Projection Structure From Motion


函数

double  cv::sfm::depth ( InputArray R, InputArray t, InputArray X)
  Returns the depth of a point transformed by a rigid transform. 更多...
 
void  cv::sfm::euclideanToHomogeneous ( InputArray src, OutputArray dst)
  Converts points from Euclidean to homogeneous space. E.g., ((x,y)->(x,y,1)) 更多...
 
void  cv::sfm::homogeneousToEuclidean ( InputArray src, OutputArray dst)
  Converts point coordinates from homogeneous to euclidean pixel coordinates. E.g., ((x,y,z)->(x/z, y/z)) 更多...
 
void  cv::sfm::KRtFromProjection ( InputArray P, OutputArray K, OutputArray R, OutputArray t)
  Get K, R and t from projection matrix P, decompose using the RQ decomposition. 更多...
 
void  cv::sfm::projectionFromKRt ( InputArray K, InputArray R, InputArray t, OutputArray P)
  Get projection matrix P from K, R and t. 更多...
 

详细描述

函数文档编制

◆  depth()

double cv::sfm::depth ( InputArray   R ,
InputArray   t ,
InputArray   X  
)

#include < opencv2/sfm/projection.hpp >

Returns the depth of a point transformed by a rigid transform.

参数
R Input 3x3 rotation matrix.
t Input 3x1 translation vector.
X Input 3x1 or 4x1 vector with the 3d point.

◆  euclideanToHomogeneous()

void cv::sfm::euclideanToHomogeneous ( InputArray   src ,
OutputArray   dst  
)

#include < opencv2/sfm/projection.hpp >

Converts points from Euclidean to homogeneous space. E.g., ((x,y)->(x,y,1))

参数
src Input vector of N-dimensional points.
dst Output vector of N+1-dimensional points.

◆  homogeneousToEuclidean()

void cv::sfm::homogeneousToEuclidean ( InputArray   src ,
OutputArray   dst  
)

#include < opencv2/sfm/projection.hpp >

Converts point coordinates from homogeneous to euclidean pixel coordinates. E.g., ((x,y,z)->(x/z, y/z))

参数
src Input vector of N-dimensional points.
dst Output vector of N-1-dimensional points.

◆  KRtFromProjection()

void cv::sfm::KRtFromProjection ( InputArray   P ,
OutputArray   K ,
OutputArray   R ,
OutputArray   t  
)

#include < opencv2/sfm/projection.hpp >

Get K, R and t from projection matrix P, decompose using the RQ decomposition.

参数
P Input 3x4 projection matrix.
K Output 3x3 camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\).
R Output 3x3 rotation matrix.
t Output 3x1 translation vector.

Reference: [93] A4.1.1 pag.579

◆  projectionFromKRt()

void cv::sfm::projectionFromKRt ( InputArray   K ,
InputArray   R ,
InputArray   t ,
OutputArray   P  
)

#include < opencv2/sfm/projection.hpp >

Get projection matrix P from K, R and t.

参数
K Input 3x3 camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\).
R Input 3x3 rotation matrix.
t Input 3x1 translation vector.
P Output 3x4 projection matrix.

This function estimate the projection matrix by solving the following equation: \(P = K * [R|t]\)