get_circle_pose — MV `pose` op

• Data kinds: keypoints → table

• Call: import fullseye as fs; fs.ledger.get_circle_pose(contour, radius, cam_par) (to call the implementation directly, import mvstereo; mvstereo.get_circle_pose(contour, radius, cam_par); from the registry, opsmv.get("get_circle_pose"))

• HALCON equivalent: get_circle_pose (the HALCON reference is a useful guide to its meaning and parameters)

• GPU: none (CPU reference implementation only)

Usage

Recover the center and normal of a circle of known radius from its image ellipse, in camera coordinates.

> The detailed description below is the original text — the summary and the headings are translated.

点列に円錐曲線を当てはめ、視線の錐の固有分解から 3-D の円を閉形式で求める。解は鏡像の 2 つで、1 枚の像からは区別できないので両方を、再投影の誤差つきで返す。正面視では 2 解が重なる。歪みは扱わない(歪みのある点列は先に戻す)。空の入力(contour が 0 要素)は ValueError。

Args:

contour: (N, 2) の (row, col)(N >= 5)。

radius: 円の半径(> 0)。返す中心の単位がこの単位になる。

cam_par: fx / fy / cx / cy の dict。

Returns:

center (2, 3)、normal (2, 3)(カメラへ向く単位ベクトル)、rms_px (2,) の dict。

出典: Y. C. Shiu and S. Ahmad, IEEE Trans. Robot. Autom. 5(1), 16-29 (1989); Q. Chen, H. Wu, T. Wada, Proc. ECCV 2004, LNCS 3021, 302-315。

Detailed usage guide

• machine_vision_classics family guide

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• machine_vision_tour — py -3.11 examples/machine_vision_tour.py

• poc_real_stereo_multiscanline — py -3.11 examples/poc_real_stereo_multiscanline.py

Ops the type connects to (they accept `table` as input)

map_image · rectify_to_world_plane · change_radial_distortion_image · find_ncc_models · run_bg_esti · give_bg_esti · update_bg_esti · classify_class_gmm

Same category (`pose`)

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*Provenance: mvstereo.py — MV operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

get_circle_pose — MV pose op