Th results of decomposeHomographyMat meaning

homography

asked 2017-11-01 11:59:20 -0600

I have single calibrated RGB camera that is moving around a static object. I took two senescence shots and compute the Homography between them.

Then, using Camera Matrix and Homography, I call cv::decomposeHomographyMat which gives me possible rotations angles and translations.

Suppose that always the first pair of rotation and translation the correct one, what do those angles and translation mean? what is the origin of this transformation. Is it about the camera origin? is it about the object origin?

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answered 2017-11-02 08:58:52 -0600

Tetragramm

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The results of decomposeHomographyMat are an rvecs and a tvecs. The rvecs represents the rotation of the homography from the original coordinate system. The tvecs is the translation from the original.

In other words. The camera is assumed to be at no rotation, no translation looking at a planar scene. The output is where the camera would have to be to see the scene as if it were warped by the homography. The coordinate system is that described at the top of THIS page.