Package com.irurueta.ar.epipolar.estimators

Class HomographyDecomposition

java.lang.Object
com.irurueta.ar.epipolar.estimators.HomographyDecomposition
public class HomographyDecomposition extends Object
Contains decomposition data of an homography.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    PLANE_NORMAL_LENGTH
    Length of plane normal vector.
    private double
    planeDistance
    Distance to computed plane.
    private double[]
    planeNormal
    Contains computed plane normal obtained from homography decomposition.
    private com.irurueta.geometry.EuclideanTransformation3D
    transformation
    Contains rotation and translation obtained from homography decomposition.

  • Constructor Summary

    Constructors
    Constructor
    Description
    HomographyDecomposition()
    Constructor.
    HomographyDecomposition(com.irurueta.geometry.EuclideanTransformation3D transformation, double[] planeNormal, double planeDistance)
    Constructor.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    getPlaneDistance()
    Gets distance to computed plane.
    double[]
    getPlaneNormal()
    Gets computed plane normal obtained from homography decomposition.
    com.irurueta.geometry.EuclideanTransformation3D
    getTransformation()
    Gets rotation and translation obtained from homography decomposition.
    void
    setPlaneDistance(double planeDistance)
    Sets distance to computed plane.
    final void
    setPlaneNormal(double[] planeNormal)
    Sets computed plane normal obtained from homography decomposition.
    void
    setTransformation(com.irurueta.geometry.EuclideanTransformation3D transformation)
    Sets rotation and translation obtained from homography decomposition.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • PLANE_NORMAL_LENGTH

      public static final int PLANE_NORMAL_LENGTH
      Length of plane normal vector.
      See Also:

    • transformation

      private com.irurueta.geometry.EuclideanTransformation3D transformation
      Contains rotation and translation obtained from homography decomposition.

    • planeNormal

      private double[] planeNormal
      Contains computed plane normal obtained from homography decomposition.

    • planeDistance

      private double planeDistance
      Distance to computed plane.

  • Constructor Details

    • HomographyDecomposition

      public HomographyDecomposition()
      Constructor.

    • HomographyDecomposition

      public HomographyDecomposition(com.irurueta.geometry.EuclideanTransformation3D transformation, double[] planeNormal, double planeDistance)
      Constructor.
      Parameters:
      transformation - transformation containing rotation and translation obtained from homography decomposition.
      planeNormal - computed plane normal obtained from homography decomposition.
      planeDistance - distance to computed plane.
      Throws:
      IllegalArgumentException - if provided plane normal does not have length 3.

  • Method Details

    • getTransformation

      public com.irurueta.geometry.EuclideanTransformation3D getTransformation()
      Gets rotation and translation obtained from homography decomposition.
      Returns:
      rotation and translation obtained from homography decomposition.

    • setTransformation

      public void setTransformation(com.irurueta.geometry.EuclideanTransformation3D transformation)
      Sets rotation and translation obtained from homography decomposition.
      Parameters:
      transformation - rotation and translation obtained from homography decomposition.

    • getPlaneNormal

      public double[] getPlaneNormal()
      Gets computed plane normal obtained from homography decomposition.
      Returns:
      plane normal obtained from homography decomposition.

    • setPlaneNormal

      public final void setPlaneNormal(double[] planeNormal)
      Sets computed plane normal obtained from homography decomposition.
      Parameters:
      planeNormal - plane normal obtained from homography decomposition.
      Throws:
      IllegalArgumentException - if provided plane normal does not have length 3.

    • getPlaneDistance

      public double getPlaneDistance()
      Gets distance to computed plane.
      Returns:
      distance to computed plane.

    • setPlaneDistance

      public void setPlaneDistance(double planeDistance)
      Sets distance to computed plane.
      Parameters:
      planeDistance - distance to computed plane.