boofcv.alg.geo.h

Class HomographyInducedStereo3Pts

java.lang.Object

boofcv.alg.geo.h.HomographyInducedStereo3Pts

public class HomographyInducedStereo3Pts
extends Object

Computes the homography induced by a plane from 3 point 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. For more information see [1].

[1] R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
HomographyInducedStereo3Pts()

Method Summary

Methods

Modifier and Type	Method and Description
org.ejml.data.DenseMatrix64F	getHomography() The found homography from view 1 to view 2
boolean	process(AssociatedPair p1, AssociatedPair p2, AssociatedPair p3) Estimates the homography from view 1 to view 2 induced by a plane from 3 point associations.
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

HomographyInducedStereo3Pts

public HomographyInducedStereo3Pts()

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(AssociatedPair p1,
              AssociatedPair p2,
              AssociatedPair p3)

Estimates the homography from view 1 to view 2 induced by a plane from 3 point associations. Each pair must pass the epipolar constraint. This can fail if the points are colinear.

Parameters:

p1 - Associated point observation

p2 - Associated point observation

p3 - Associated point observation

Returns:

True if successful or false if it failed

getHomography

public org.ejml.data.DenseMatrix64F getHomography()

The found homography from view 1 to view 2

Returns:

homography