boofcv.alg.geo

Class DecomposeHomography

java.lang.Object

boofcv.alg.geo.DecomposeHomography

public class DecomposeHomography
extends java.lang.Object

Decomposes a homography matrix to extract its internal geometric structure. There are four possible solutions, with two that are physically possible. The physically possible solution can be found by imposing a positive depth constraint. See PositiveDepthConstraintCheck for details on how to do that.

A homography matrix is defined as H = (R + (1/d)*T*N^T), where R is a 3x3 rotation matrix, d is the distance of the plane, N is the plane's normal, T is the translation vector. The decomposition works by computing the SVD of H^TH and the following the procedure outlines in [1].

The input homography is assumed to be from view 'a' to view 'b'. Then the resulting transform (R,T) is the transform from view 'a' to view 'b'

"An Invitation to 3-D Vision" 1st edition page 137.

Constructor Summary

Constructors

Constructor and Description
DecomposeHomography()

Method Summary

Modifier and Type	Method and Description
void	decompose(org.ejml.data.DenseMatrix64F H) Decomposed the provided homography matrix into its R,T/d,N components.
java.util.List<georegression.struct.point.Vector3D_F64>	getSolutionsN() Returns the normal of the plane part of the solution
java.util.List<georegression.struct.se.Se3_F64>	getSolutionsSE() Returns the camera motion part of the solution.

Methods inherited from class java.lang.Object

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

Constructor Detail

DecomposeHomography

public DecomposeHomography()

Method Detail

decompose

public void decompose(org.ejml.data.DenseMatrix64F H)

Decomposed the provided homography matrix into its R,T/d,N components. Four solutions will be produced and can be accessed with getSolutionsN() and getSolutionsSE().

Parameters:

H - Homography matrix. Not modified.

getSolutionsSE

public java.util.List<georegression.struct.se.Se3_F64> getSolutionsSE()

Returns the camera motion part of the solution. Note that se.T=(1/d)T

WARNING: Data is reused each time decompose is called.

Returns:

Set of rigid body camera motions

getSolutionsN

public java.util.List<georegression.struct.point.Vector3D_F64> getSolutionsN()

Returns the normal of the plane part of the solution

WARNING: Data is reused each time decompose is called.

Returns:

Set of plane normals