boofcv.alg.geo.h

Class HomographyInducedStereoLinePt

java.lang.Object

boofcv.alg.geo.h.HomographyInducedStereoLinePt

public class HomographyInducedStereoLinePt
extends Object

Computes the homography induced by a plane from correspondences of a line and a point. 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].

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.

[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
HomographyInducedStereoLinePt()

Method Summary

Methods

Modifier and Type	Method and Description
org.ejml.data.DenseMatrix64F	getHomography()
void	process(PairLineNorm line, AssociatedPair point) Computes the homography based on a line and point 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

HomographyInducedStereoLinePt

public HomographyInducedStereoLinePt()

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 void process(PairLineNorm line,
           AssociatedPair point)

Computes the homography based on a line and point on the plane

Parameters:

line - Line on the plane

point - Point on the plane

getHomography

public org.ejml.data.DenseMatrix64F getHomography()