🟧 Generate Correction Matrix and Scale
Function Description
This operator compares the currently input pose matrix with historical pose matrices to calculate relative transformation matrix and scale ratio.
Input Output
Input |
Current Size: A characteristic size under the current measurement state, used to calculate scale relationships. For example, distance between feature points on a calibration board. Current Pose Matrix: Under the current measurement state, the 4x4 homogeneous pose matrix of the target (such as calibration board) relative to the camera. |
Output |
Ratio: Cumulative scaling ratio. It represents the multiplicative factor needed to scale the current "size" to the "size" during the first measurement. Rotation Matrix: Cumulative 4x4 homogeneous transformation matrix. It represents the left multiplication matrix needed to transform the current "pose" to the "pose" during the first measurement. |
Parameter Description
Historical Poses
Parameter Description |
Store list of historical pose matrices, each element being a 4x4 matrix. |
Parameter Adjustment |
Usually automatically maintained by the operator, generally no manual setting needed. |
Historical Sizes
Parameter Description |
Store list of historical sizes. |
Parameter Adjustment |
Automatically maintained by the operator, can preset initial values for testing scale calculations during debugging. |
Historical Center Points
Parameter Description |
Store list of historical center points. |
Parameter Adjustment |
Currently unused, can keep default values. |
Historical Scale Ratios
Parameter Description |
Store list of historical scale ratios. |
Parameter Adjustment |
Automatically maintained by the operator, can preset initial ratios (such as 1.0) for testing cumulative ratio effects during debugging. |
Historical Rotation Matrices
Parameter Description |
Store list of historical transformation matrices. |
Parameter Adjustment |
Automatically maintained by the operator, can preset initial 4x4 identity matrix for testing transformation accumulation during debugging. |
Ratio
Parameter Description |
Current cumulative scale ratio. |
Parameter Adjustment |
Default value automatically calculated by the operator, usually no manual setting needed. Can set initial value (such as 1.0) for testing ratio accumulation effects during debugging. |
Parameter Range |
[0,1] |