Package boofcv.alg.geo.calibration

Class Zhang99DecomposeHomography

java.lang.Object

boofcv.alg.geo.calibration.Zhang99DecomposeHomography

public class Zhang99DecomposeHomography
extends Object

Decomposes a homography into rigid body motion (rotation and translation) utilizing specific assumptions made inside the Zhang99 paper [1].

Let K and R be the calibration matrix and rotation matrix.
R = [ r₁ , r₁ , r₁ ]
r_i is the i^th column in R.
Then compute R using the column of the homography matrix: r₁ = λ*inv(K)*h₁
r₂ = λ*inv(K)*h₂
r₃ = cross(r₁,r₂)
t = λ*inv(K)*h₃
t is the translation vector. The R computed above is only approximate and needs to be turned into a real rotation matrix.

[1] Zhengyou Zhang, "Flexible Camera Calibration By Viewing a Plane From Unknown Orientations,", International Conference on Computer Vision (ICCV'99), Corfu, Greece, pages 666-673, September 1999.

Constructor Summary

Constructors

Constructor	Description
Zhang99DecomposeHomography()

Method Summary

Modifier and Type	Method	Description
Se3_F64	decompose(DMatrixRMaj H)	Compute the rigid body motion that composes the homography matrix H.
void	setCalibrationMatrix(DMatrixRMaj K)	Specifies the calibration matrix.

Methods inherited from class java.lang.Object

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

Constructor Details

Zhang99DecomposeHomography

public Zhang99DecomposeHomography()

Method Details

setCalibrationMatrix

public void setCalibrationMatrix(DMatrixRMaj K)

Specifies the calibration matrix.

Parameters:

K - upper triangular calibration matrix.

decompose

public Se3_F64 decompose(DMatrixRMaj H)

Compute the rigid body motion that composes the homography matrix H. It is assumed that H was computed using Zhang99ComputeTargetHomography.

Parameters:

H - homography matrix.

Returns:

Found camera motion.