Package boofcv.alg.geo.h

Class HomographyTotalLeastSquares

java.lang.Object

boofcv.alg.geo.h.HomographyTotalLeastSquares

public class HomographyTotalLeastSquares
extends Object

Direct method for computing homography that is more computationally efficient and stable than DLT. Takes advantage of the sparse structure of the matrix found in DLT to reduce the number of computations and EYM matrix approximation. See the paper [1] for details. Requires at least four points.

[1] Harker, Matthew, and Paul O'Leary. "Computation of Homographies." BMVC. 2005.

Field Summary

Fields

Modifier and Type	Field	Description
protected NormalizationPoint2D	N1
protected NormalizationPoint2D	N2

Constructor Summary

Constructors

Constructor	Description
HomographyTotalLeastSquares()

Method Summary

Modifier and Type	Method	Description
boolean	process(List<AssociatedPair> points, DMatrixRMaj foundH)	Computes the homography matrix given a set of observed points in two images.

Methods inherited from class java.lang.Object

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

Field Details

N1

protected NormalizationPoint2D N1

N2

protected NormalizationPoint2D N2

Constructor Details

HomographyTotalLeastSquares

public HomographyTotalLeastSquares()

Method Details

process

public boolean process(List<AssociatedPair> points,
 DMatrixRMaj foundH)

Computes the homography matrix given a set of observed points in two images. A set of AssociatedPair is passed in. The computed homography 'H' is found such that the attributes 'p1' and 'p2' in AssociatedPair refers to x1 and x2, respectively, in the equation below:
x₂ = H*x₁

Parameters:

points - A set of observed image points that are generated from a planar object. Minimum of 4 pairs required.

foundH - Output: Storage for the found solution. 3x3 matrix.

Returns:

true if the calculation was a success.