boofcv.alg.geo.h

Class HomographyInducedStereo2Line

java.lang.Object

boofcv.alg.geo.h.HomographyInducedStereo2Line

public class HomographyInducedStereo2Line
extends Object

Computes the homography induced by a plane from 2 line correspondences. Works with both calibrated and uncalibrated cameras. The Fundamental/Essential matrix must be known. The found homography will be from view 1 to view 2. The passed in Fundamental matrix must have the following properties for each set of point correspondences: x2*F*x1 = 0, where x1 and x2 are views of the point in image 1 and image 2 respectively.

Algorithm: For each line correspondence it finds the intersection between the two planes which define the observed lines. These planes are created by line in the image and the camera origin. From the two found lines, the equations of the plane are extracted in 3D space. This equation is then combined with information from the fundamental matrix to compute the induced homography.

NOTE: Any line which is parallel to camera baseline can't be used. The lines in both cameras will have the same slope, causing their intersection to be a plane instead of a line. This can be a significant issue since for many stereo rigs it would mean no perfectly horizontal lines can be used.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
HomographyInducedStereo2Line()

Method Summary

Methods

Modifier and Type	Method and Description
org.ejml.data.DenseMatrix64F	getHomography()
boolean	process(PairLineNorm line0, PairLineNorm line1) Computes the homography based on two unique lines on the plane
void	setFundamental(org.ejml.data.DenseMatrix64F F, georegression.struct.point.Point3D_F64 e2) Specify the fundamental matrix and the camera 2 epipole.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

HomographyInducedStereo2Line

public HomographyInducedStereo2Line()

Method Detail

setFundamental

public void setFundamental(org.ejml.data.DenseMatrix64F F,
                  georegression.struct.point.Point3D_F64 e2)

Specify the fundamental matrix and the camera 2 epipole.

Parameters:

F - Fundamental matrix.

e2 - Epipole for camera 2. If null it will be computed internally.

process

public boolean process(PairLineNorm line0,
              PairLineNorm line1)

Computes the homography based on two unique lines on the plane

Parameters:

line0 - Line on the plane

line1 - Line on the plane

getHomography

public org.ejml.data.DenseMatrix64F getHomography()