Package boofcv.alg.geo.structure

Class DecomposeAbsoluteDualQuadratic

java.lang.Object
boofcv.alg.geo.structure.DecomposeAbsoluteDualQuadratic
public class DecomposeAbsoluteDualQuadratic extends Object
Decomposes the absolute quadratic to extract the rectifying homogrpahy H. This is used to go from a projective to metric (calibrated) geometry. See pg 464 in [1].

Q = H*diag([1 1 1 0])*HT and H = [K 0; -p'*K 1]

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

  • Constructor Details

    • DecomposeAbsoluteDualQuadratic

      public DecomposeAbsoluteDualQuadratic()

  • Method Details

    • decompose

      public boolean decompose(DMatrix4x4 Q)
      Decomposes the passed in absolute quadratic
      Parameters:
      Q - Absolute quadratic
      Returns:
      true if successful or false if it failed

    • recomputeQ

      public void recomputeQ(DMatrix4x4 Q)
      Recomputes Q from w and p.
      Parameters:
      Q - Storage for the recomputed Q

    • computeRectifyingHomography

      public boolean computeRectifyingHomography(DMatrixRMaj H)
      Computes the rectifying homography from the decomposed Q H = [K 0; -p'*K 1] see Pg 460

    • getW

      public DMatrix3x3 getW()

    • getK

      public DMatrix3x3 getK()

    • getP

      public DMatrix3 getP()
      Coordinate of plane at infinity = pi_inf = (p,1)
      Returns:
      Coordinate of plane at infinity