vector_to_proj_hom

vector_to_proj_hom_mat2d ( : : Px, Py, Qx, Qy, Method, CovXX1, CovYY1, CovXY1, CovXX2, CovYY2, CovXY2 : HomMat2D, Covariance )

Compute a projective transformation matrix using given point correspondences.

vector_to_proj_hom_mat2d determines the homogeneous projective transformation matrix HomMat2D that optimally fulfills the following equations given by at least 4 point correspondences

           / Px \   / Qx \
HomMat2D * | Py | = | Qy |.
           \ 1  /   \ 1  /

If fewer than 4 pairs of points (Px,Py), (Qx,Qy) are given, there exists no unique solution, if exactly 4 pairs are supplied the matrix HomMat2D transforms them in exactly the desired way, and if there are more than 4 point pairs given, vector_to_proj_hom_mat2d seeks to minimize the transformation error. To achieve such a minimization, several different algorithms are available. The algorithm to use can be chosen using the parameter Method. Method='dlt' uses a fast and simple, but also rather inaccurate error estimation algorithm while Method='normalized_dlt' offers a good compromise between speed and accuracy. Finally, Method='gold_standard' performs a mathematically optimal but slower optimization.

If 'gold_standard' is used and the input points have been obtained from an operator like points_foerstner, which provides a covariance matrix for each of the points, which specifies the accuracy of the points, this can be taken into account by using the input parameters CovYY1, CovXX1, CovXY1 for the points in the first image and CovYY2, CovXX2, CovXY2 for the points in the second image. The covariances are symmetric 2x2 matrices. CovXX1/CovXX2 and CovYY1/CovYY2 are a list of diagonal entries while CovXY1/CovXY2 contains the non-diagonal entries which appear twice in a symmetric matrix. If a different Method than 'gold_standard' is used or the covariances are unknown the covariance parameters can be left empty.

In contrast to hom_vector_to_proj_hom_mat2d, points at infinity cannot be used to determine the transformation in vector_to_proj_hom_mat2d. If this is necessary, hom_vector_to_proj_hom_mat2d must be used. If the correspondence between the points has not been determined, proj_match_points_ransac should be used to determine the correspondence as well as the transformation.

If the points to transform are specified in standard image coordinates, their row coordinates must be passed in Px and their column coordinates in Py. This is necessary to obtain a right-handed coordinate system for the image. In particular, this assures that rotations are performed in the correct direction. Note that the (x,y) order of the matrices quite naturally corresponds to the usual (row,column) order for coordinates in the image.

Attention

It should be noted that homogeneous transformation matrices refer to a general right-handed mathematical coordinate system. If a homogeneous transformation matrix is used to transform images, regions, XLD contours, or any other data that has been extracted from images, the row coordinates of the transformation must be passed in the x coordinates, while the column coordinates must be passed in the y coordinates. Consequently, the order of passing row and column coordinates follows the usual order (Row,Column). This convention is essential to obtain a right-handed coordinate system for the transformation of iconic data, and consequently to ensure in particular that rotations are performed in the correct mathematical direction.

Parameters

`Px` (input_control)	point.x-array `->` real / integer
Input points in image 1 (row coordinate).

`Py` (input_control)	point.y-array `->` real / integer
Input points in image 1 (column coordinate).

`Qx` (input_control)	point.x-array `->` real
Input points in image 2 (row coordinate).

`Qy` (input_control)	point.y-array `->` real
Input points in image 2 (column coordinate).

`Method` (input_control)	string `->` string
Estimation algorithm.
Default value: 'normalized_dlt'
List of values: 'normalized_dlt', 'gold_standard', 'dlt'

`CovXX1` (input_control)	real-array `->` real
Row coordinate variance of the points in image 1.
Default value: '[]'

`CovYY1` (input_control)	real-array `->` real
Column coordinate variance of the points in image 1.
Default value: '[]'

`CovXY1` (input_control)	real-array `->` real
Covariance of the points in image 1.
Default value: '[]'

`CovXX2` (input_control)	real-array `->` real
Row coordinate variance of the points in image 2.
Default value: '[]'

`CovYY2` (input_control)	real-array `->` real
Column coordinate variance of the points in image 2.
Default value: '[]'

`CovXY2` (input_control)	real-array `->` real
Covariance of the points in image 2.
Default value: '[]'

`HomMat2D` (output_control)	hom_mat2d-array `->` real
Homogeneous projective transformation matrix.

`Covariance` (output_control)	real-array `->` real
9x9 covariance matrix of the projective transformation matrix.

Parallelization Information

vector_to_proj_hom_mat2d is reentrant and processed without parallelization.

Possible Predecessors

proj_match_points_ransac, points_foerstner, points_harris

Possible Successors

projective_trans_image, projective_trans_image_size, projective_trans_region, projective_trans_contour_xld, projective_trans_point_2d, projective_trans_pixel

Alternatives

hom_vector_to_proj_hom_mat2d, proj_match_points_ransac

References

Richard Hartley, Andrew Zisserman: ``Multiple View Geometry in Computer Vision''; Cambridge University Press, Cambridge; 2000.

Olivier Faugeras, Quang-Tuan Luong: ``The Geometry of Multiple Images: The Laws That Govern the Formation of Multiple Images of a Scene and Some of Their Applications''; MIT Press, Cambridge, MA; 2001.

Module

Calibration