HALCON 23.11.0.0 / HALCON Operator Reference / 3D Reconstruction / Binocular Stereo
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essential_to_fundamental_matrixT_essential_to_fundamental_matrixEssentialToFundamentalMatrixEssentialToFundamentalMatrixessential_to_fundamental_matrix (Operator)

Name

essential_to_fundamental_matrixT_essential_to_fundamental_matrixEssentialToFundamentalMatrixEssentialToFundamentalMatrixessential_to_fundamental_matrix — Compute the fundamental matrix from an essential matrix.

Signature

essential_to_fundamental_matrix( : : EMatrix, CovEMat, CamMat1, CamMat2 : FMatrix, CovFMat)

Herror T_essential_to_fundamental_matrix(const Htuple EMatrix, const Htuple CovEMat, const Htuple CamMat1, const Htuple CamMat2, Htuple* FMatrix, Htuple* CovFMat)

void EssentialToFundamentalMatrix(const HTuple& EMatrix, const HTuple& CovEMat, const HTuple& CamMat1, const HTuple& CamMat2, HTuple* FMatrix, HTuple* CovFMat)

HHomMat2D HHomMat2D::EssentialToFundamentalMatrix(const HTuple& CovEMat, const HHomMat2D& CamMat1, const HHomMat2D& CamMat2, HTuple* CovFMat) const

static void HOperatorSet.EssentialToFundamentalMatrix(HTuple EMatrix, HTuple covEMat, HTuple camMat1, HTuple camMat2, out HTuple FMatrix, out HTuple covFMat)

HHomMat2D HHomMat2D.EssentialToFundamentalMatrix(HTuple covEMat, HHomMat2D camMat1, HHomMat2D camMat2, out HTuple covFMat)

def essential_to_fundamental_matrix(ematrix: Sequence[Union[float, int]], cov_emat: Sequence[Union[float, int]], cam_mat_1: Sequence[Union[float, int]], cam_mat_2: Sequence[Union[float, int]]) -> Tuple[Sequence[float], Sequence[float]]

Description

The fundamental matrix is the entity describing the epipolar constraint in image coordinates (C,R) and the essential matrix is its counterpart for 3D direction vectors (X,Y,1): Image coordinates result from 3D direction vectors by multiplication with the camera matrix CamMat: Therefore, the fundamental matrix FMatrixFMatrixFMatrixFMatrixfmatrix is calculated from the essential matrix EMatrixEMatrixEMatrixEMatrixematrix and the camera matrices CamMat1CamMat1CamMat1camMat1cam_mat_1, CamMat2CamMat2CamMat2camMat2cam_mat_2 by the following formula: The transformation of the essential matrix to the fundamental matrix goes along with the propagation of the covariance matrices CovEMatCovEMatCovEMatcovEMatcov_emat to CovFMatCovFMatCovFMatcovFMatcov_fmat. If CovEMatCovEMatCovEMatcovEMatcov_emat is empty CovFMatCovFMatCovFMatcovFMatcov_fmat will be empty too.

The conversion operator essential_to_fundamental_matrixessential_to_fundamental_matrixEssentialToFundamentalMatrixEssentialToFundamentalMatrixessential_to_fundamental_matrix is used especially for a subsequent visualization of the epipolar line structure via the fundamental matrix, which depicts the underlying stereo geometry.

Execution Information

Parameters

EMatrixEMatrixEMatrixEMatrixematrix (input_control)  hom_mat2d → HHomMat2D, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Essential matrix.

CovEMatCovEMatCovEMatcovEMatcov_emat (input_control)  number-array → HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

9x9 covariance matrix of the essential matrix.

Default: []

CamMat1CamMat1CamMat1camMat1cam_mat_1 (input_control)  hom_mat2d → HHomMat2D, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Camera matrix of the 1. camera.

CamMat2CamMat2CamMat2camMat2cam_mat_2 (input_control)  hom_mat2d → HHomMat2D, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Camera matrix of the 2. camera.

FMatrixFMatrixFMatrixFMatrixfmatrix (output_control)  hom_mat2d → HHomMat2D, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Computed fundamental matrix.

CovFMatCovFMatCovFMatcovFMatcov_fmat (output_control)  real-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

9x9 covariance matrix of the fundamental matrix.

Possible Predecessors

vector_to_essential_matrixvector_to_essential_matrixVectorToEssentialMatrixVectorToEssentialMatrixvector_to_essential_matrix

Alternatives

rel_pose_to_fundamental_matrixrel_pose_to_fundamental_matrixRelPoseToFundamentalMatrixRelPoseToFundamentalMatrixrel_pose_to_fundamental_matrix

Module

3D Metrology

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