1 /*
2 * Copyright (C) 2017 Alberto Irurueta Carro (alberto@irurueta.com)
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16 package com.irurueta.ar.epipolar.estimators;
17
18 import com.irurueta.geometry.EuclideanTransformation3D;
19
20 /**
21 * Contains decomposition data of an homography.
22 */
23 public class HomographyDecomposition {
24
25 /**
26 * Length of plane normal vector.
27 */
28 public static final int PLANE_NORMAL_LENGTH = 3;
29
30 /**
31 * Contains rotation and translation obtained from homography decomposition.
32 */
33 private EuclideanTransformation3D transformation;
34
35 /**
36 * Contains computed plane normal obtained from homography decomposition.
37 */
38 private double[] planeNormal;
39
40 /**
41 * Distance to computed plane.
42 */
43 private double planeDistance;
44
45 /**
46 * Constructor.
47 */
48 public HomographyDecomposition() {
49 }
50
51 /**
52 * Constructor.
53 *
54 * @param transformation transformation containing rotation and translation
55 * obtained from homography decomposition.
56 * @param planeNormal computed plane normal obtained from homography
57 * decomposition.
58 * @param planeDistance distance to computed plane.
59 * @throws IllegalArgumentException if provided plane normal does not have
60 * length 3.
61 */
62 public HomographyDecomposition(final EuclideanTransformation3D transformation, final double[] planeNormal,
63 final double planeDistance) {
64 setPlaneNormal(planeNormal);
65 this.transformation = transformation;
66 this.planeDistance = planeDistance;
67 }
68
69 /**
70 * Gets rotation and translation obtained from homography decomposition.
71 *
72 * @return rotation and translation obtained from homography decomposition.
73 */
74 public EuclideanTransformation3D getTransformation() {
75 return transformation;
76 }
77
78 /**
79 * Sets rotation and translation obtained from homography decomposition.
80 *
81 * @param transformation rotation and translation obtained from homography
82 * decomposition.
83 */
84 public void setTransformation(final EuclideanTransformation3D transformation) {
85 this.transformation = transformation;
86 }
87
88 /**
89 * Gets computed plane normal obtained from homography decomposition.
90 *
91 * @return plane normal obtained from homography decomposition.
92 */
93 public double[] getPlaneNormal() {
94 return planeNormal;
95 }
96
97 /**
98 * Sets computed plane normal obtained from homography decomposition.
99 *
100 * @param planeNormal plane normal obtained from homography decomposition.
101 * @throws IllegalArgumentException if provided plane normal does not have
102 * length 3.
103 */
104 public final void setPlaneNormal(final double[] planeNormal) {
105 if (planeNormal.length != PLANE_NORMAL_LENGTH) {
106 throw new IllegalArgumentException();
107 }
108 this.planeNormal = planeNormal;
109 }
110
111 /**
112 * Gets distance to computed plane.
113 *
114 * @return distance to computed plane.
115 */
116 public double getPlaneDistance() {
117 return planeDistance;
118 }
119
120 /**
121 * Sets distance to computed plane.
122 *
123 * @param planeDistance distance to computed plane.
124 */
125 public void setPlaneDistance(final double planeDistance) {
126 this.planeDistance = planeDistance;
127 }
128 }