Function lib3d::computeHomography(const cv::Matx33d&, const cv::Matx33d&, const cv::Matx33d&, const cv::Vec3d&, const cv::Vec3d&, const double&)

Function Documentation

inline cv::Matx33d lib3d::computeHomography(const cv::Matx33d &K1, const cv::Matx33d &K2, const cv::Matx33d &R, const cv::Vec3d &t, const cv::Vec3d &n, const double &d)

Function to compute homographic mapping between two cameras that is induces by a scene plane.

The two cameras are parameterized by the calibration matrices ( \(\mathbf{K}_1, \mathbf{K}_2\)) and the relative rotation and translation ( \(\mathbf{R}, \mathrm{t}\)). The scene plane is specified by a normal vector \(\mathrm{n}\) and the distance \(d\) to the optical center of the first camera. (cf. Hartley2004 pp. 325)

Parameters:

  • K1 – [in] Calibration matrix of first camera.

  • K2 – [in] Calibration matrix of second camera.

  • R – [in] Relative rotation matrix.

  • t – [in] Relative translation vector.

  • n – [in] Normal vector of scene plane that induces the homography.

  • d – [in] Distance of scene plane from the optical center of the first camera.

Returns:

\(3\times 3\) Homography Matrix