Class HomographyInducedStereoLinePt
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

Method Summary
Modifier and TypeMethodDescriptionvoid
process
(PairLineNorm line, AssociatedPair point) Computes the homography based on a line and point on the planevoid
setFundamental
(DMatrixRMaj F, @Nullable Point3D_F64 e2) Specify the fundamental matrix and the camera 2 epipole.

Constructor Details

HomographyInducedStereoLinePt
public HomographyInducedStereoLinePt()


Method Details

setFundamental
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
Computes the homography based on a line and point on the plane Parameters:
line
 Line on the planepoint
 Point on the plane

getHomography
