CentralCamera.H

CentralCamera.H(T: SE3, n: float | int | list[float | int] | tuple[float | int, ...] | ndarray, d: float) → ndarray

Compute homography from plane and camera pose

Parameters:

• T (SE3) – relative camera motion

• n (array_like(3)) – plane normal with respect to world frame

• d (float) – plane offset from world frame origin

Returns:

homography matrix

Return type:

ndarray(3,3)

Computes the homography matrix for the camera observing points on a plane from two viewpoints. The first view is from the current camera pose (self.pose), and the second is after a relative motion represented by the rigid-body motion T. The plane has normal n and at distance d with respect to the world frame.

Example:

>>> from machinevisiontoolbox import CentralCamera
>>> from spatialmath import SE3
>>> camera = CentralCamera.Default(name='camera1') # looking along z-axis
>>> plane = [0, 1, 1]
>>> H = camera.H(SE3.Tx(0.2), plane, 5)
>>> H
array([[1., 0., 0.],
       [0., 1., 0.],
       [0., 0., 1.]])

Seealso:

points2H decomposeH