cam_par_pose_to_hom_mat3dT_cam_par_pose_to_hom_mat3dCamParPoseToHomMat3dCamParPoseToHomMat3d (Operator)
Name
cam_par_pose_to_hom_mat3dT_cam_par_pose_to_hom_mat3dCamParPoseToHomMat3dCamParPoseToHomMat3d — Convert internal camera parameters and a 3D pose into a 3×4
projection matrix.
Signature
Description
cam_par_pose_to_hom_mat3dcam_par_pose_to_hom_mat3dCamParPoseToHomMat3dCamParPoseToHomMat3dCamParPoseToHomMat3d converts the internal camera
parameters CameraParamCameraParamCameraParamCameraParamcameraParam and the 3D pose PosePosePosePosepose, which
represent the external camera parameters, into the 3×4 projection
matrix HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D, which can be used to project points from
3D to 2D. The conversion can only be performed if the distortion
coefficients in CameraParamCameraParamCameraParamCameraParamcameraParam are 0. If necessary,
change_radial_distortion_cam_parchange_radial_distortion_cam_parChangeRadialDistortionCamParChangeRadialDistortionCamParChangeRadialDistortionCamPar must be used to achieve
this. The internal camera parameters and the pose are typically
obtained with calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras.
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
CameraParamCameraParamCameraParamCameraParamcameraParam (input_control) campar → HCamPar, HTupleHTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Internal camera parameters.
PosePosePosePosepose (input_control) pose → HPose, HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
3D pose.
Number of elements: 7
HomMat3DHomMat3DHomMat3DHomMat3DhomMat3D (output_control) hom_mat3d → HHomMat3D, HTupleHTupleHtuple (real) (double) (double) (double)
3×4 projection matrix.
Result
cam_par_pose_to_hom_mat3dcam_par_pose_to_hom_mat3dCamParPoseToHomMat3dCamParPoseToHomMat3dCamParPoseToHomMat3d returns 2 (H_MSG_TRUE) if all parameter
values are correct. If necessary, an exception is raised
Possible Predecessors
calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras,
change_radial_distortion_cam_parchange_radial_distortion_cam_parChangeRadialDistortionCamParChangeRadialDistortionCamParChangeRadialDistortionCamPar
Possible Successors
project_point_hom_mat3dproject_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dProjectPointHomMat3d,
project_hom_point_hom_mat3dproject_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3dProjectHomPointHomMat3d
See also
create_posecreate_poseCreatePoseCreatePoseCreatePose,
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPoseHomMat3dToPose,
project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPoint,
get_line_of_sightget_line_of_sightGetLineOfSightGetLineOfSightGetLineOfSight
Module
Foundation