Method of plane tracking
A method of plane tracking comprising: capturing by a camera a reference frame of a given plane from a first angle; capturing by the camera a destination frame of the given plane from a second angle different than the first angle; defining coordinates of matching points in the reference frame and the destination frame; calculating, using the first and second angles, first and second respective rotation transformations to a simulated plane parallel to the given plane; applying an affine transformation between the reference frame coordinate on the simulated plane and the destination frame coordinate on the simulated plane; and applying a projective transformation on the simulated plane destination frame coordinate to calculate the destination frame coordinate.
1. A method comprising:
capturing, by a first camera, a reference frame of a given plane from a first angle;
capturing, by a second camera, a destination frame of the given plane from a second angle different than the first angle;
defining coordinates for a set of reference frame tracking points;
defining coordinates for a set of destination frame tracking points, wherein the set of destination frame tracking points match the orientation of the reference frame tracking points;
calculating, using the first angle and the set of reference frame tracking points, a first rotation transformation to a simulated plane parallel to the given plane;
calculating, using the second angle and the set of destination frame tracking points, a second rotation transformation to the simulated plane parallel to the given plane and the second rotation transformation is an inverse rotation transformation;
applying an affine transformation to the set of reference frame coordinates;
applying the affine transformation to the set of destination frame coordinates after applying the affine transformation to the set of reference frame coordinates; and
applying a projective transformation to the simulated plane to calculate a set of destination frame coordinates, the projective transformation comprising applying the affine transformation to the first rotation transformation of the reference frame and the inverse rotation transformation of the destination frame.
2. The method of claim 1 , wherein the angles are provided by at least one inertial measurement unit attached to each one of the first and second camera.
3. The method of claim 1 , wherein the calculating first and second rotation transformations to a simulated plane comprises calculating Euler angles.
4. The method of claim 1 , the first camera and the second camera are the same camera.
5. The method of claim 1 , wherein the applying a first rotation transformation on the reference frame coordinate to calculate the set of reference frame coordinate on the simulated plane, comprises the applying a rotational transformation.
6. A device comprising:
a processor configured to:
capture, by a first camera, a reference frame of a given plane from a first angle;
capture, by a second camera, a destination frame of the given plane from a second angle different than the first angle;
define coordinates for a set of reference frame tracking points;
define coordinates for a set of destination frame tracking points, wherein the set of destination frame tracking points match the orientation of the reference frame tracking points;
calculate, using the first angle and the set of reference frame tracking points, a first rotation transformation to the simulated to a simulated plane parallel to the given plane;
calculate, using the second angle and the set of destination frame tracking points, a second rotation transformation to the simulated plane parallel to the given plane and the second rotation transformation to the simulated plane parallel to the given plane and the second rotation transformation is an inverse rotation transformation;
apply an affine transformation to the set of reference frame coordinates;
apply the affine transformation to the set of destination frame coordinates after applying the affine transformation to the set of reference frame coordinates; and
apply projective transformation to the simulated plane to calculate a set of destination frame coordinates, the projective transformation comprising applying the affine transformation to the first rotation transformation of the reference frame and the inverse rotation transformation of the destination frame.
7. The device of claim 6 , further comprising the first camera.
8. The device of claim 6 , further comprising the second camera.
9. The device of claim 6 , the first camera and the second camera are the same camera.
10. The device of claim 6 , wherein the angles are provided by at least one inertial measurement unit attached to each one of the first and second camera.
11. The device of claim 10 , further comprising the at least one inertial measurement unit.
12. The device of claim 6 , wherein the calculating first and second rotation transformations to a simulated plane comprises calculating Euler angles.
13. The device of claim 6 , wherein the applying a first rotation transformation on the reference frame coordinate to calculate the set of reference frame coordinate on the simulated plane, comprises the applying a rotational transformation.