vector_to_rel_pose T_vector_to_rel_pose VectorToRelPose VectorToRelPose vector_to_rel_pose (Operator)
Name
vector_to_rel_pose T_vector_to_rel_pose VectorToRelPose VectorToRelPose vector_to_rel_pose
— Bestimmung der relativen Orientierung zweier Kameras unter
Verwendung vorgegebener Punktkorrespondenzen und bekannter
Kameraparameter sowie Rekonstruktion der 3D Raumpunkte.
Signatur
vector_to_rel_pose ( : : Rows1 , Cols1 , Rows2 , Cols2 , CovRR1 , CovRC1 , CovCC1 , CovRR2 , CovRC2 , CovCC2 , CamPar1 , CamPar2 , Method : RelPose , CovRelPose , Error , X , Y , Z , CovXYZ )
Herror T_vector_to_rel_pose (const Htuple Rows1 , const Htuple Cols1 , const Htuple Rows2 , const Htuple Cols2 , const Htuple CovRR1 , const Htuple CovRC1 , const Htuple CovCC1 , const Htuple CovRR2 , const Htuple CovRC2 , const Htuple CovCC2 , const Htuple CamPar1 , const Htuple CamPar2 , const Htuple Method , Htuple* RelPose , Htuple* CovRelPose , Htuple* Error , Htuple* X , Htuple* Y , Htuple* Z , Htuple* CovXYZ )
void VectorToRelPose (const HTuple& Rows1 , const HTuple& Cols1 , const HTuple& Rows2 , const HTuple& Cols2 , const HTuple& CovRR1 , const HTuple& CovRC1 , const HTuple& CovCC1 , const HTuple& CovRR2 , const HTuple& CovRC2 , const HTuple& CovCC2 , const HTuple& CamPar1 , const HTuple& CamPar2 , const HTuple& Method , HTuple* RelPose , HTuple* CovRelPose , HTuple* Error , HTuple* X , HTuple* Y , HTuple* Z , HTuple* CovXYZ )
HPose HCamPar ::VectorToRelPose (const HTuple& Rows1 , const HTuple& Cols1 , const HTuple& Rows2 , const HTuple& Cols2 , const HTuple& CovRR1 , const HTuple& CovRC1 , const HTuple& CovCC1 , const HTuple& CovRR2 , const HTuple& CovRC2 , const HTuple& CovCC2 , const HCamPar& CamPar2 , const HString& Method , HTuple* CovRelPose , HTuple* Error , HTuple* X , HTuple* Y , HTuple* Z , HTuple* CovXYZ ) const
HPose HCamPar ::VectorToRelPose (const HTuple& Rows1 , const HTuple& Cols1 , const HTuple& Rows2 , const HTuple& Cols2 , const HTuple& CovRR1 , const HTuple& CovRC1 , const HTuple& CovCC1 , const HTuple& CovRR2 , const HTuple& CovRC2 , const HTuple& CovCC2 , const HCamPar& CamPar2 , const HString& Method , HTuple* CovRelPose , double* Error , HTuple* X , HTuple* Y , HTuple* Z , HTuple* CovXYZ ) const
HPose HCamPar ::VectorToRelPose (const HTuple& Rows1 , const HTuple& Cols1 , const HTuple& Rows2 , const HTuple& Cols2 , const HTuple& CovRR1 , const HTuple& CovRC1 , const HTuple& CovCC1 , const HTuple& CovRR2 , const HTuple& CovRC2 , const HTuple& CovCC2 , const HCamPar& CamPar2 , const char* Method , HTuple* CovRelPose , double* Error , HTuple* X , HTuple* Y , HTuple* Z , HTuple* CovXYZ ) const
HPose HCamPar ::VectorToRelPose (const HTuple& Rows1 , const HTuple& Cols1 , const HTuple& Rows2 , const HTuple& Cols2 , const HTuple& CovRR1 , const HTuple& CovRC1 , const HTuple& CovCC1 , const HTuple& CovRR2 , const HTuple& CovRC2 , const HTuple& CovCC2 , const HCamPar& CamPar2 , const wchar_t* Method , HTuple* CovRelPose , double* Error , HTuple* X , HTuple* Y , HTuple* Z , HTuple* CovXYZ ) const
(Nur Windows)
HTuple HPose ::VectorToRelPose (const HTuple& Rows1 , const HTuple& Cols1 , const HTuple& Rows2 , const HTuple& Cols2 , const HTuple& CovRR1 , const HTuple& CovRC1 , const HTuple& CovCC1 , const HTuple& CovRR2 , const HTuple& CovRC2 , const HTuple& CovCC2 , const HCamPar& CamPar1 , const HCamPar& CamPar2 , const HString& Method , HTuple* Error , HTuple* X , HTuple* Y , HTuple* Z , HTuple* CovXYZ )
HTuple HPose ::VectorToRelPose (const HTuple& Rows1 , const HTuple& Cols1 , const HTuple& Rows2 , const HTuple& Cols2 , const HTuple& CovRR1 , const HTuple& CovRC1 , const HTuple& CovCC1 , const HTuple& CovRR2 , const HTuple& CovRC2 , const HTuple& CovCC2 , const HCamPar& CamPar1 , const HCamPar& CamPar2 , const HString& Method , double* Error , HTuple* X , HTuple* Y , HTuple* Z , HTuple* CovXYZ )
HTuple HPose ::VectorToRelPose (const HTuple& Rows1 , const HTuple& Cols1 , const HTuple& Rows2 , const HTuple& Cols2 , const HTuple& CovRR1 , const HTuple& CovRC1 , const HTuple& CovCC1 , const HTuple& CovRR2 , const HTuple& CovRC2 , const HTuple& CovCC2 , const HCamPar& CamPar1 , const HCamPar& CamPar2 , const char* Method , double* Error , HTuple* X , HTuple* Y , HTuple* Z , HTuple* CovXYZ )
HTuple HPose ::VectorToRelPose (const HTuple& Rows1 , const HTuple& Cols1 , const HTuple& Rows2 , const HTuple& Cols2 , const HTuple& CovRR1 , const HTuple& CovRC1 , const HTuple& CovCC1 , const HTuple& CovRR2 , const HTuple& CovRC2 , const HTuple& CovCC2 , const HCamPar& CamPar1 , const HCamPar& CamPar2 , const wchar_t* Method , double* Error , HTuple* X , HTuple* Y , HTuple* Z , HTuple* CovXYZ )
(Nur Windows)
static void HOperatorSet .VectorToRelPose (HTuple rows1 , HTuple cols1 , HTuple rows2 , HTuple cols2 , HTuple covRR1 , HTuple covRC1 , HTuple covCC1 , HTuple covRR2 , HTuple covRC2 , HTuple covCC2 , HTuple camPar1 , HTuple camPar2 , HTuple method , out HTuple relPose , out HTuple covRelPose , out HTuple error , out HTuple x , out HTuple y , out HTuple z , out HTuple covXYZ )
HPose HCamPar .VectorToRelPose (HTuple rows1 , HTuple cols1 , HTuple rows2 , HTuple cols2 , HTuple covRR1 , HTuple covRC1 , HTuple covCC1 , HTuple covRR2 , HTuple covRC2 , HTuple covCC2 , HCamPar camPar2 , string method , out HTuple covRelPose , out HTuple error , out HTuple x , out HTuple y , out HTuple z , out HTuple covXYZ )
HPose HCamPar .VectorToRelPose (HTuple rows1 , HTuple cols1 , HTuple rows2 , HTuple cols2 , HTuple covRR1 , HTuple covRC1 , HTuple covCC1 , HTuple covRR2 , HTuple covRC2 , HTuple covCC2 , HCamPar camPar2 , string method , out HTuple covRelPose , out double error , out HTuple x , out HTuple y , out HTuple z , out HTuple covXYZ )
HTuple HPose .VectorToRelPose (HTuple rows1 , HTuple cols1 , HTuple rows2 , HTuple cols2 , HTuple covRR1 , HTuple covRC1 , HTuple covCC1 , HTuple covRR2 , HTuple covRC2 , HTuple covCC2 , HCamPar camPar1 , HCamPar camPar2 , string method , out HTuple error , out HTuple x , out HTuple y , out HTuple z , out HTuple covXYZ )
HTuple HPose .VectorToRelPose (HTuple rows1 , HTuple cols1 , HTuple rows2 , HTuple cols2 , HTuple covRR1 , HTuple covRC1 , HTuple covCC1 , HTuple covRR2 , HTuple covRC2 , HTuple covCC2 , HCamPar camPar1 , HCamPar camPar2 , string method , out double error , out HTuple x , out HTuple y , out HTuple z , out HTuple covXYZ )
def vector_to_rel_pose (rows_1 : Sequence[Union[float, int]], cols_1 : Sequence[Union[float, int]], rows_2 : Sequence[Union[float, int]], cols_2 : Sequence[Union[float, int]], cov_rr1 : Sequence[Union[float, int]], cov_rc1 : Sequence[Union[float, int]], cov_cc1 : Sequence[Union[float, int]], cov_rr2 : Sequence[Union[float, int]], cov_rc2 : Sequence[Union[float, int]], cov_cc2 : Sequence[Union[float, int]], cam_par_1 : Sequence[Union[float, int, str]], cam_par_2 : Sequence[Union[float, int, str]], method : str) -> Tuple[Sequence[Union[int, float]], Sequence[float], Sequence[float], Sequence[float], Sequence[float], Sequence[float], Sequence[float]]
def vector_to_rel_pose_s (rows_1 : Sequence[Union[float, int]], cols_1 : Sequence[Union[float, int]], rows_2 : Sequence[Union[float, int]], cols_2 : Sequence[Union[float, int]], cov_rr1 : Sequence[Union[float, int]], cov_rc1 : Sequence[Union[float, int]], cov_cc1 : Sequence[Union[float, int]], cov_rr2 : Sequence[Union[float, int]], cov_rc2 : Sequence[Union[float, int]], cov_cc2 : Sequence[Union[float, int]], cam_par_1 : Sequence[Union[float, int, str]], cam_par_2 : Sequence[Union[float, int, str]], method : str) -> Tuple[Sequence[Union[int, float]], Sequence[float], float, Sequence[float], Sequence[float], Sequence[float], Sequence[float]]
Beschreibung
vector_to_rel_pose vector_to_rel_pose VectorToRelPose VectorToRelPose VectorToRelPose vector_to_rel_pose
ermittelt aus im allgemeinen mindestens sechs
vorgegebenen Punktkorrespondenzen eines Stereobildpaares die
relative Orientierung der beiden Kameras zueinander.
RelPose RelPose RelPose RelPose relPose rel_pose
gibt die Orientierung der Kamera 1 relative zur
Kamera 2 an (Siehe create_pose create_pose CreatePose CreatePose CreatePose create_pose
für weitere Information
über die Beschreibung von Orientierungen.).
Dies steht in Übereinstimmung mit der expliziten Kalibrierung einer
Stereokonfiguration mit dem Operator calibrate_cameras calibrate_cameras CalibrateCameras CalibrateCameras CalibrateCameras calibrate_cameras
.
Sei R,t die Rotation beziehungsweise Translation der relativen
Orientierung. Die Essential-Matrix E ist dann durch
definiert,
wobei
eine 3x3 schiefsymmetrische
Matrix ist, welche das Kreuzprodukt mit dem Vektor t beschreibt.
Die gesuchte Orientierung kann mittels der Epipolar-Gleichungen
bestimmt werden:
Zu beachten ist, dass die Essential-Matrix eine homogene Größe ist, d.h. sie
ist bis auf einen Skalierungsfaktor bestimmt. Somit kann der
Translationsvektor der relativen Orientierung auch nur bis auf eine
Skalierung berechnet werden. Der Operator wird diesen Vektor
auf die Länge eins normiert berechnen. Als Konsequenz ergibt sich, dass
die Rekonstruktion der betrachteten Szene, hier in Form der Punkte
gegeben durch deren 3D Koordinaten
(X X X X x x
,Y Y Y Y y y
,Z Z Z Z z z
), auch nur
bis auf einen globalen Skalierungsfaktor durchgeführt werden
kann. Sollen die absoluten 3D Koordinaten der Szenenpunkte
rekonstruiert werden, so ist es notwendig in beiden Bildern einen
bekannten Maßstab zu sehen. In der Praxis kann dieser Maßstab
z.B. durch den Abstand zweier beliebiger Punkte gegeben sein.
Der Operator vector_to_rel_pose vector_to_rel_pose VectorToRelPose VectorToRelPose VectorToRelPose vector_to_rel_pose
ist für ein nichtlineares
Kameramodell konzipiert und beschreibt somit auch radiale
Linsenverzeichnungen. Dies steht im Gegensatz zum Operator
vector_to_essential_matrix vector_to_essential_matrix VectorToEssentialMatrix VectorToEssentialMatrix VectorToEssentialMatrix vector_to_essential_matrix
, welcher nur Geraden
erhaltende, d.h. lineare, Kameras beschreibt. Kameraparameter
werden mit den Argumenten CamPar1 CamPar1 CamPar1 CamPar1 camPar1 cam_par_1
und CamPar2 CamPar2 CamPar2 CamPar2 camPar2 cam_par_2
übergeben. Die 3D Richtungsvektoren
und
werden
aus den Punktkoordinaten (Rows1 Rows1 Rows1 Rows1 rows1 rows_1
,Cols1 Cols1 Cols1 Cols1 cols1 cols_1
) und
(Rows2 Rows2 Rows2 Rows2 rows2 rows_2
,Cols2 Cols2 Cols2 Cols2 cols2 cols_2
) durch Invertierung der
Kameraprojektion berechnet (siehe Kalibrierung ).
Der Parameter Method Method Method Method method method
gibt an, ob die Kameras sich in einer
besonderen relativen Orientierung zueinander befinden, und bestimmt auch das
Berechnungsverfahren. Für 'normalized_dlt' "normalized_dlt" "normalized_dlt" "normalized_dlt" "normalized_dlt" "normalized_dlt" und
'gold_standard' "gold_standard" "gold_standard" "gold_standard" "gold_standard" "gold_standard" kann die relative Lage der Kameras zueinander
beliebig sein.
Für 'trans_normalized_dlt' "trans_normalized_dlt" "trans_normalized_dlt" "trans_normalized_dlt" "trans_normalized_dlt" "trans_normalized_dlt" und 'trans_gold_standard' "trans_gold_standard" "trans_gold_standard" "trans_gold_standard" "trans_gold_standard" "trans_gold_standard" ist
die relative Lage eine reine Translation. In diesem speziellen Fall ist die
minimale Anzahl an notwendigen Punktkorrespondenzen nicht sechs, sondern nur
zwei.
Wird 'normalized_dlt' "normalized_dlt" "normalized_dlt" "normalized_dlt" "normalized_dlt" "normalized_dlt" oder 'trans_normalized_dlt' "trans_normalized_dlt" "trans_normalized_dlt" "trans_normalized_dlt" "trans_normalized_dlt" "trans_normalized_dlt"
gewählt, so ist das Berechnungsverfahren ein lineares Verfahren.
Wird 'gold_standard' "gold_standard" "gold_standard" "gold_standard" "gold_standard" "gold_standard" oder 'trans_gold_standard' "trans_gold_standard" "trans_gold_standard" "trans_gold_standard" "trans_gold_standard" "trans_gold_standard"
gewählt, so ist das Berechnungsverfahren im statistischen Sinne optimal.
Beide Verfahren liefern die Koordinaten (X X X X x x
,Y Y Y Y y y
,Z Z Z Z z z
)
der rekonstruierten Raumpunkte.
Die optimalen Verfahren berechnen zusätzlich die 3x3
Kovarianzmatrizen CovXYZ CovXYZ CovXYZ CovXYZ covXYZ cov_xyz
der Raumpunkte.
Ist n die Anzahl der Korrespondenzen, so
werden diese Kovarianzen in einem 9xn Tupel
aneinandergehängt.
Weiterhin geben die optimalen Verfahren auch die Kovarianz der relativen
Lage CovRelPose CovRelPose CovRelPose CovRelPose covRelPose cov_rel_pose
an, welche eine 6x6 Matrix ist.
Falls die Bildpunkte mit
einem Operator wie points_foerstner points_foerstner PointsFoerstner PointsFoerstner PointsFoerstner points_foerstner
, der die Kovarianzmatrix
für jeden Punkt zurückliefert, extrahiert wurden, kann dies in der
Berechnung berücksichtigt werden, indem die Kovarianzen in
CovRR1 CovRR1 CovRR1 CovRR1 covRR1 cov_rr1
, CovRC1 CovRC1 CovRC1 CovRC1 covRC1 cov_rc1
, CovCC1 CovCC1 CovCC1 CovCC1 covCC1 cov_cc1
für die Punkte des
ersten Bildes und in CovRR2 CovRR2 CovRR2 CovRR2 covRR2 cov_rr2
, CovRC2 CovRC2 CovRC2 CovRC2 covRC2 cov_rc2
,
CovCC2 CovCC2 CovCC2 CovCC2 covCC2 cov_cc2
für die Punkte des zweiten Bildes übergeben werden.
Die Kovarianzmatrizen sind symmetrische 2x2
Matrizen. CovRR1 CovRR1 CovRR1 CovRR1 covRR1 cov_rr1
/CovRR2 CovRR2 CovRR2 CovRR2 covRR2 cov_rr2
und
CovCC1 CovCC1 CovCC1 CovCC1 covCC1 cov_cc1
/CovCC2 CovCC2 CovCC2 CovCC2 covCC2 cov_cc2
sind dabei die Diagonalelemente der
Matrizen, während CovRC1 CovRC1 CovRC1 CovRC1 covRC1 cov_rc1
/CovRC2 CovRC2 CovRC2 CovRC2 covRC2 cov_rc2
die beiden nicht diagonalen
Elemente angeben.
Sind die Kovarianzen unbekannt, so werden zur Berechnung intern
Einheits-Kovarianzmatrizen angenommen, und in den
Kovarianzparametern können leere Tupel übergeben werden.
Die Größe Error Error Error Error error error
ist ein Gütemaß für die Berechnung der
relativen Lage und gibt den mittleren euklidischen Abstand in Pixeln
zwischen den Punkten und ihren korrespondierenden Epipolarlinien an.
Bei dem Operator vector_to_rel_pose vector_to_rel_pose VectorToRelPose VectorToRelPose VectorToRelPose vector_to_rel_pose
ist folgender
Spezialfall zu beachten:
Liegen alle abgebildeten Raumpunkte in einer einzigen Ebene und liegen
zusätzlich alle Raumpunkte näher zu einer der beiden Kameras,
so gibt es insgesamt zwei Lösungen. Das heißt, dass in diesem Fall das
Problem der Berechnung der relativen Lage nicht eindeutig lösbar ist.
Es werden daher auch beide Lösungen ausgegeben. Das bedeutet, dass
alle Ausgabeparameter von doppelter Länge sind, wobei die Werte der
zweiten Lösung an die Werte der ersten Lösung hinten angehängt sind.
Sind die Korrespondenzen zwischen den Punkten noch nicht bekannt, so
ist match_rel_pose_ransac match_rel_pose_ransac MatchRelPoseRansac MatchRelPoseRansac MatchRelPoseRansac match_rel_pose_ransac
zur Bestimmung
der Korrespondenzen sowie der Stereo-Geometrie zu verwenden.
Ausführungsinformationen
Multithreading-Typ: reentrant (läuft parallel zu nicht-exklusiven Operatoren).
Multithreading-Bereich: global (kann von jedem Thread aufgerufen werden).
Wird ohne Parallelisierung verarbeitet.
Parameter
Rows1 Rows1 Rows1 Rows1 rows1 rows_1
(input_control) number-array →
HTuple Sequence[Union[float, int]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Eingabepunkte in Bild 1 (Zeilenkoordinate).
Restriktion: length(Rows1) >= 6 || length(Rows1) >= 2
Cols1 Cols1 Cols1 Cols1 cols1 cols_1
(input_control) number-array →
HTuple Sequence[Union[float, int]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Eingabepunkte in Bild 1 (Spaltenkoordinate).
Restriktion: length(Cols1) == length(Rows1)
Rows2 Rows2 Rows2 Rows2 rows2 rows_2
(input_control) number-array →
HTuple Sequence[Union[float, int]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Eingabepunkte in Bild 2 (Zeilenkoordinate).
Restriktion: length(Rows2) == length(Rows1)
Cols2 Cols2 Cols2 Cols2 cols2 cols_2
(input_control) number-array →
HTuple Sequence[Union[float, int]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Eingabepunkte in Bild 2 (Spaltenkoordinate).
Restriktion: length(Cols2) == length(Rows1)
CovRR1 CovRR1 CovRR1 CovRR1 covRR1 cov_rr1
(input_control) number-array →
HTuple Sequence[Union[float, int]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Varianz in Zeilenrichtung der Punkte in Bild 1.
Defaultwert: []
CovRC1 CovRC1 CovRC1 CovRC1 covRC1 cov_rc1
(input_control) number-array →
HTuple Sequence[Union[float, int]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Kovarianz der Punkte in Bild 1.
Defaultwert: []
CovCC1 CovCC1 CovCC1 CovCC1 covCC1 cov_cc1
(input_control) number-array →
HTuple Sequence[Union[float, int]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Varianz in Spaltenrichtung der Punkte in Bild 1.
Defaultwert: []
CovRR2 CovRR2 CovRR2 CovRR2 covRR2 cov_rr2
(input_control) number-array →
HTuple Sequence[Union[float, int]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Varianz in Zeilenrichtung der Punkte in Bild 2.
Defaultwert: []
CovRC2 CovRC2 CovRC2 CovRC2 covRC2 cov_rc2
(input_control) number-array →
HTuple Sequence[Union[float, int]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Kovarianz der Punkte in Bild 2.
Defaultwert: []
CovCC2 CovCC2 CovCC2 CovCC2 covCC2 cov_cc2
(input_control) number-array →
HTuple Sequence[Union[float, int]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Varianz in Spaltenrichtung der Punkte in Bild 2.
Defaultwert: []
CamPar1 CamPar1 CamPar1 CamPar1 camPar1 cam_par_1
(input_control) campar →
HCamPar , HTuple Sequence[Union[float, int, str]] HTuple Htuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Kameraparameter der 1. Kamera.
CamPar2 CamPar2 CamPar2 CamPar2 camPar2 cam_par_2
(input_control) campar →
HCamPar , HTuple Sequence[Union[float, int, str]] HTuple Htuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Kameraparameter der 2. Kamera.
Method Method Method Method method method
(input_control) string →
HTuple str HTuple Htuple (string) (string ) (HString ) (char* )
Algorithmus zur Berechnung der relativen Lage
und zur Auswahl spezieller relativer Lagen.
Defaultwert:
'normalized_dlt'
"normalized_dlt"
"normalized_dlt"
"normalized_dlt"
"normalized_dlt"
"normalized_dlt"
Werteliste: 'gold_standard' "gold_standard" "gold_standard" "gold_standard" "gold_standard" "gold_standard" , 'normalized_dlt' "normalized_dlt" "normalized_dlt" "normalized_dlt" "normalized_dlt" "normalized_dlt" , 'trans_gold_standard' "trans_gold_standard" "trans_gold_standard" "trans_gold_standard" "trans_gold_standard" "trans_gold_standard" , 'trans_normalized_dlt' "trans_normalized_dlt" "trans_normalized_dlt" "trans_normalized_dlt" "trans_normalized_dlt" "trans_normalized_dlt"
RelPose RelPose RelPose RelPose relPose rel_pose
(output_control) pose →
HPose , HTuple Sequence[Union[int, float]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Berechnete relative Lage der Kameras zueinander
(3D-Lage).
CovRelPose CovRelPose CovRelPose CovRelPose covRelPose cov_rel_pose
(output_control) real-array →
HTuple Sequence[float] HTuple Htuple (real) (double ) (double ) (double )
6x6 Kovarianzmatrix der relativen
Lage.
Error Error Error Error error error
(output_control) real(-array) →
HTuple Sequence[float] HTuple Htuple (real) (double ) (double ) (double )
Mittlerer, quadratischer Epipolar Abstand.
X X X X x x
(output_control) real-array →
HTuple Sequence[float] HTuple Htuple (real) (double ) (double ) (double )
X-Koordinaten der rekonstruierten Punkte.
Y Y Y Y y y
(output_control) real-array →
HTuple Sequence[float] HTuple Htuple (real) (double ) (double ) (double )
Y-Koordinaten der rekonstruierten Punkte.
Z Z Z Z z z
(output_control) real-array →
HTuple Sequence[float] HTuple Htuple (real) (double ) (double ) (double )
Z-Koordinaten der rekonstruierten Punkte.
CovXYZ CovXYZ CovXYZ CovXYZ covXYZ cov_xyz
(output_control) real-array →
HTuple Sequence[float] HTuple Htuple (real) (double ) (double ) (double )
Kovarianzmatrizen der rekonstruierten 3D Punkte.
Vorgänger
match_rel_pose_ransac match_rel_pose_ransac MatchRelPoseRansac MatchRelPoseRansac MatchRelPoseRansac match_rel_pose_ransac
Nachfolger
gen_binocular_rectification_map gen_binocular_rectification_map GenBinocularRectificationMap GenBinocularRectificationMap GenBinocularRectificationMap gen_binocular_rectification_map
,
rel_pose_to_fundamental_matrix rel_pose_to_fundamental_matrix RelPoseToFundamentalMatrix RelPoseToFundamentalMatrix RelPoseToFundamentalMatrix rel_pose_to_fundamental_matrix
Alternativen
vector_to_essential_matrix vector_to_essential_matrix VectorToEssentialMatrix VectorToEssentialMatrix VectorToEssentialMatrix vector_to_essential_matrix
,
vector_to_fundamental_matrix vector_to_fundamental_matrix VectorToFundamentalMatrix VectorToFundamentalMatrix VectorToFundamentalMatrix vector_to_fundamental_matrix
,
binocular_calibration binocular_calibration BinocularCalibration BinocularCalibration BinocularCalibration binocular_calibration
Siehe auch
camera_calibration camera_calibration CameraCalibration CameraCalibration CameraCalibration camera_calibration
Literatur
Richard Hartley, Andrew Zisserman: „Multiple View Geometry in
Computer Vision“; Cambridge University Press, Cambridge; 2003.
J.Chris McGlone (editor): „Manual of Photogrammetry“;
American Society for Photogrammetry and Remote Sensing ; 2004.
Modul
3D Metrology