Projection#

Detailed Description#

Function Documentation#

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.

Parameters

  • 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))

Parameters

  • 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))

Parameters

  • 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.

Reference: [133] A4.1.1 pag.579

Parameters

  • 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.

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.

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

Parameters

  • 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.