boofcv.alg.geo.h

Class HomographyInducedStereoLinePt

java.lang.Object

boofcv.alg.geo.h.HomographyInducedStereoLinePt

public class HomographyInducedStereoLinePt
extends java.lang.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

Constructor Summary

Constructors

Constructor and Description
HomographyInducedStereoLinePt()

Method Summary

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()