{"id":33,"date":"2021-06-02T21:58:11","date_gmt":"2021-06-02T12:58:11","guid":{"rendered":"https:\/\/elosove.com\/?p=33"},"modified":"2023-10-03T12:45:32","modified_gmt":"2023-10-03T03:45:32","slug":"%e6%92%ae%e5%bd%b1%e3%81%97%e3%81%9f%e7%89%a9%e4%bd%93%e3%81%af%e7%94%bb%e5%83%8f%e3%81%ae%e3%81%a9%e3%81%93%e3%81%ab%e5%86%99%e3%82%8b%e3%81%ae%e3%81%8b%ef%bc%9f","status":"publish","type":"post","link":"https:\/\/elosove.com\/?p=33","title":{"rendered":"\u64ae\u5f71\u3057\u305f\u7269\u4f53\u306f\u753b\u50cf\u306e\u3069\u3053\u306b\u5199\u308b\u306e\u304b\uff1f"},"content":{"rendered":"\n<h2 class=\"has-vivid-purple-color has-text-color wp-block-heading\" style=\"font-size:25px\">\u7591\u554f\u306e\u51fa\u3069\u3053\u308d<\/h2>\n\n\n\n<p>\u901a\u5e38\u306f\u30ab\u30e1\u30e9\u306e\u30d5\u30a1\u30a4\u30f3\u30c0\u30fc\u3084\u30e2\u30cb\u30bf\u3067\u78ba\u8a8d\u3057\u306a\u304c\u3089\u64ae\u5f71\u3092\u3059\u308b\u305f\u3081\u3001\u30bf\u30a4\u30c8\u30eb\u306e\u3088\u3046\u306a\u7591\u554f\u306f\u51fa\u306a\u3044\u304b\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3068\u3053\u308d\u304c\u3001\u30b9\u30c6\u30ec\u30aa\u30ab\u30e1\u30e9\u3001structure from motion\u3001SLAM(\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a)\u3001AR\u306a\u3069\u306e\u5206\u91ce\u3067\u306f\u64ae\u3089\u308c\u305f\u5199\u771f(\u753b\u50cf)\u304b\u3089\u4f4d\u7f6e\u95a2\u4fc2\u3092\u5272\u308a\u51fa\u3059\u8a08\u7b97\u304c\u5fc5\u8981\u306a\u70ba\u306b\u57fa\u790e\u6280\u8853\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u305d\u3053\u3067\u3053\u306e\u8a18\u4e8b\u3067\u306f\u57fa\u790e\u6280\u8853\u3092\u7406\u89e3\u3059\u308b\u305f\u3081\u306b\u3001\u64ae\u5f71\u3057\u305f\u7269\u4f53\u306e\u3042\u308b\u70b9(X,Y,Z)\u304c\u753b\u50cf\u306e\u7e26\u6a2a\u4f55\u30d4\u30af\u30bb\u30eb\u76ee\u306e\u70b9\u306a\u306e\u304b\uff1f\u306b\u3064\u3044\u3066\u30ab\u30e1\u30e9\u306e\u5185\u90e8\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u4f7f\u3063\u3066\u8a08\u7b97\u3057\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"has-vivid-purple-color has-text-color wp-block-heading\" style=\"font-size:25px\">\u8003\u3048\u3066\u3044\u308b\u72b6\u6cc1<\/h2>\n\n\n\n<p>\u30ab\u30e1\u30e9\u306e\u4f4d\u7f6e\u3092\u56fa\u5b9a\u3057\u3066\u52d5\u304f\u30b5\u30c3\u30ab\u30fc\u30dc\u30fc\u30eb\u3092\u64ae\u5f71\u3059\u308b\u5834\u5408\u3001\u30b5\u30c3\u30ab\u30fc\u30dc\u30fc\u30eb\u304c\u52d5\u3044\u305f\u5206\u3060\u3051\u753b\u50cf\u5185\u306e\u30dc\u30fc\u30eb\u3082\u52d5\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"631\" height=\"411\" src=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/ball_on_img.png\" alt=\"\" class=\"wp-image-139\" srcset=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/ball_on_img.png 631w, https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/ball_on_img-300x195.png 300w\" sizes=\"auto, (max-width: 631px) 100vw, 631px\" \/><\/figure>\n\n\n\n<p>\u3053\u308c\u306f\u5358\u7d14\u5316\u3057\u3066\u8003\u3048\u308b\u3068\u3001\u30dc\u30fc\u30eb\u306e\u4f4d\u7f6e\u5909\u5316\u306b\u5fdc\u3058\u3066\u30ab\u30e1\u30e9\u306e\u30bb\u30f3\u30b5(\u30d5\u30a9\u30c8\u30c0\u30a4\u30aa\u30fc\u30c9\/CMOS\u30bb\u30f3\u30b5)\u306e\u53cd\u5fdc\u3059\u308b\u90e8\u5206\u304c\u79fb\u52d5\u3057\u3066\u3044\u304f\u70ba\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u3053\u306e\u8a18\u4e8b\u306e\u6700\u7d42\u30b4\u30fc\u30eb\u306f\u30b5\u30c3\u30ab\u30fc\u30dc\u30fc\u30eb\u304c\u3042\u308b\u4f4d\u7f6e(X,Y,Z)\u306b\u3042\u308b\u3068\u304d\u3001\u753b\u50cf\u3067\u306f\u7e26\u6a2a\u305d\u308c\u305e\u308c\u4f55pixel\u76ee\u306b\u8868\u793a\u3055\u308c\u308b\u306e\u304b\uff1f\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u56f3\u306e\u30dc\u30fc\u30eb\u3068\u30ab\u30e1\u30e9\u306e\u4f4d\u7f6e\u95a2\u4fc2A\u3067\u64ae\u5f71\u3057\u305f\u30dc\u30fc\u30eb\u3092\u4f8b\u306b\u8003\u3048\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"has-vivid-purple-color has-text-color wp-block-heading\" style=\"font-size:25px\">\u72b6\u6cc1\u306e\u5358\u7d14\u5316\u3068\u30d4\u30f3\u30db\u30fc\u30eb\u30ab\u30e1\u30e9\u30e2\u30c7\u30eb<\/h2>\n\n\n\n<p>\u4ee5\u4e0b\u3067\u306f\u8a71\u3092\u5358\u7d14\u306b\u3059\u308b\u305f\u3081\u30ab\u30e1\u30e9\u306e\u30bb\u30f3\u30b5\u30fc\u306f$10 \\times 10$\u306e\u30d5\u30a9\u30c8\u30c0\u30a4\u30aa\u30fc\u30c9\u3092\u4e26\u3079\u305f\u3082\u306e\u3068\u3057\u3066\u8003\u3048\u307e\u3059\u3002<\/p>\n\n\n\n<p>(\u30d5\u30a9\u30c8\u30c0\u30a4\u30aa\u30fc\u30c9\uff11\u500b\u306b\u3064\u304d\uff11\u30d4\u30af\u30bb\u30eb\u63cf\u753b\u3059\u308b\u3082\u306e\u3068\u3057\u307e\u3059\u3002)<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"781\" height=\"396\" src=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/ball_on_img_sensor.png\" alt=\"\" class=\"wp-image-140\" srcset=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/ball_on_img_sensor.png 781w, https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/ball_on_img_sensor-300x152.png 300w, https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/ball_on_img_sensor-768x389.png 768w\" sizes=\"auto, (max-width: 781px) 100vw, 781px\" \/><\/figure>\n\n\n\n<p>\u30d4\u30f3\u30db\u30fc\u30eb\u30ab\u30e1\u30e9\u30e2\u30c7\u30eb\u3067\u306f\u3001\u539f\u70b9\u306f\u30d4\u30f3\u30db\u30fc\u30eb\u90e8\u5206\u3067\u30bb\u30f3\u30b5(\u30d4\u30f3\u30db\u30fc\u30eb\u30ab\u30e1\u30e9\u3067\u306f\u611f\u5149\u4f53\u3092\u5857\u3063\u305f\u30b9\u30af\u30ea\u30fc\u30f3)\u306e\u4f4d\u7f6e\u306f\u753b\u50cf\u3068\u540c\u3058\u4f4d\u7f6e\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u30bb\u30f3\u30b5(\u30b9\u30af\u30ea\u30fc\u30f3)\u4e0a\u3067\u306f\u4e0a\u4e0b\u53cd\u8ee2\u3057\u305f\u6620\u50cf\u304c\u6620\u308b\u305f\u3081\u3001\u753b\u50cf\u306e\u4f4d\u7f6e(\u753b\u50cf\u5ea7\u6a19\u5e73\u9762\u3068\u547c\u3076)\u306f\u4eba\u304c\u898b\u308b\u3068\u304d\u306e\u4f4d\u7f6e\u3068\u540c\u3058\u6240\u3067\u8003\u3048\u307e\u3059\u3002(\u900f\u8996\u6295\u5f71\u30ab\u30e1\u30e9\u30e2\u30c7\u30eb)<\/p>\n\n\n\n<p>\u3053\u3046\u3059\u308b\u3068\u539f\u70b9\u3068\u753b\u50cf\u3068\u64ae\u5f71\u5bfe\u8c61\u304c\u9806\u756a\u306b\u4e26\u3076\u306e\u3067\u3001\u30de\u30a4\u30ca\u30b9\u306e\u5965\u884c\u304d\u65b9\u5411\u3092\u8003\u3048\u305a\u306b\u6e08\u307f\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"473\" height=\"183\" src=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/pin_hole_camera-2.png\" alt=\"\" class=\"wp-image-143\" srcset=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/pin_hole_camera-2.png 473w, https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/pin_hole_camera-2-300x116.png 300w\" sizes=\"auto, (max-width: 473px) 100vw, 473px\" \/><\/figure>\n\n\n\n<p>\u6700\u5f8c\u306b\u7126\u70b9\u8ddd\u96e2\u3092f\u3068\u3059\u308b\u3068\u3001\u305d\u308c\u305e\u308c\u306e\u4f4d\u7f6e\u95a2\u4fc2\u306f\u6700\u7d42\u7684\u306b\u4e0b\u56f3\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"430\" height=\"258\" src=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/focal_length-1.png\" alt=\"\" class=\"wp-image-145\" srcset=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/focal_length-1.png 430w, https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/focal_length-1-300x180.png 300w\" sizes=\"auto, (max-width: 430px) 100vw, 430px\" \/><\/figure>\n\n\n\n<p>\u30d4\u30f3\u30db\u30fc\u30eb\u30ab\u30e1\u30e9\u3068\u30ec\u30f3\u30ba\u30ab\u30e1\u30e9\u306e\u9055\u3044\u306fthothchildren\u3055\u3093\u306e\u89e3\u8aac\u8a18\u4e8b\u304c\u5206\u304b\u308a\u3084\u3059\u3044\u3067\u3059\u3002(<a href=\"http:\/\/www.thothchildren.com\/chapter\/5b101ffc5eba7604b3c4ba6c\">\u30d4\u30f3\u30db\u30fc\u30eb\u3068\u30ec\u30f3\u30ba\u306e\u9055\u3044\u3092\u77e5\u308a\u305f\u3044<\/a>)<\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"has-vivid-purple-color has-text-color wp-block-heading\" style=\"font-size:25px\">\uff13\u6b21\u5143\u5ea7\u6a19\u304b\u3089\uff12\u6b21\u5143\u5ea7\u6a19\u3078<\/h2>\n\n\n\n<p>\u4e0a\u3067\u8003\u3048\u305f\u900f\u8996\u6295\u5f71\u30ab\u30e1\u30e9\u30e2\u30c7\u30eb\u3092\u5143\u306b\u3001\u753b\u50cf\u4e0a\u306e\u70b9(x,y,z)\u3068\u30b5\u30c3\u30ab\u30fc\u30dc\u30fc\u30eb\u306e\u3068\u3042\u308b\u70b9\u306e\u5ea7\u6a19(X,Y,Z)\u306e\u5bfe\u5fdc\u3092\u8003\u3048\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u753b\u50cf\u306b\u5199\u3063\u3066\u3044\u308b\u306e\u3067\u3042\u308c\u3070z\u5ea7\u6a19(\u5965\u884c\u304d)\u306f\u30d4\u30af\u30bb\u30eb\u306e\u4f4d\u7f6e\u306b\u95a2\u308f\u3089\u305a\u5168\u3066f\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u3064\u307e\u308a\u3001\u753b\u50cf\u306e\u70b9(x,y,z) \u306f(x,y,f)\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u6b21\u306by\u5ea7\u6a19(\u9ad8\u3055)\u3092\u8003\u3048\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u7126\u70b9\u8ddd\u96e2\u3088\u308a\u3082\u9060\u3044\u4f4d\u7f6e\u3067\u306e\u500d\u7387\u8a08\u7b97\u3092\u3059\u308b\u3068\u30d4\u30f3\u30db\u30fc\u30eb\u30ab\u30e1\u30e9\u3067\u306f\u3000$ \\frac{f}{Z} = \\frac{y}{Y}$\u3000\u304c\u6210\u308a\u7acb\u3061\u307e\u3059\u3002<\/p>\n\n\n\n<p><a href=\"#attention_1\">\uff08\u6ce81\uff1a\u51f8\u30ec\u30f3\u30ba\u306e\u5834\u5408\u306e\u500d\u7387\u306b\u3064\u3044\u3066\uff09<\/a><\/p>\n\n\n\n<p>\u6210\u308a\u7acb\u3064\u7406\u7531\u306f\u4e0b\u56f3\u306e\u3088\u3046\u306b\u4e09\u89d2\u5f62\u306e\u76f8\u4f3c\u95a2\u4fc2\u304b\u3089 f:Z = y:Y\u3068\u304a\u3051\u308b\u305f\u3081\u3067\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"333\" height=\"266\" src=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/pinhole_scale.png\" alt=\"\" class=\"wp-image-151\" srcset=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/pinhole_scale.png 333w, https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/pinhole_scale-300x240.png 300w\" sizes=\"auto, (max-width: 333px) 100vw, 333px\" \/><\/figure>\n\n\n\n<p>x\u5ea7\u6a19(\u5e45)\u306b\u3064\u3044\u3066\u3082\u540c\u69d8\u306b $ \\frac{f}{Z} = \\frac{x}{X}$ \u304c\u6210\u308a\u7acb\u3064\u306e\u3067\u3001\u7d50\u679c\u7684\u306b\u753b\u50cf\u4e0a\u306e\u70b9(x,y,z)\u306f($f\\times \\frac{X}{Z}$, $f\\times \\frac{Y}{Z}$, $f$)\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u753b\u50cf\u4e0a\u306e\u70b9\u306f\uff12\u6b21\u5143\u306a\u306e\u3067z\u3092\u7121\u8996\u3057\u3066\u3001 (x,y) = <strong>($f\\times \\frac{X}{Z}$, $f\\times \\frac{Y}{Z}$)<\/strong>\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>*1:\u4f55\u30d4\u30af\u30bb\u30eb\u76ee\u306a\u306e\u304b\uff1f\u306b\u306f\u307e\u3060\u5fdc\u3048\u3089\u308c\u307e\u305b\u3093\u304c\u3001\u4e00\u5fdc\u3053\u3053\u307e\u3067\u3067\u64ae\u5f71\u7269\u4f53\u304c\u5199\u308b\u30b9\u30af\u30ea\u30fc\u30f3(\u753b\u50cf)\u306e\u4f4d\u7f6e\u306e\u7b54\u3048\u3067\u3059\u3002<\/p>\n\n\n\n<p>*2:f\u3067\u6b63\u898f\u5316\u3057\u305f\u3082\u306e(\u6b63\u898f\u5316\u753b\u50cf\u5ea7\u6a19\u7cfb)\u3092\u8003\u3048\u308b\u3068(x,y,z) = ($\\frac{X}{Z}$, $\\frac{Y}{Z}$, 1)\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"has-vivid-purple-color has-text-color wp-block-heading\" style=\"font-size:25px\">\u30ab\u30e1\u30e9\u306e\u5185\u90e8\u30d1\u30e9\u30e1\u30fc\u30bf\u306b\u3064\u3044\u3066<\/h2>\n\n\n\n<p>\u3053\u308c\u307e\u3067\u753b\u50cf\u306e\u4e2d\u5fc3\u3092\u539f\u70b9\u3068\u3057\u3066\u8003\u3048\u3066\u304d\u307e\u3057\u305f\u304c\u3001\u901a\u5e38\u306f\u753b\u50cf\u306e\u5de6\u4e0a\u3092\u539f\u70b9\u3068\u3057\u3066\u8003\u3048\u308b\u305f\u3081\u30aa\u30d5\u30bb\u30c3\u30c8\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"711\" height=\"331\" src=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/06\/coordinate.png\" alt=\"\" class=\"wp-image-179\" srcset=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/06\/coordinate.png 711w, https:\/\/elosove.com\/wp-content\/uploads\/2021\/06\/coordinate-300x140.png 300w\" sizes=\"auto, (max-width: 711px) 100vw, 711px\" \/><\/figure>\n\n\n\n<p>\u3053\u306e\u3068\u304d\uff58\u8ef8\u65b9\u5411\u306e\u30aa\u30d5\u30bb\u30c3\u30c8\u91cf\u3092$C_x$ \uff59\u8ef8\u65b9\u5411\u306e\u30aa\u30d5\u30bb\u30c3\u30c8\u91cf\u3092$C_y$\u3068\u3057\u3066\u8ef8\u306e\u540d\u524d\u3092\u305d\u308c\u305e\u308cu,v\u3068\u3059\u308b\u3068<\/p>\n\n\n\n<p>u = $f\\times \\frac{X}{Z} + C_x$<\/p>\n\n\n\n<p>v = $f\\times \\frac{Y}{Z} + C_y$<\/p>\n\n\n\n<p>\u3068\u306a\u308a\u307e\u3059\u3002\u3053\u308c\u3092\u884c\u5217\u3067\u8868\u3059\u3068<\/p>\n\n\n\n<p>$ \\left[\\begin{array}{ccc} u \\\\ v \\\\ 1 \\end{array}\\right]= \\left[\\begin{array}{ccc} f &amp; 0 &amp; C_x \\\\ 0 &amp; f &amp; C_y \\\\ 0 &amp; 0 &amp;  1 \\end{array}\\right] \\left[\\begin{array}{ccc} \\frac{X}{Z} \\\\ \\frac{Y}{Z} \\\\ 1 \\end{array}\\right]$<\/p>\n\n\n\n<p>\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<p>\u30dc\u30fc\u30eb\u306e\u3068\u3042\u308b\u70b9\u306e\u4f4d\u7f6eZ\u306f\u753b\u50cf\u30c7\u30fc\u30bf\u304b\u3089\u3067\u306f\u5206\u304b\u3089\u306a\u3044\u306e\u3067\u3001\u753b\u50cf\u306e\u4f4d\u7f6e\u304b\u3089\u30b5\u30c3\u30ab\u30fc\u30dc\u30fc\u30eb\u306e\u4f4d\u7f6e\u3092\u8003\u3048\u3066\u3044\u308b\u4eba\u306b\u3068\u3063\u3066\u6271\u3044\u3084\u3059\u3044\u3088\u3046\u306b<\/p>\n\n\n\n<p>$\\left[\\begin{array}{ccc} \\frac{X}{Z} \\\\ \\frac{Y}{Z} \\\\ 1 \\end{array}\\right]$\u304b\u3089$\\frac{1}{Z}$\u3092\u304f\u304f\u3063\u3066\u3001s\u3068\u304a\u3044\u305f<\/p>\n\n\n\n<p>$ s \\left[\\begin{array}{ccc} u \\\\ v \\\\ 1 \\end{array}\\right]= \\left[\\begin{array}{ccc} f &amp; 0 &amp; C_x \\\\ 0 &amp; f &amp; C_y \\\\ 0 &amp; 0 &amp; 1 \\end{array}\\right] \\left[\\begin{array}{ccc} X \\\\ Y \\\\ 1 \\end{array}\\right]$<\/p>\n\n\n\n<p>\u306e\u5f62\u306e\u5f0f\u304c\u4ee3\u8868\u7684\u3067\u3059\u3002<\/p>\n\n\n\n<p><a href=\"#attention_2\">\uff08\u6ce82\uff1as\u306f\u30b9\u30b1\u30fc\u30eb\u30d5\u30a1\u30af\u30bf\u3068\u547c\u3070\u308c\u307e\u3059)<\/a><\/p>\n\n\n\n<p>$\\left[\\begin{array}{ccc} f &amp; 0 &amp; C_x \\\\ 0 &amp; f &amp; C_y \\\\ 0 &amp; 0 &amp; 1 \\end{array}\\right]$\u306e\u90e8\u5206\u3092\u30ab\u30e1\u30e9\u306e\u5185\u90e8\u30d1\u30e9\u30e1\u30fc\u30bf\u3068\u547c\u3073\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<p>\u53c2\u8003\uff1a<a rel=\"noreferrer noopener\" href=\"http:\/\/opencv.jp\/opencv-2.1\/cpp\/camera_calibration_and_3d_reconstruction.html#id1\" data-type=\"URL\" target=\"_blank\">\u30ab\u30e1\u30e9\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u30683\u6b21\u5143\u518d\u69cb\u6210<\/a><\/p>\n\n\n\n<p>\u7126\u70b9\u8ddd\u96e2\u304c$f_x$\u3068$f_y$\u306b\u306a\u3063\u3066\u3044\u308b\u7406\u7531\uff1a<a href=\"https:\/\/mem-archive.com\/2018\/02\/25\/post-201\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/mem-archive.com\/2018\/02\/25\/post-201\/<\/a><\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"has-vivid-purple-color has-text-color wp-block-heading\" style=\"font-size:25px\">\u7d50\u5c40\u3001\u64ae\u5f71\u3057\u305f\u7269\u4f53\u306f\u753b\u50cf\u306e\u3069\u3053\u306b\u5199\u308b\u306e\u304b\uff1f<\/h2>\n\n\n\n<p>\u3053\u3053\u307e\u3067\u3067\u7b97\u51fa\u3057\u305fu\u3068v\u304c\u6700\u521d\u306e\u7591\u554f\u306e\u7b54\u3048\u3067\u3059\u304c\u3001\u3053\u308c\u306f\u30a2\u30ca\u30ed\u30b0\u306e\u30d4\u30f3\u30db\u30fc\u30eb\u30ab\u30e1\u30e9\u3092\u8003\u3048\u3066\u3044\u308b\u70ba\u306bu\u3082v\u3082\u6574\u6570\u3067\u3042\u308b\u5fc5\u8981\u304c\u7121\u3044\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u30c7\u30b8\u30bf\u30eb\u30c7\u30fc\u30bf\u3067\u306f\u753b\u50cf\u5185\u306e\u4f4d\u7f6e=\u30d4\u30af\u30bb\u30eb\u306e\u6570\u306a\u306e\u3067\u3001u\u3082v\u3082\u6574\u6570\u5316\u3059\u308b\u5fc5\u8981\u304c\u51fa\u3066\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3053\u308c\u306b\u4f34\u3063\u3066\u7126\u70b9\u8ddd\u96e2f\u306b\u3064\u3044\u3066\u3082mm\u3067\u306f\u306a\u304f\u30d4\u30af\u30bb\u30eb\u5358\u4f4d\u3067\u8868\u3059\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<p>\u7126\u70b9\u8ddd\u96e2f\u306e\u30d4\u30af\u30bb\u30eb\u8ddd\u96e2\u306f\u753b\u50cf\u306e\u89e3\u50cf\u5ea6\u3068\u30bb\u30f3\u30b5\u306e\u7269\u7406\u5e45\u306e\u95a2\u4fc2\u304b\u3089<\/p>\n\n\n\n<p>f[mm] : f[pixel] =  w[\u30bb\u30f3\u30b5\u30fc\u306e\u7269\u7406\u7684\u306a\u5e45mm] : W[\u753b\u50cf\u306e\u89e3\u50cf\u5ea6]<\/p>\n\n\n\n<p>f[pixel] = f[mm]$ \\times \\frac{W[\u753b\u50cf\u306e\u89e3\u50cf\u5ea6]}{w[\u30bb\u30f3\u30b5\u30fc\u306e\u5e45mm]} $<\/p>\n\n\n\n<p>\u304c\u6210\u308a\u7acb\u3061\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4e0a\u306e\u5f0f\u306f\u30bb\u30f3\u30b5\u306e\u5e45\u3068\u753b\u50cf\u306e\u89e3\u50cf\u5ea6(\u6a2a\u65b9\u5411)\u306b\u3064\u3044\u3066\u8003\u3048\u3066\u3044\u307e\u3059\u304c\u3001\u5f53\u7136\u3001\u7e26\u65b9\u5411\u3082\u540c\u69d8\u306b\u8a08\u7b97\u51fa\u6765\u308b\u306e\u3067\u4fbf\u5b9c\u7684\u306b$f_x$[pixel]\u3068$f_y$[pixel]\u3068\u3057\u3066u\u3068v\u306e\u5f0f\u306b\u7126\u70b9\u8ddd\u96e2\u3092\u4ee3\u5165\u3059\u308b\u3068\u4e0b\u306e\u3088\u3046\u306a\u5f0f\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>u = $f_x [pixel] \\times \\frac{X}{Z} + C_x$<\/p>\n\n\n\n<p>v = $f_y [pixel] \\times \\frac{Y}{Z} + C_y$<\/p>\n\n\n\n<p>\u3053\u306e\u5f0f\u304b\u3089\u7b97\u51fa\u3057\u305fu\u3068v\u3092\u305d\u308c\u305e\u308c\u91cf\u5b50\u5316(\u4f8b\uff1a\u5c0f\u6570\u7b2c\u4e00\u4f4d\u3067\u56db\u6368\u4e94\u5165)\u3057\u305f\u5024\u304c\u3059\u306a\u308f\u3061\u64ae\u5f71\u3057\u305f\u7269\u4f53\u304c\u6620\u3063\u3066\u3044\u308b\u30d4\u30af\u30bb\u30eb\u306e\u4f4d\u7f6e\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>(\u5b9f\u969b\u306e\u30ab\u30e1\u30e9\u306e\u7126\u70b9\u8ddd\u96e2\u306b\u3064\u3044\u3066\uff1a<a href=\"https:\/\/fotootaku.com\/what-is-focal-length\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/fotootaku.com\/what-is-focal-length\/<\/a>)<\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h3 class=\"has-pale-pink-color has-text-color wp-block-heading\" id=\"attention_1\">\u6ce81 : \u30d4\u30f3\u30db\u30fc\u30eb\u30ab\u30e1\u30e9\u3068\u51f8\u30ec\u30f3\u30ba\u30ab\u30e1\u30e9\u306e\u500d\u7387\u306e\u9055\u3044<\/h3>\n\n\n\n<p>\u5b9f\u969b\u306f\u30d4\u30f3\u30db\u30fc\u30eb\u30ab\u30e1\u30e9\u3067\u306f\u306a\u304f\u3001\u30ec\u30f3\u30ba\u3067\u64ae\u5f71\u3059\u308b\u30b1\u30fc\u30b9\u304c\u307b\u3068\u3093\u3069\u3060\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u51f8\u30ec\u30f3\u30ba\u306e\u500d\u7387\u306f\u7126\u70b9\u8ddd\u96e2\u3088\u308a\u3082\u9060\u304f\u306b\u64ae\u5f71\u7269\u4f53\u3092\u7f6e\u3044\u305f\u5834\u5408\u306b\u306f\u30d4\u30f3\u30db\u30fc\u30eb\u30ab\u30e1\u30e9\u3068\u9055\u3044<\/p>\n\n\n\n<p>$ \\frac{b}{a} = \\frac{f}{(a-f)}\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3053\u3053\u3067\u7126\u70b9\u8ddd\u96e2f\u306f\u6570cm\u7a0b\u5ea6\u306a\u306e\u306b\u5bfe\u3057\u3066\u30ec\u30f3\u30ba\u3068\u64ae\u5f71\u7269\u4f53\u306e\u8ddd\u96e2Z\u306f\u305d\u308c\u3088\u308a\u3082\u5927\u304d\u3044\u5834\u5408\u304c\u6b86\u3069\u3067\u3042\u308b\u70ba\u3001$\\frac{b}{a} = \\frac{f}{(a-f)} \u2252 \\frac{f}{(a)}$\u3068\u8fd1\u4f3c\u304c\u51fa\u6765\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"463\" height=\"268\" src=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/lens_scale-1.png\" alt=\"\" class=\"wp-image-154\" srcset=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/lens_scale-1.png 463w, https:\/\/elosove.com\/wp-content\/uploads\/2021\/05\/lens_scale-1-300x174.png 300w\" sizes=\"auto, (max-width: 463px) 100vw, 463px\" \/><\/figure>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h3 class=\"has-pale-pink-color has-text-color wp-block-heading\" id=\"attention_2\">\u6ce82:\u30b9\u30b1\u30fc\u30eb\u304c\u5206\u304b\u3089\u306a\u3044\u3068\u306f\uff1f<\/h3>\n\n\n\n<p>\u753b\u50cf\u3060\u3051\u3067\u306f\u30ab\u30e1\u30e9\u306e\u8fd1\u304f\u306e\u7269\u4f53\u306a\u306e\u304b\u9060\u304f\u306e\u7269\u4f53\u306a\u306e\u304b\u672c\u5f53\u306f\u4e0d\u660e\u3067\u3059\u304c\u3001\u4eba\u306f\u9060\u8fd1\u611f\u3092\u611f\u3058\u308b\u3053\u3068\u304c\u51fa\u6765\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u305d\u306e\u70ba\u3001\u4eba\u306e\u611f\u899a\u3092\u9a19\u3057\u305f\u5199\u771f\u306a\u3069\u304c\u64ae\u308c\u305f\u308a\u3057\u307e\u3059\u3002\u3053\u308c\u306f\u753b\u50cf\u304b\u3089\u3067\u306f\u30b9\u30b1\u30fc\u30eb(\u5927\u304d\u3055)\u304c\u5206\u304b\u3089\u306a\u4f8b\u3067\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"400\" height=\"400\" src=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/06\/towercat.png\" alt=\"\" class=\"wp-image-191\" srcset=\"https:\/\/elosove.com\/wp-content\/uploads\/2021\/06\/towercat.png 400w, https:\/\/elosove.com\/wp-content\/uploads\/2021\/06\/towercat-300x300.png 300w, https:\/\/elosove.com\/wp-content\/uploads\/2021\/06\/towercat-150x150.png 150w\" sizes=\"auto, (max-width: 400px) 100vw, 400px\" \/><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u7591\u554f\u306e\u51fa\u3069\u3053\u308d \u901a\u5e38\u306f\u30ab\u30e1\u30e9\u306e\u30d5\u30a1\u30a4\u30f3\u30c0\u30fc\u3084\u30e2\u30cb\u30bf\u3067\u78ba\u8a8d\u3057\u306a\u304c\u3089\u64ae\u5f71\u3092\u3059\u308b\u305f\u3081\u3001\u30bf\u30a4\u30c8\u30eb\u306e\u3088\u3046\u306a\u7591\u554f\u306f\u51fa\u306a\u3044\u304b\u3068\u601d\u3044\u307e\u3059\u3002 \u3068\u3053\u308d\u304c\u3001\u30b9\u30c6\u30ec\u30aa\u30ab\u30e1\u30e9\u3001structure from motion\u3001SLAM(\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a)\u3001 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":139,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[13],"class_list":["post-33","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-tech","tag-camera"],"_links":{"self":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/33","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=33"}],"version-history":[{"count":51,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/33\/revisions"}],"predecessor-version":[{"id":198,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/33\/revisions\/198"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/media\/139"}],"wp:attachment":[{"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=33"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=33"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=33"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}