Package boofcv.alg.geo.h

Class HomographyInducedStereo3Pts

java.lang.Object

boofcv.alg.geo.h.HomographyInducedStereo3Pts

public class HomographyInducedStereo3Pts
extends Object

Computes the homography induced by a plane from 3 point correspondences. 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].

[1] Page 332, R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003

Constructor Summary

Constructors

Constructor	Description
HomographyInducedStereo3Pts()

Method Summary

Modifier and Type	Method	Description
DMatrixRMaj	getHomography()	The found homography from view 1 to view 2
boolean	process(AssociatedPair p1, AssociatedPair p2, AssociatedPair p3)	Estimates the homography from view 1 to view 2 induced by a plane from 3 point associations.
void	setFundamental(DMatrixRMaj F, @Nullable 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 Details

HomographyInducedStereo3Pts

public HomographyInducedStereo3Pts()

Method Details

setFundamental

public void setFundamental(DMatrixRMaj F,
 @Nullable
 @Nullable 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 boolean process(AssociatedPair p1,
 AssociatedPair p2,
 AssociatedPair p3)

Estimates the homography from view 1 to view 2 induced by a plane from 3 point associations. Each pair must pass the epipolar constraint. This can fail if the points are colinear.

Parameters:

p1 - Associated point observation

p2 - Associated point observation

p3 - Associated point observation

Returns:

True if successful or false if it failed

getHomography

public DMatrixRMaj getHomography()

The found homography from view 1 to view 2

Returns:

homography