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improved convertPointsHomogeneous documentation. added convertPointsTo/FromHomogeneous (ticket #1011)

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Vadim Pisarevsky 2011-06-08 16:32:39 +00:00
parent f6b3754f34
commit 51c11ba78b
1 changed files with 33 additions and 11 deletions
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modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
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@ -293,9 +293,38 @@ And vice versa, when ``whichImage=2``,
Line coefficients are defined up to a scale. They are normalized so that
:math:`a_i^2+b_i^2=1` .
.. index:: convertPointsHomogeneous
.. _convertPointsHomogeneous:
.. index:: convertPointsToHomogeneous
convertPointsToHomogeneous
------------------------
.. cpp:function:: void convertPointsToHomogeneous( InputArray src, OutputArray dst )
Converts points from Euclidean to homogeneous space.
:param src: Input vector of ``N``-dimensional points.
:param dst: Output vector of ``N+1``-dimensional points.
The function converts points from Euclidean to homogeneous space by appending 1's to the tuple of point coordinates. That is, each point ``(x1, x2, ..., xn)`` is converted to ``(x1, x2, ..., xn, 1)``.
.. index:: convertPointsFromHomogeneous
convertPointsFromHomogeneous
------------------------
.. cpp:function:: void convertPointsFromHomogeneous( InputArray src, OutputArray dst )
Converts points from homogeneous to Euclidean space.
:param src: Input vector of ``N``-dimensional points.
:param dst: Output vector of ``N-1``-dimensional points.
The function converts points homogeneous to Euclidean space using perspective projection. That is, each point ``(x1, x2, ... x(n-1), xn)`` is converted to ``(x1/xn, x2/xn, ..., x(n-1)/xn)``. When ``xn=0``, the output point coordinates will be ``(0,0,0,...)``.
.. index:: convertPointsHomogeneous
convertPointsHomogeneous
------------------------
@ -306,16 +335,9 @@ convertPointsHomogeneous
:param src: Input array or vector of 2D, 3D, or 4D points.
:param dst: Output vector of 2D or 3D points.
:param dst: Output vector of 2D, 3D or 4D points.
The functions convert 2D or 3D points from/to homogeneous coordinates, or simply copy or transpose
the array. If the input array dimensionality is larger than the output, each coordinate is divided by the last coordinate:
.. math::
\begin{array}{l} (x,y[,z],w) -> (x',y'[,z']) \\ \text{where} \\ x' = x/w \\ y' = y/w \\ z' = z/w \quad \text{(if output is 3D)} \end{array}
If the output array dimensionality is larger, an extra 1 is appended to each point. Otherwise, the input array is simply copied (with an optional transposition) to the output.
The function converts 2D or 3D points from/to homogeneous coordinates by calling either :cpp:func:`convertPointsToHomogeneous` or :cpp:func:`convertPointsFromHomogeneous`. The function is obsolete; use one of the previous two instead.
.. index:: decomposeProjectionMatrix