A class to hold a Fundamental Matrix of the general form and to perform common operations e.g. More...

#include <FMatrix.h>

Inheritance diagram for FMatrix:

Public Member Functions
	FMatrix ()
	Default constructor.
	FMatrix (vcl_istream &f)
	Constructor. Load from vcl_istream.
	FMatrix (const double *f_matrix)
	Constructor.
	FMatrix (const vnl_double_3x3 &f_matrix)
	Constructor.
	FMatrix (const PMatrix &P1, const PMatrix &P2)
	Construct from two P matrices.
	FMatrix (const PMatrix &P2)
	Construct from one P matrix, the other is assumed to be [I 0].
	FMatrix (const FMatrix &that)
virtual	~FMatrix ()
	Destructor.
HomgLine2D	image1_epipolar_line (const HomgPoint2D &x2) const
	Return the epipolar line $l_1$ in image 1: $l_1 = F^ x_2$.
vgl_homg_line_2d< double >	image1_epipolar_line (vgl_homg_point_2d< double > const &x2) const
	Return the epipolar line $l_1$ in image 1: $l_1 = F^ x_2$.
HomgLine2D	image2_epipolar_line (const HomgPoint2D &x1) const
	Return the epipolar line $l_2$ in image 2: $l_2 = F x_1$.
vgl_homg_line_2d< double >	image2_epipolar_line (vgl_homg_point_2d< double > const &x1) const
	Return the epipolar line $l_2$ in image 2: $l_2 = F x_1$.
double	image1_epipolar_distance_squared (HomgPoint2D point1_ptr, HomgPoint2D point2_ptr) const
double	image1_epipolar_distance_squared (vgl_homg_point_2d< double > const &p1, vgl_homg_point_2d< double > const &p2) const
double	image2_epipolar_distance_squared (HomgPoint2D point1_ptr, HomgPoint2D point2_ptr) const
double	image2_epipolar_distance_squared (vgl_homg_point_2d< double > const &p1, vgl_homg_point_2d< double > const &p2) const
void	set_rank2_using_svd ()
	Ensure the current Fundamental matrix is rank 2.
FMatrix	get_rank2_truncated ()
FMatrix	transpose () const
	Return an FMatrix which corresponds to the reverse of this one.
bool	get_epipoles (HomgPoint2D e1_out, HomgPoint2D e2_out) const
	Compute the epipoles (left and right nullspaces of F) using vnl_svd<double>.
bool	get_epipoles (vgl_homg_point_2d< double > &e1_out, vgl_homg_point_2d< double > &e2_out) const
	Compute the epipoles (left and right nullspaces of F) using vnl_svd<double>.
void	decompose_to_skew_rank3 (vnl_matrix< double > skew, vnl_matrix< double > rank3) const
	Decompose F to the product of a skew-symmetric matrix and a rank 3 matrix.
void	find_nearest_perfect_match (const HomgPoint2D &in1, const HomgPoint2D &in2, HomgPoint2D out1, HomgPoint2D out2) const
	Find nearest match which agrees with F.
void	find_nearest_perfect_match (vgl_homg_point_2d< double > const &in1, vgl_homg_point_2d< double > const &in2, vgl_homg_point_2d< double > &out1, vgl_homg_point_2d< double > &out2) const
	Find nearest match which agrees with F.
void	find_nearest_perfect_match (const HomgPoint2D &in1, const HomgPoint2D &in2, const HomgPoint2D &e1, const HomgPoint2D &e2, HomgPoint2D out1, HomgPoint2D out2) const
	Faster Hartley-Sturm using precomputed epipoles.
void	find_nearest_perfect_match (vgl_homg_point_2d< double > const &in1, vgl_homg_point_2d< double > const &in2, vgl_homg_point_2d< double > const &e1, vgl_homg_point_2d< double > const &e2, vgl_homg_point_2d< double > &out1, vgl_homg_point_2d< double > &out2) const
	Faster Hartley-Sturm using precomputed epipoles.
void	compute_P_matrix (vnl_matrix< double > &P2) const
void	compute_P_matrix (PMatrix &P2) const
void	compute_P_matrix (vgl_p_matrix< double > &P2) const
double	get (unsigned int row_index, unsigned int col_index) const
	Return the element of the matrix at the specified indices (zero-based).
virtual bool	set (const double *f_matrix)
	Set the fundamental matrix using the C-storage array c_matrix, and cache the transpose.
void	get (double *f_matrix) const
	Copy the fundamental matrix into a 2D array of doubles for `C' compatibility.
virtual bool	set (const vnl_double_3x3 &f_matrix)
	Set the fundamental matrix using the vnl_matrix_fixed<double,3,3> f_matrix.
void	get (vnl_matrix< double > *f_matrix) const
	Copy the fundamental matrix into a vnl_matrix<double>.
void	set (const PMatrix &P1, const PMatrix &P2)
	Set from two P matrices.
void	set (const PMatrix &P2)
	Set from one P matrix, the second. The first is assumed to be [I O].
void	set (const FMatrix &)
	Set from another FMatrix: this is just the assignment operator.
const vnl_double_3x3 &	get_matrix () const
	Return a const reference to the internal 3x3 matrix.
const vnl_double_3x3 &	get_transpose_matrix () const
	Return a const reference to the transpose of the internal 3x3 matrix.
bool	get_rank2_flag (void) const
	Return the rank2_flag_.
void	set_rank2_flag (bool rank2_flag)
	Set the rank2_flag_.
bool	read_ascii (vcl_istream &f)
	Read from ASCII vcl_istream.
Static Public Member Functions
static FMatrix	read (char const *filename)
static FMatrix	read (vcl_istream &s)
	Read from ASCII vcl_istream.
Protected Attributes
vnl_double_3x3	f_matrix_
vnl_double_3x3	ft_matrix_
bool	rank2_flag_
Friends
vcl_ostream &	operator<< (vcl_ostream &s, const FMatrix &F)
	Print to vcl_ostream.
vcl_istream &	operator>> (vcl_istream &s, FMatrix &F)
	Read from ASCII vcl_istream.

Detailed Description

A class to hold a Fundamental Matrix of the general form and to perform common operations e.g.

generate epipolar lines

Definition at line 35 of file FMatrix.h.

Constructor & Destructor Documentation

FMatrix::FMatrix ( )

Default constructor.

Sets matrices to size 3x3, zero-filled.

Definition at line 32 of file FMatrix.cxx.

FMatrix::FMatrix ( vcl_istream & f )

Constructor. Load from vcl_istream.

Definition at line 41 of file FMatrix.cxx.

FMatrix::FMatrix ( const double * f_matrix )

Constructor.

Definition at line 51 of file FMatrix.cxx.

FMatrix::FMatrix ( const vnl_double_3x3 & f_matrix )

Constructor.

Definition at line 61 of file FMatrix.cxx.

FMatrix::FMatrix	(	const PMatrix &	P1,
		const PMatrix &	P2
	)

Construct from two P matrices.

Definition at line 72 of file FMatrix.cxx.

FMatrix::FMatrix ( const PMatrix & P2 )

Construct from one P matrix, the other is assumed to be [I 0].

Definition at line 82 of file FMatrix.cxx.

FMatrix::FMatrix ( const FMatrix & that ) [inline]

Definition at line 47 of file FMatrix.h.

FMatrix::~FMatrix ( ) [virtual]

Destructor.

Definition at line 91 of file FMatrix.cxx.

Member Function Documentation

void FMatrix::compute_P_matrix ( vnl_matrix< double > & P2 ) const

Definition at line 561 of file FMatrix.cxx.

void FMatrix::compute_P_matrix ( PMatrix & P2 ) const [inline]

Definition at line 99 of file FMatrix.h.

void FMatrix::compute_P_matrix ( vgl_p_matrix< double > & P2 ) const [inline]

Definition at line 104 of file FMatrix.h.

void FMatrix::decompose_to_skew_rank3	(	vnl_matrix< double > *	skew,
		vnl_matrix< double > *	rank3
	)		const

Decompose F to the product of a skew-symmetric matrix and a rank 3 matrix.

Reimplemented in FMatrixSkew.

Definition at line 597 of file FMatrix.cxx.

void FMatrix::find_nearest_perfect_match	(	const HomgPoint2D &	point1,
		const HomgPoint2D &	point2,
		HomgPoint2D *	perfect_point1_ptr,
		HomgPoint2D *	perfect_point2_ptr
	)		const

Find nearest match which agrees with F.

For a specified pair of matching points, find the nearest (minimum sum of squared image distances) match which is in perfect agreement with the epipolar geometry of the F matrix. (see R.I. Hartley and P. Sturm, ``Triangulation''. In {Proceedings, Computer Analysis of Images and Patterns}, Prague, 1995).

Reimplemented in FMatrixSkew, and FMatrixPlanar.

Definition at line 313 of file FMatrix.cxx.

void FMatrix::find_nearest_perfect_match	(	vgl_homg_point_2d< double > const &	point1,
		vgl_homg_point_2d< double > const &	point2,
		vgl_homg_point_2d< double > &	perfect_point1,
		vgl_homg_point_2d< double > &	perfect_point2
	)		const

Find nearest match which agrees with F.

For a specified pair of matching points, find the nearest (minimum sum of squared image distances) match which is in perfect agreement with the epipolar geometry of the F matrix. (see R.I. Hartley and P. Sturm, ``Triangulation''. In {Proceedings, Computer Analysis of Images and Patterns}, Prague, 1995).

Reimplemented in FMatrixSkew, and FMatrixPlanar.

Definition at line 291 of file FMatrix.cxx.

void FMatrix::find_nearest_perfect_match	(	const HomgPoint2D &	in1,
		const HomgPoint2D &	in2,
		const HomgPoint2D &	e1,
		const HomgPoint2D &	e2,
		HomgPoint2D *	out1,
		HomgPoint2D *	out2
	)		const

Faster Hartley-Sturm using precomputed epipoles.

Definition at line 441 of file FMatrix.cxx.

void FMatrix::find_nearest_perfect_match	(	vgl_homg_point_2d< double > const &	in1,
		vgl_homg_point_2d< double > const &	in2,
		vgl_homg_point_2d< double > const &	e1,
		vgl_homg_point_2d< double > const &	e2,
		vgl_homg_point_2d< double > &	out1,
		vgl_homg_point_2d< double > &	out2
	)		const

Faster Hartley-Sturm using precomputed epipoles.

Definition at line 326 of file FMatrix.cxx.

double FMatrix::get	(	unsigned int	row_index,
		unsigned int	col_index
	)		const

Return the element of the matrix at the specified indices (zero-based).

Definition at line 607 of file FMatrix.cxx.

void FMatrix::get ( double * f_matrix ) const

Copy the fundamental matrix into a 2D array of doubles for `C' compatibility.

Definition at line 616 of file FMatrix.cxx.

void FMatrix::get ( vnl_matrix< double > * f_matrix ) const

Copy the fundamental matrix into a vnl_matrix<double>.

Definition at line 626 of file FMatrix.cxx.

bool FMatrix::get_epipoles	(	HomgPoint2D *	epipole1_ptr,
		HomgPoint2D *	epipole2_ptr
	)		const

Compute the epipoles (left and right nullspaces of F) using vnl_svd<double>.

Return false if the rank of F is not 2, and set approximate epipoles, (the left and right singular vectors corresponding to the smallest singular value of F).

Reimplemented in FMatrixSkew.

Definition at line 270 of file FMatrix.cxx.

bool FMatrix::get_epipoles	(	vgl_homg_point_2d< double > &	epipole1,
		vgl_homg_point_2d< double > &	epipole2
	)		const

Compute the epipoles (left and right nullspaces of F) using vnl_svd<double>.

Return false if the rank of F is not 2, and set approximate epipoles, (the left and right singular vectors corresponding to the smallest singular value of F).

Reimplemented in FMatrixSkew.

Definition at line 252 of file FMatrix.cxx.

const vnl_double_3x3& FMatrix::get_matrix ( ) const [inline]

Return a const reference to the internal 3x3 matrix.

Definition at line 124 of file FMatrix.h.

bool FMatrix::get_rank2_flag ( void ) const

Return the rank2_flag_.

Reimplemented in FMatrixSkew, and FMatrixPlanar.

Definition at line 635 of file FMatrix.cxx.

FMatrix FMatrix::get_rank2_truncated ( )

Reimplemented in FMatrixPlanar, and FMatrixSkew.

const vnl_double_3x3& FMatrix::get_transpose_matrix ( ) const [inline]

Return a const reference to the transpose of the internal 3x3 matrix.

Definition at line 127 of file FMatrix.h.

double FMatrix::image1_epipolar_distance_squared	(	HomgPoint2D *	point1_ptr,
		HomgPoint2D *	point2_ptr
	)		const

Definition at line 191 of file FMatrix.cxx.

double FMatrix::image1_epipolar_distance_squared	(	vgl_homg_point_2d< double > const &	p1,
		vgl_homg_point_2d< double > const &	p2
	)		const

Definition at line 178 of file FMatrix.cxx.

HomgLine2D FMatrix::image1_epipolar_line ( const HomgPoint2D & x2 ) const

Return the epipolar line $l_1$ in image 1: $l_1 = F^ x_2$.

Definition at line 148 of file FMatrix.cxx.

vgl_homg_line_2d< double > FMatrix::image1_epipolar_line ( vgl_homg_point_2d< double > const & x2 ) const

Return the epipolar line $l_1$ in image 1: $l_1 = F^ x_2$.

Definition at line 139 of file FMatrix.cxx.

double FMatrix::image2_epipolar_distance_squared	(	HomgPoint2D *	point1_ptr,
		HomgPoint2D *	point2_ptr
	)		const

Definition at line 217 of file FMatrix.cxx.

double FMatrix::image2_epipolar_distance_squared	(	vgl_homg_point_2d< double > const &	p1,
		vgl_homg_point_2d< double > const &	p2
	)		const

Definition at line 204 of file FMatrix.cxx.

HomgLine2D FMatrix::image2_epipolar_line ( const HomgPoint2D & x1 ) const

Return the epipolar line $l_2$ in image 2: $l_2 = F x_1$.

Definition at line 167 of file FMatrix.cxx.

vgl_homg_line_2d< double > FMatrix::image2_epipolar_line ( vgl_homg_point_2d< double > const & x1 ) const

Return the epipolar line $l_2$ in image 2: $l_2 = F x_1$.

Definition at line 157 of file FMatrix.cxx.

FMatrix FMatrix::read ( char const * filename ) [static]

Definition at line 110 of file FMatrix.cxx.

FMatrix FMatrix::read ( vcl_istream & s ) [static]

Read from ASCII vcl_istream.

Definition at line 129 of file FMatrix.cxx.

bool FMatrix::read_ascii ( vcl_istream & f )

Read from ASCII vcl_istream.

Definition at line 97 of file FMatrix.cxx.

bool FMatrix::set ( const double * c_matrix ) [virtual]

Set the fundamental matrix using the C-storage array c_matrix, and cache the transpose.

Always returns true for the base class - showing the set was a success. When overridden by derived classes it may return false, to indicate that the matrix violates the constraints imposed by the derived classes.

Reimplemented in FMatrixSkew, FMatrixPlanar, and FMatrixAffine.

Definition at line 656 of file FMatrix.cxx.

bool FMatrix::set ( const vnl_double_3x3 & f_matrix ) [virtual]

Set the fundamental matrix using the vnl_matrix_fixed<double,3,3> f_matrix.

Always returns true for the base class - showing the set was a success. When overridden by derived classes it may return false, to indicate that the matrix violates the constraints imposed by the derived classes.

Reimplemented in FMatrixPlanar.

Definition at line 675 of file FMatrix.cxx.

void FMatrix::set	(	const PMatrix &	P1,
		const PMatrix &	P2
	)

Set from two P matrices.

Definition at line 684 of file FMatrix.cxx.

void FMatrix::set ( const PMatrix & P2 )

Set from one P matrix, the second. The first is assumed to be [I O].

Definition at line 694 of file FMatrix.cxx.

void FMatrix::set ( const FMatrix & F )

Set from another FMatrix: this is just the assignment operator.

Definition at line 706 of file FMatrix.cxx.

void FMatrix::set_rank2_flag ( bool rank2_flag )

Set the rank2_flag_.

Reimplemented in FMatrixSkew.

Definition at line 643 of file FMatrix.cxx.

void FMatrix::set_rank2_using_svd ( void )

Ensure the current Fundamental matrix is rank 2.

Does this by taking its vnl_svd<double>, setting the smallest singular value to zero, and recomposing. Sets the rank2_flag_ to true.

Reimplemented in FMatrixPlanar, and FMatrixSkew.

Definition at line 582 of file FMatrix.cxx.

FMatrix FMatrix::transpose ( ) const

Return an FMatrix which corresponds to the reverse of this one.

Definition at line 241 of file FMatrix.cxx.

Friends And Related Function Documentation

vcl_ostream& operator<<	(	vcl_ostream &	s,
		const FMatrix &	F
	)		`[friend]`

Print to vcl_ostream.

Definition at line 226 of file FMatrix.cxx.

vcl_istream& operator>>	(	vcl_istream &	s,
		FMatrix &	F
	)		`[friend]`

Read from ASCII vcl_istream.

Definition at line 121 of file FMatrix.cxx.

Member Data Documentation

vnl_double_3x3 FMatrix::f_matrix_ [protected]

Definition at line 144 of file FMatrix.h.

vnl_double_3x3 FMatrix::ft_matrix_ [protected]

Definition at line 147 of file FMatrix.h.

bool FMatrix::rank2_flag_ [protected]

Definition at line 151 of file FMatrix.h.

The documentation for this class was generated from the following files:

contrib/oxl/mvl/FMatrix.h
contrib/oxl/mvl/FMatrix.cxx

Public Member Functions

Static Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation