Package boofcv.alg.geo

Class DecomposeProjectiveToMetric

java.lang.Object

boofcv.alg.geo.DecomposeProjectiveToMetric

public class DecomposeProjectiveToMetric
extends Object

Decomposes metric camera matrices as well as projective with known intrinsic parameters.

Field Summary

Fields

Modifier and Type	Field	Description
protected DMatrixRMaj	A
protected DMatrixRMaj	A_p
protected DMatrixRMaj	K_inv
protected DMatrixRMaj	P_metric
protected DMatrixRMaj	P_rt
protected DMatrixRMaj	Pv
protected QRDecomposition<DMatrixRMaj>	qr
double	singularError	Indicates how far the singular values deviated from their expected value.
protected SingularValueDecomposition_F64<DMatrixRMaj>	svd

Constructor Summary

Constructors

Constructor	Description
DecomposeProjectiveToMetric()

Method Summary

Modifier and Type	Method	Description
boolean	decomposeMetricCamera(DMatrixRMaj cameraMatrix, DMatrixRMaj K, Se3_F64 worldToView)	Decomposes a metric camera matrix P=K*[R|T], where A is an upper triangular camera calibration matrix, R is a rotation matrix, and T is a translation vector.
boolean	projectiveToMetric(DMatrixRMaj cameraMatrix, DMatrixRMaj H, Se3_F64 worldToView, DMatrixRMaj K)	Elevates a projective camera matrix into a metric one using the rectifying homography.
boolean	projectiveToMetricKnownK(DMatrixRMaj cameraMatrix, DMatrixRMaj H, DMatrixRMaj K, Se3_F64 worldToView)	Convert the projective camera matrix into a metric transform given the rectifying homography and a known calibration matrix.

Methods inherited from class java.lang.Object

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

Field Details

qr

protected QRDecomposition<DMatrixRMaj> qr

Pv

protected DMatrixRMaj Pv

A_p

protected DMatrixRMaj A_p

A

protected DMatrixRMaj A

svd

protected SingularValueDecomposition_F64<DMatrixRMaj> svd

P_metric

protected DMatrixRMaj P_metric

P_rt

protected DMatrixRMaj P_rt

K_inv

protected DMatrixRMaj K_inv

singularError

public double singularError

Indicates how far the singular values deviated from their expected value. zero means perfect match

Constructor Details

DecomposeProjectiveToMetric

public DecomposeProjectiveToMetric()

Method Details

projectiveToMetricKnownK

public boolean projectiveToMetricKnownK(DMatrixRMaj cameraMatrix,
 DMatrixRMaj H,
 DMatrixRMaj K,
 Se3_F64 worldToView)

Convert the projective camera matrix into a metric transform given the rectifying homography and a known calibration matrix. This simplifies the math compared to projectiveToMetric(org.ejml.data.DMatrixRMaj, org.ejml.data.DMatrixRMaj, georegression.struct.se.Se3_F64, org.ejml.data.DMatrixRMaj) where it needs to extract `K`.

P = K*[R|T]*H where H is the inverse of the rectifying homography. A goodness of fit error can be accessed using singularError.

Parameters:

cameraMatrix - (Input) camera matrix. 3x4

H - (Input) Rectifying homography. 4x4

K - (Input) Known calibration matrix

worldToView - (Output) transform from world to camera view

Returns:

true if the decomposition was successful

projectiveToMetric

public boolean projectiveToMetric(DMatrixRMaj cameraMatrix,
 DMatrixRMaj H,
 Se3_F64 worldToView,
 DMatrixRMaj K)

Elevates a projective camera matrix into a metric one using the rectifying homography. Extracts calibration and Se3 pose.

 P'=P*H
 K,R,t = decompose(P')
 

where P is the camera matrix, H is the homography, (K,R,t) are the intrinsic calibration matrix, rotation, and translation

Parameters:

cameraMatrix - (Input) camera matrix. 3x4

H - (Input) Rectifying homography. 4x4

worldToView - (Output) Transform from world to camera view

K - (Output) Camera calibration matrix

See Also:

• MultiViewOps.absoluteQuadraticToH(org.ejml.data.DMatrix4x4, org.ejml.data.DMatrixRMaj)
• decomposeMetricCamera(DMatrixRMaj, DMatrixRMaj, Se3_F64)

decomposeMetricCamera

public boolean decomposeMetricCamera(DMatrixRMaj cameraMatrix,
 DMatrixRMaj K,
 Se3_F64 worldToView)

Decomposes a metric camera matrix P=K*[R|T], where A is an upper triangular camera calibration matrix, R is a rotation matrix, and T is a translation vector. If PerspectiveOps.createCameraMatrix(org.ejml.data.DMatrixRMaj, georegression.struct.point.Vector3D_F64, org.ejml.data.DMatrixRMaj, org.ejml.data.DMatrixRMaj) is called using the returned value you will get an equivalent camera matrix.

• NOTE: There are multiple valid solutions to this problem and only one solution is returned.
• NOTE: The camera center will be on the plane at infinity.

Parameters:

cameraMatrix - Input: Camera matrix, 3 by 4

K - Output: Camera calibration matrix, 3 by 3.

worldToView - Output: The rotation and translation.

Returns:

true if decompose was successful