCamPar cameraParam method HTuple qualityType
double HPose .VectorToPose (HTuple worldX HTuple worldY HTuple worldZ HTuple imageRow HTuple imageColumn HCamPar cameraParam method qualityType
Description
The operator vector_to_pose vector_to_pose VectorToPose VectorToPose VectorToPose Method Method Method Method method WorldX WorldX WorldX WorldX worldX WorldY WorldY WorldY WorldY worldY WorldZ WorldZ WorldZ WorldZ worldZ ImageRow ImageRow ImageRow ImageRow imageRow ImageColumn ImageColumn ImageColumn ImageColumn imageColumn CameraParam CameraParam CameraParam CameraParam cameraParam
ccs denotes the camera coordinate system and
wcs the world coordinate system
(see Transformations / Poses
and “Solution Guide III-C - 3D Vision”).
Parameter Method
By setting the parameter Method Method Method Method method
Methods supported for perspective cameras :
Method Method Method Method method
When to use
Minimum number of point correspondences
'analytic' "analytic" "analytic" "analytic" "analytic"
Default method for general cases
4
'iterative' "iterative" "iterative" "iterative" "iterative"
If only three or four point correspondences
are used or if the world points are close to being planar
3
'planar_analytic' "planar_analytic" "planar_analytic" "planar_analytic" "planar_analytic"
If the world points lie in a horizontal
plane (
4
Methods supported for telecentric cameras :
Method Method Method Method method
When to use
Minimum number of point correspondences
'telecentric' "telecentric" "telecentric" "telecentric" "telecentric"
Default method for general cases
4
'telecentric_robust' "telecentric_robust" "telecentric_robust" "telecentric_robust" "telecentric_robust"
For very ill-posed point
configurations where Quality Quality Quality Quality quality
4
'telecentric_planar' "telecentric_planar" "telecentric_planar" "telecentric_planar" "telecentric_planar"
If the world points lie in a
horizontal plane (
3
'telecentric_planar_robust' "telecentric_planar_robust" "telecentric_planar_robust" "telecentric_planar_robust" "telecentric_planar_robust"
For very ill-posed point
configurations where the world points lie in a horizontal plane
(
Quality Quality Quality Quality quality
3
Parameters CameraParam and Quality
All methods need the inner camera parameters obtained from
camera_calibration camera_calibration CameraCalibration CameraCalibration CameraCalibration CameraParam CameraParam CameraParam CameraParam cameraParam
The user can specify in QualityType QualityType QualityType QualityType qualityType Quality Quality Quality Quality quality 'error' "error" "error" "error" "error"
General Remarks
If a method for planar world points is chosen, all world points are
assumed to lie in the plane
WorldZ WorldZ WorldZ WorldZ worldZ [] ) since only 2D
correspondences are used in this case.
For telecentric cameras, the translation in z obviously
cannot be determined. It is set to 0 in Pose Pose Pose Pose pose
For planar world points and telecentric cameras, there are always
two possible equivalent poses. This ambiguity can only be resolved
by some additional knowledge. vector_to_pose vector_to_pose VectorToPose VectorToPose VectorToPose
Pose Pose Pose Pose pose
Attention
The method 'analytic' "analytic" "analytic" "analytic" "analytic"
Execution Information
Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Processed without parallelization.
Parameters
WorldX WorldX WorldX WorldX worldX number-array → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
X-Component of world coordinates.
Number of elements: WorldX >= 4
WorldY WorldY WorldY WorldY worldY number-array → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Y-Component of world coordinates.
Number of elements: WorldY == WorldX
WorldZ WorldZ WorldZ WorldZ worldZ number-array → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Z-Component of world coordinates.
Number of elements: WorldZ == WorldX || WorldZ == 0
ImageRow ImageRow ImageRow ImageRow imageRow number-array → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Row-Component of image coordinates.
Number of elements: ImageRow == WorldX
ImageColumn ImageColumn ImageColumn ImageColumn imageColumn number-array → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Column-Component of image coordinates.
Number of elements: ImageColumn == WorldX
CameraParam CameraParam CameraParam CameraParam cameraParam campar → HCamPar , HTuple HTuple Htuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
The inner camera parameters from camera calibration.
Method Method Method Method method string → HTuple HTuple Htuple (string) (string ) (HString ) (char* )
Kind of algorithm
Default value:
'iterative'
"iterative"
"iterative"
"iterative"
"iterative"
List of values: 'analytic' "analytic" "analytic" "analytic" "analytic" , 'iterative' "iterative" "iterative" "iterative" "iterative" , 'planar_analytic' "planar_analytic" "planar_analytic" "planar_analytic" "planar_analytic" , 'telecentric' "telecentric" "telecentric" "telecentric" "telecentric" , 'telecentric_planar' "telecentric_planar" "telecentric_planar" "telecentric_planar" "telecentric_planar" , 'telecentric_planar_robust' "telecentric_planar_robust" "telecentric_planar_robust" "telecentric_planar_robust" "telecentric_planar_robust" , 'telecentric_robust' "telecentric_robust" "telecentric_robust" "telecentric_robust" "telecentric_robust"
QualityType QualityType QualityType QualityType qualityType string(-array) → HTuple HTuple Htuple (string) (string ) (HString ) (char* )
Type of pose quality to be returned in Quality.
Default value:
'error'
"error"
"error"
"error"
"error"
List of values: 'error' "error" "error" "error" "error"
Pose Pose Pose Pose pose pose → HPose , HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Pose.
Quality Quality Quality Quality quality number(-array) → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Pose quality.
Result
vector_to_pose vector_to_pose VectorToPose VectorToPose VectorToPose
See also
proj_hom_mat2d_to_pose proj_hom_mat2d_to_pose ProjHomMat2dToPose ProjHomMat2dToPose ProjHomMat2dToPose vector_to_rel_pose vector_to_rel_pose VectorToRelPose VectorToRelPose VectorToRelPose camera_calibration camera_calibration CameraCalibration CameraCalibration CameraCalibration
References
[1] Francesc Moreno-Noguer, Vincent Lepetit, and Pascal Fua:
“Accurate Non-Iterative O(n) Solution to the PnP Problem”;
Eleventh IEEE International Conference on Computer Vision, 2007.
n -Point
Problem”; Journal of Mathematical Imaging and Vision, vol. 60,
no. 2, pp. 246-266, 2018.
Module
Calibration