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Added function decomposeHomographyMat. New files added are homography_decomp.cpp and test_homography_decomp.cpp.

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Modified files calib3d.hpp and camera_calibration_and_3d_reconstruction.rst.
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Samson Yilma
2014-04-26 20:13:27 -04:00
parent 32b25de583
commit e6420bde73
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modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
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@@ -758,6 +758,27 @@ They are
:math:`[R_2, -t]`.
By decomposing ``E``, you can only get the direction of the translation, so the function returns unit ``t``.
decomposeHomographyMat
--------------------------
Decompose a homography matrix to rotation(s), translation(s) and plane normal(s).
.. ocv:function:: int decomposeHomographyMat( InputArray H, InputArray K, OutputArrayOfArrays rotations, OutputArrayOfArrays translations, OutputArrayOfArrays normals)
:param H: The input homography matrix.
:param K: The input intrinsic camera calibration matrix.
:param rotations: Array of rotation matrices.
:param translations: Array of translation matrices.
:param normals: Array of plane normal matrices.
This function extracts relative camera motion between two views observing a planar object from the homography ``H`` induced by the plane.
The intrinsic camera matrix ``K`` must also be provided. The function may return up to four mathematical solution sets. At least two of the
solutions may further be invalidated if point correspondences are available by applying positive depth constraint (all points must be in front of the camera).
The decomposition method is described in detail in [Malis]_.
recoverPose
---------------
@@ -1512,3 +1533,5 @@ The function reconstructs 3-dimensional points (in homogeneous coordinates) by u
.. [Slabaugh] Slabaugh, G.G. Computing Euler angles from a rotation matrix. http://www.soi.city.ac.uk/~sbbh653/publications/euler.pdf (verified: 2013-04-15)
.. [Zhang2000] Z. Zhang. A Flexible New Technique for Camera Calibration. IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330-1334, 2000.
.. [Malis] Malis, E. and Vargas, M. Deeper understanding of the homography decomposition for vision-based control, Research Report 6303, INRIA (2007)