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compose a homography matrix from euler angels

asked 2015-06-06 11:44:00 -0500

thengineer gravatar image

I'm trying to do panorama stitching. Instead of computing the homography matrix via feature matching, I wan to use known camera rotations (yaw, pitch, roll between photos).

Ive already tried the rotation matrices for R3:


which is somehow not what I'm looking for.

Maybe someone can help me on that.

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Rodrigues - maybe ?

berak gravatar imageberak ( 2015-06-07 23:30:04 -0500 )edit

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answered 2015-06-07 17:52:43 -0500

Eduardo gravatar image

updated 2015-06-07 17:53:53 -0500


I found this:

  • if the rotation R between the cameras is known and if you have also the camera intrinsic parameters for both of the cameras,
  • and if there is no translation between the camera frames, the homography matrix can be computed as: Homography [1].

There is also a function called decomposeHomographyMat(based on [2]) in OpenCV 3.0 that extract from an homography matrix and a camera calibration matrix a list of possible solution for rotation R, translation t and plane normals. Maybe you can use it to test if the formula above is correct. You can also use the function findHomography to test.

If you find some results, feel free to share and update your post.

(1): Homography, Dr. Gerhard Roth, p11

(2): Malis, E. and Vargas, M. Deeper understanding of the homography decomposition for vision-based control, Research Report 6303, INRIA (2007)

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Thanks for the response. I didn't realize I was so close to the solution. First results look good, will report back if problems should arise.

thengineer gravatar imagethengineer ( 2015-06-09 07:53:17 -0500 )edit
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Asked: 2015-06-06 11:44:00 -0500

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Last updated: Jun 07 '15