OpenCV
4.0.0
Open Source Computer Vision
|
Functions | |
double | cv::sfm::depth (InputArray R, InputArray t, InputArray X) |
Returns the depth of a point transformed by a rigid transform. More... | |
void | cv::sfm::euclideanToHomogeneous (InputArray src, OutputArray dst) |
Converts points from Euclidean to homogeneous space. E.g., ((x,y)->(x,y,1)) More... | |
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)) More... | |
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. More... | |
void | cv::sfm::projectionFromKRt (InputArray K, InputArray R, InputArray t, OutputArray P) |
Get projection matrix P from K, R and t. More... | |
double cv::sfm::depth | ( | InputArray | R, |
InputArray | t, | ||
InputArray | X | ||
) |
Returns the depth of a point transformed by a rigid transform.
R | Input 3x3 rotation matrix. |
t | Input 3x1 translation vector. |
X | Input 3x1 or 4x1 vector with the 3d point. |
void cv::sfm::euclideanToHomogeneous | ( | InputArray | src, |
OutputArray | dst | ||
) |
Converts points from Euclidean to homogeneous space. E.g., ((x,y)->(x,y,1))
src | Input vector of N-dimensional points. |
dst | Output vector of N+1-dimensional points. |
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))
src | Input vector of N-dimensional points. |
dst | Output vector of N-1-dimensional points. |
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.
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: [81] A4.1.1 pag.579
void cv::sfm::projectionFromKRt | ( | InputArray | K, |
InputArray | R, | ||
InputArray | t, | ||
OutputArray | P | ||
) |
Get projection matrix P from K, R and t.
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: \(P = K * [R|t]\)