vector_to_pose T_vector_to_pose VectorToPose VectorToPose (Operator)
Name
vector_to_pose T_vector_to_pose VectorToPose VectorToPose
Signatur
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
(Nur Windows)
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
(Nur Windows)
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
(Nur Windows)
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
Beschreibung
Der 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 für das Kamerakoordinatensystem und
wcs für das Weltkoordinatensystem, siehe auch
Transformationen / Posen und
„Solution Guide III-C - 3D Vision“.
Parameter Method
Je nach Wahl des Parameters Method Method Method Method method
Methoden, die für Lochkameras unterstützt werden:
Method Method Method Method method
Wann verwenden
Minimale Anzahl von Punktkorrespondenzen
'analytic' "analytic" "analytic" "analytic" "analytic"
Standardmethode für allgemeine Verwendung
4
'iterative' "iterative" "iterative" "iterative" "iterative"
Falls nur drei oder vier Punktkorrespondenzen
verwendet werden oder falls die Weltpunkte fast planar sind
3
'planar_analytic' "planar_analytic" "planar_analytic" "planar_analytic" "planar_analytic"
Falls die Weltpunkte in einer
horizontalen Ebene liegen (
4
Methoden, die für telezentrische Kameras unterstützt
werden:
Method Method Method Method method
Wann verwenden
Minimale Anzahl von Punktkorrespondenzen
'telecentric' "telecentric" "telecentric" "telecentric" "telecentric"
Standardmethode für allgemeine Verwendung
4
'telecentric_robust' "telecentric_robust" "telecentric_robust" "telecentric_robust" "telecentric_robust"
Für sehr schlecht gestellte
Punktkonfigurationen, falls Quality Quality Quality Quality quality
4
'telecentric_planar' "telecentric_planar" "telecentric_planar" "telecentric_planar" "telecentric_planar"
Falls die Weltpunkte in einer
horizontalen Ebene liegen (
3
'telecentric_planar_robust' "telecentric_planar_robust" "telecentric_planar_robust" "telecentric_planar_robust" "telecentric_planar_robust"
Für sehr schlecht gestellte
Punktkonfigurationen, in denen die Weltpunkte in einer horizontalen
Ebene liegen (
Quality Quality Quality Quality quality
3
Parameter CameraParam und Quality
Zur Lösung des Problems benötigen alle Algorithmen die internen
Kameraparameter aus der Kamerakalibrierung, die in
CameraParam CameraParam CameraParam CameraParam cameraParam
Zusätzlich kann der Benutzer durch QualityType QualityType QualityType QualityType qualityType Quality Quality Quality Quality quality 'error' "error" "error" "error" "error"
Allgemeine Anmerkungen
Falls eine Methode für planare Weltpunkte gewählt wird, wird
angenommen, dass alle Weltpunkte in der Ebene
WorldZ WorldZ WorldZ WorldZ worldZ [] ), da nur 2D-Korrespondenzen verwendet
werden.
Für telezentrische Kameras kann offensichtlicherweise die
Translation in z -Richtung nicht bestimmt werden. Sie wird
in Pose Pose Pose Pose pose 0 gesetzt.
Für planare Weltpunkte und telezentrische Kameras existieren immer
zwei mögliche äquivalente Posen. Diese Mehrdeutigkeit kann nur
durch Zusatzwissen aufgelöst werden. vector_to_pose vector_to_pose VectorToPose VectorToPose VectorToPose
Pose Pose Pose Pose pose
Achtung
Die Methode 'analytic' "analytic" "analytic" "analytic" "analytic"
Ausführungsinformationen
Multithreading-Typ: reentrant (läuft parallel zu nicht-exklusiven Operatoren).
Multithreading-Bereich: global (kann von jedem Thread aufgerufen werden).
Wird ohne Parallelisierung verarbeitet.
Parameter
WorldX WorldX WorldX WorldX worldX number-array → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
X-Koordinaten der Weltpunkte.
Parameteranzahl: WorldX >= 4
WorldY WorldY WorldY WorldY worldY number-array → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Y-Koordinaten der Weltpunkte.
Parameteranzahl: WorldY == WorldX
WorldZ WorldZ WorldZ WorldZ worldZ number-array → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Z-Koordinaten der Weltpunkte.
Parameteranzahl: WorldZ == WorldX || WorldZ == 0
ImageRow ImageRow ImageRow ImageRow imageRow number-array → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Zeilen-Koordinaten der Bildpunkte.
Parameteranzahl: ImageRow == WorldX
ImageColumn ImageColumn ImageColumn ImageColumn imageColumn number-array → HTuple HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Spalten-Koordinaten der Bildpunkte.
Parameteranzahl: 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*)
Die internen Kameraparameter aus der Kamerakalibrierung.
Method Method Method Method method string → HTuple HTuple Htuple (string) (string ) (HString ) (char* )
Art des Algorithmus
Defaultwert:
'iterative'
"iterative"
"iterative"
"iterative"
"iterative"
Werteliste: '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* )
Art des mit Quality zurückgegebenen Qualitätsmaßes.
Defaultwert:
'error'
"error"
"error"
"error"
"error"
Werteliste: '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)
Posequalitätsmaß.
Ergebnis
Sind die Parameterwerte korrekt, dann liefert vector_to_pose vector_to_pose VectorToPose VectorToPose VectorToPose
Siehe auch
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
Literatur
[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.
Modul
Calibration