#include <FMatrixSkew.h>
Public Member Functions | |
| FMatrixSkew () | |
| Default constructor. | |
| FMatrixSkew (const double *f_matrix) | |
| Constructor. | |
| FMatrixSkew (const vnl_matrix< double > &f_matrix) | |
| Constructor. | |
| ~FMatrixSkew () | |
| Destructor. | |
| void | set_rank2_using_svd () |
| Null function as already Rank 2. | |
| FMatrixSkew | get_rank2_truncated () |
| Returns current matrix which is already Rank 2. | |
| bool | get_epipoles (HomgPoint2D *e1_out, HomgPoint2D *e2_out) const |
| Compute the epipole which is the same in each image. | |
| bool | get_epipoles (vgl_homg_point_2d< double > &e1_out, vgl_homg_point_2d< double > &e2_out) const |
| Compute the epipole which is the same in each image. | |
| 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 is in agreement 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 is in agreement with F. | |
| bool | set (const double *f_matrix) |
| Set the fundamental matrix using the two-dimensional array f_matrix. | |
| bool | set (const vnl_matrix< double > &f_matrix) |
| Set the fundamental matrix using the vnl_matrix<double> f_matrix. | |
| bool | get_rank2_flag (void) const |
| Returns the rank2_flag_ which is always true for FMatrixSkew. | |
| void | set_rank2_flag (bool rank2_flag) |
| Set the rank2_flag_. Null function as always set true. | |
| 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 |
| FMatrix | transpose () const |
| Return an FMatrix which corresponds to the reverse of this one. | |
| 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). | |
| void | get (double *f_matrix) const |
| Copy the fundamental matrix into a 2D array of doubles for `C' compatibility. | |
| void | get (vnl_matrix< double > *f_matrix) const |
| Copy the fundamental matrix into a vnl_matrix<double>. | |
| virtual bool | set (const vnl_double_3x3 &f_matrix) |
| Set the fundamental matrix using the vnl_matrix_fixed<double,3,3> f_matrix. | |
| 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 | 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
Definition at line 27 of file FMatrixSkew.h.
Constructor & Destructor Documentation
| FMatrixSkew::FMatrixSkew | ( | ) |
Default constructor.
Definition at line 21 of file FMatrixSkew.cxx.
| FMatrixSkew::FMatrixSkew | ( | const double * | f_matrix | ) |
Constructor.
Definition at line 30 of file FMatrixSkew.cxx.
| FMatrixSkew::FMatrixSkew | ( | const vnl_matrix< double > & | f_matrix | ) |
Constructor.
Definition at line 40 of file FMatrixSkew.cxx.
| FMatrixSkew::~FMatrixSkew | ( | ) |
Destructor.
Definition at line 51 of file FMatrixSkew.cxx.
Member Function Documentation
| void FMatrix::compute_P_matrix | ( | vnl_matrix< double > & | P2 | ) | const [inherited] |
Definition at line 561 of file FMatrix.cxx.
| void FMatrix::compute_P_matrix | ( | PMatrix & | P2 | ) | const [inline, inherited] |
| void FMatrix::compute_P_matrix | ( | vgl_p_matrix< double > & | P2 | ) | const [inline, inherited] |
| void FMatrixSkew::decompose_to_skew_rank3 | ( | vnl_matrix< double > * | skew_matrix_ptr, |
| vnl_matrix< double > * | rank3_matrix_ptr | ||
| ) | const |
Decompose F to the product of a skew-symmetric matrix and a Rank 3 matrix.
Actually returns current matrix and identity matrix.
Reimplemented from FMatrix.
Definition at line 101 of file FMatrixSkew.cxx.
| void FMatrixSkew::find_nearest_perfect_match | ( | const HomgPoint2D & | point1, |
| const HomgPoint2D & | point2, | ||
| HomgPoint2D * | perfect_point1_ptr, | ||
| HomgPoint2D * | perfect_point2_ptr | ||
| ) | const |
Find nearest match which is in agreement 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. For skew symmetric matrix a reduced form with only a quadratic equation can be used (see Armstrong Zisserman Beardsley, BMVC 94 ).
Reimplemented from FMatrix.
Definition at line 210 of file FMatrixSkew.cxx.
| void FMatrixSkew::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 is in agreement 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. For skew symmetric matrix a reduced form with only a quadratic equation can be used (see Armstrong Zisserman Beardsley, BMVC 94 ).
Reimplemented from FMatrix.
Definition at line 139 of file FMatrixSkew.cxx.
| void FMatrix::find_nearest_perfect_match | ( | const HomgPoint2D & | in1, |
| const HomgPoint2D & | in2, | ||
| const HomgPoint2D & | e1, | ||
| const HomgPoint2D & | e2, | ||
| HomgPoint2D * | out1, | ||
| HomgPoint2D * | out2 | ||
| ) | const [inherited] |
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 [inherited] |
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 [inherited] |
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 [inherited] |
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 [inherited] |
Copy the fundamental matrix into a vnl_matrix<double>.
Definition at line 626 of file FMatrix.cxx.
| bool FMatrixSkew::get_epipoles | ( | HomgPoint2D * | epipole1_ptr, |
| HomgPoint2D * | epipole2_ptr | ||
| ) | const |
Compute the epipole which is the same in each image.
Returns true as FMatrixSkew is always Rank 2.
Reimplemented from FMatrix.
Definition at line 82 of file FMatrixSkew.cxx.
| bool FMatrixSkew::get_epipoles | ( | vgl_homg_point_2d< double > & | epipole1, |
| vgl_homg_point_2d< double > & | epipole2 | ||
| ) | const |
Compute the epipole which is the same in each image.
Returns true as FMatrixSkew is always Rank 2.
Reimplemented from FMatrix.
Definition at line 62 of file FMatrixSkew.cxx.
| const vnl_double_3x3& FMatrix::get_matrix | ( | ) | const [inline, inherited] |
| bool FMatrixSkew::get_rank2_flag | ( | void | ) | const [inline] |
Returns the rank2_flag_ which is always true for FMatrixSkew.
Reimplemented from FMatrix.
Definition at line 336 of file FMatrixSkew.cxx.
| FMatrixSkew FMatrixSkew::get_rank2_truncated | ( | ) | [inline] |
Returns current matrix which is already Rank 2.
Reimplemented from FMatrix.
Definition at line 123 of file FMatrixSkew.cxx.
| const vnl_double_3x3& FMatrix::get_transpose_matrix | ( | ) | const [inline, inherited] |
| double FMatrix::image1_epipolar_distance_squared | ( | HomgPoint2D * | point1_ptr, |
| HomgPoint2D * | point2_ptr | ||
| ) | const [inherited] |
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 [inherited] |
Definition at line 178 of file FMatrix.cxx.
| HomgLine2D FMatrix::image1_epipolar_line | ( | const HomgPoint2D & | x2 | ) | const [inherited] |
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 [inherited] |
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 [inherited] |
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 [inherited] |
Definition at line 204 of file FMatrix.cxx.
| HomgLine2D FMatrix::image2_epipolar_line | ( | const HomgPoint2D & | x1 | ) | const [inherited] |
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 [inherited] |
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, inherited] |
Definition at line 110 of file FMatrix.cxx.
| FMatrix FMatrix::read | ( | vcl_istream & | s | ) | [static, inherited] |
Read from ASCII vcl_istream.
Definition at line 129 of file FMatrix.cxx.
| bool FMatrix::read_ascii | ( | vcl_istream & | f | ) | [inherited] |
Read from ASCII vcl_istream.
Definition at line 97 of file FMatrix.cxx.
| bool FMatrixSkew::set | ( | const double * | f_matrix | ) | [virtual] |
Set the fundamental matrix using the two-dimensional array f_matrix.
Only returns true if f_matrix contained a skew matrix, not an approximation to one. The test is against a 0.0 tolerance. Otherwise returns false and the matrix is not set.
Reimplemented from FMatrix.
Definition at line 280 of file FMatrixSkew.cxx.
| bool FMatrixSkew::set | ( | const vnl_matrix< double > & | f_matrix | ) | [inline] |
Set the fundamental matrix using the vnl_matrix<double> f_matrix.
Only returns true if f_matrix contained a skew matrix, not an approximation to one. Otherwise returns false and the matrix is not set. Patch on FMatrixSkew::set (const double*).
Definition at line 325 of file FMatrixSkew.cxx.
| bool FMatrix::set | ( | const vnl_double_3x3 & | f_matrix | ) | [virtual, inherited] |
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.
Set from two P matrices.
Definition at line 684 of file FMatrix.cxx.
| void FMatrix::set | ( | const PMatrix & | P2 | ) | [inherited] |
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 | ) | [inherited] |
Set from another FMatrix: this is just the assignment operator.
Definition at line 706 of file FMatrix.cxx.
| void FMatrixSkew::set_rank2_flag | ( | bool | rank2_flag | ) | [inline] |
Set the rank2_flag_. Null function as always set true.
Reimplemented from FMatrix.
Definition at line 346 of file FMatrixSkew.cxx.
| void FMatrixSkew::set_rank2_using_svd | ( | void | ) | [inline] |
Null function as already Rank 2.
Reimplemented from FMatrix.
Definition at line 114 of file FMatrixSkew.cxx.
| FMatrix FMatrix::transpose | ( | ) | const [inherited] |
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, inherited] |
Print to vcl_ostream.
Definition at line 226 of file FMatrix.cxx.
| vcl_istream& operator>> | ( | vcl_istream & | s, |
| FMatrix & | F | ||
| ) | [friend, inherited] |
Read from ASCII vcl_istream.
Definition at line 121 of file FMatrix.cxx.
Member Data Documentation
vnl_double_3x3 FMatrix::f_matrix_ [protected, inherited] |
vnl_double_3x3 FMatrix::ft_matrix_ [protected, inherited] |
bool FMatrix::rank2_flag_ [protected, inherited] |
The documentation for this class was generated from the following files:
- contrib/oxl/mvl/FMatrixSkew.h
- contrib/oxl/mvl/FMatrixSkew.cxx
