Recover target->camera pose (R,t) from camera matrix K and planar homography H. More...
#include <posefromhomography.h>
Public Attributes | |
| bool | success {false} |
| Eigen::Isometry3d | c_se3_t = Eigen::Isometry3d::Identity() |
| double | scale {1.0} |
| double | cond_check {1.0} |
| std::string | message |
Detailed Description
Recover target->camera pose (R,t) from camera matrix K and planar homography H.
Assumptions:
- H maps target planar homogeneous coords (X,Y,1) to pixel coords (u,v,1).
- Distortion is negligible (or already compensated).
- K is well-conditioned (fx, fy > 0).
Steps: 1) Hn = K^{-1} H 2) scale s = 1 / mean(||Hn.col(0)||, ||Hn.col(1)||) 3) r1 = s * Hn.col(0), r2 = s * Hn.col(1), t = s * Hn.col(2) 4) r3 = r1 x r2; R_pre = [r1 r2 r3] 5) Orthonormalize R via SVD (polar decomposition): R = U V^T (det>0) 6) Enforce positive forward direction (t_z > 0); if not, flip R,t
Definition at line 32 of file posefromhomography.h.
Member Data Documentation
◆ c_se3_t
| Eigen::Isometry3d calib::PoseFromHResult::c_se3_t = Eigen::Isometry3d::Identity() |
Definition at line 34 of file posefromhomography.h.
◆ cond_check
| double calib::PoseFromHResult::cond_check {1.0} |
Definition at line 36 of file posefromhomography.h.
◆ message
| std::string calib::PoseFromHResult::message |
Definition at line 37 of file posefromhomography.h.
◆ scale
| double calib::PoseFromHResult::scale {1.0} |
Definition at line 35 of file posefromhomography.h.
◆ success
| bool calib::PoseFromHResult::success {false} |
Definition at line 33 of file posefromhomography.h.
The documentation for this struct was generated from the following file:
- /home/runner/work/calibration/calibration/include/calib/estimation/linear/posefromhomography.h
