project_point_hom_mat3dT_project_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dproject_point_hom_mat3d (算子名称)

名称

project_point_hom_mat3dT_project_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dproject_point_hom_mat3d — Project a 3D point using a 3×4 projection matrix.

参数签名

描述

project_point_hom_mat3dproject_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dProjectPointHomMat3dproject_point_hom_mat3d applies the 3×4 projection matrix HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d to all input points (PxPxPxPxpxpx,PyPyPyPypypy,PzPzPzPzpzpz) and returns an array of output points (QxQxQxQxqxqx,QyQyQyQyqyqy). The transformation is described by the 3×4 projection matrix given in HomMat3DHomMat3DHomMat3DHomMat3DhomMat3Dhom_mat_3d. This corresponds to the following equations (input and output points as homogeneous vectors):

project_point_hom_mat3dproject_point_hom_mat3dProjectPointHomMat3dProjectPointHomMat3dProjectPointHomMat3dproject_point_hom_mat3d then transforms the homogeneous coordinates to Euclidean coordinates by dividing them by Tw: If a point on the line at infinity (Tw = 0) is created by the transformation, an error is returned. If this is undesired, project_hom_point_hom_mat3dproject_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3dProjectHomPointHomMat3dproject_hom_point_hom_mat3d can be used.

Note that, consistent with the conventions used by the projection in calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras, QxQxQxQxqxqx corresponds to the column coordinate of an image and QyQyQyQyqyqy corresponds to the row coordinate.

运行信息

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Automatically parallelized on internal data level.

参数表

可能的前置算子

cam_par_pose_to_hom_mat3dcam_par_pose_to_hom_mat3dCamParPoseToHomMat3dCamParPoseToHomMat3dCamParPoseToHomMat3dcam_par_pose_to_hom_mat3d

可替代算子

project_hom_point_hom_mat3dproject_hom_point_hom_mat3dProjectHomPointHomMat3dProjectHomPointHomMat3dProjectHomPointHomMat3dproject_hom_point_hom_mat3d, project_3d_pointproject_3d_pointProject3dPointProject3dPointProject3dPointproject_3d_point

模块

Foundation

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