#include <vpgl_em_compute_5_point.h>
Public Member Functions | |
| vpgl_em_compute_5_point () | |
| vpgl_em_compute_5_point (bool v) | |
| vpgl_em_compute_5_point (bool v, double t) | |
| bool | compute (const vcl_vector< vgl_point_2d< T > > &normed_right_points, const vcl_vector< vgl_point_2d< T > > &normed_left_points, vcl_vector< vpgl_essential_matrix< T > > &ems) const |
| Compute from two sets of corresponding points. | |
| bool | compute (const vcl_vector< vgl_point_2d< T > > &right_points, const vpgl_calibration_matrix< T > &k_right, const vcl_vector< vgl_point_2d< T > > &left_points, const vpgl_calibration_matrix< T > &k_left, vcl_vector< vpgl_essential_matrix< T > > &ems) const |
Protected Member Functions | |
| void | normalize (const vcl_vector< vgl_point_2d< T > > &points, const vpgl_calibration_matrix< T > &k, vcl_vector< vgl_point_2d< T > > &normed_points) const |
| Normalization is the process of left-multiplying by the inverse of the calibration matrix. | |
| void | compute_nullspace_basis (const vcl_vector< vgl_point_2d< T > > &right_points, const vcl_vector< vgl_point_2d< T > > &left_points, vcl_vector< vnl_vector_fixed< T, 9 > > &basis) const |
| Constructs the 5x9 epipolar constraint matrix based off the constraint that q1' * E * q2 = 0, and fills the vectors x, y, z and w with the nullspace basis for this matrix. | |
| void | compute_constraint_polynomials (const vcl_vector< vnl_vector_fixed< T, 9 > > &basis, vcl_vector< vnl_real_npolynomial > &constraints) const |
| Finds 10 constraint polynomials, based on the following criteria: if X, Y, Z and W are the basis vectors, then E = xX + yY + zZ + wW for some scalars x, y, z, w. | |
| void | compute_groebner_basis (const vcl_vector< vnl_real_npolynomial > &constraints, vnl_matrix< double > &groebner_basis) const |
| void | compute_action_matrix (const vnl_matrix< double > &groebner_basis, vnl_matrix< double > &action_matrix) const |
| void | compute_e_matrices (const vcl_vector< vnl_vector_fixed< T, 9 > > &basis, const vnl_matrix< double > &action_matrix, vcl_vector< vpgl_essential_matrix< T > > &ems) const |
| double | get_coeff (const vnl_real_npolynomial &p, unsigned int x_p, unsigned int y_p, unsigned int z_p) const |
| Returns the coefficient of a term of a vnl_real_npolynomial in three variables with an x power of x_p, a y power of y_p and a z power of z_p. | |
Protected Attributes | |
| const bool | verbose |
| const double | tolerance |
Definition at line 28 of file vpgl_em_compute_5_point.h.
| vpgl_em_compute_5_point< T >::vpgl_em_compute_5_point | ( | ) | [inline] |
Definition at line 32 of file vpgl_em_compute_5_point.h.
| vpgl_em_compute_5_point< T >::vpgl_em_compute_5_point | ( | bool | v | ) | [inline] |
Definition at line 33 of file vpgl_em_compute_5_point.h.
| vpgl_em_compute_5_point< T >::vpgl_em_compute_5_point | ( | bool | v, |
| double | t | ||
| ) | [inline] |
Definition at line 34 of file vpgl_em_compute_5_point.h.
| bool vpgl_em_compute_5_point< T >::compute | ( | const vcl_vector< vgl_point_2d< T > > & | normed_right_points, |
| const vcl_vector< vgl_point_2d< T > > & | normed_left_points, | ||
| vcl_vector< vpgl_essential_matrix< T > > & | ems | ||
| ) | const |
Compute from two sets of corresponding points.
Puts the resulting matrix into em, returns true if successful. Each of right_points and left_points must contain exactly 5 points! This function returns a set of potential solutions, generally 10. Each of these solutions is appropriate to use as RANSAC hypthosis.
The points must be normalized!! Use the function below to avoid normalizing the points yourself.
Definition at line 36 of file vpgl_em_compute_5_point.txx.
| bool vpgl_em_compute_5_point< T >::compute | ( | const vcl_vector< vgl_point_2d< T > > & | right_points, |
| const vpgl_calibration_matrix< T > & | k_right, | ||
| const vcl_vector< vgl_point_2d< T > > & | left_points, | ||
| const vpgl_calibration_matrix< T > & | k_left, | ||
| vcl_vector< vpgl_essential_matrix< T > > & | ems | ||
| ) | const |
Definition at line 19 of file vpgl_em_compute_5_point.txx.
| void vpgl_em_compute_5_point< T >::compute_action_matrix | ( | const vnl_matrix< double > & | groebner_basis, |
| vnl_matrix< double > & | action_matrix | ||
| ) | const [protected] |
Definition at line 355 of file vpgl_em_compute_5_point.txx.
| void vpgl_em_compute_5_point< T >::compute_constraint_polynomials | ( | const vcl_vector< vnl_vector_fixed< T, 9 > > & | basis, |
| vcl_vector< vnl_real_npolynomial > & | constraints | ||
| ) | const [protected] |
Finds 10 constraint polynomials, based on the following criteria: if X, Y, Z and W are the basis vectors, then E = xX + yY + zZ + wW for some scalars x, y, z, w.
Since these are unique up to a scale, we say w = 1;
Furthermore, det(E) = 0, and E*E'*E - .5 * trace(E*E') * E = 0. Substituting the original equation into all 10 of the equations generated by these two constraints gives us the constraint polynomials.
Definition at line 149 of file vpgl_em_compute_5_point.txx.
| void vpgl_em_compute_5_point< T >::compute_e_matrices | ( | const vcl_vector< vnl_vector_fixed< T, 9 > > & | basis, |
| const vnl_matrix< double > & | action_matrix, | ||
| vcl_vector< vpgl_essential_matrix< T > > & | ems | ||
| ) | const [protected] |
Definition at line 378 of file vpgl_em_compute_5_point.txx.
| void vpgl_em_compute_5_point< T >::compute_groebner_basis | ( | const vcl_vector< vnl_real_npolynomial > & | constraints, |
| vnl_matrix< double > & | groebner_basis | ||
| ) | const [protected] |
Definition at line 280 of file vpgl_em_compute_5_point.txx.
| void vpgl_em_compute_5_point< T >::compute_nullspace_basis | ( | const vcl_vector< vgl_point_2d< T > > & | right_points, |
| const vcl_vector< vgl_point_2d< T > > & | left_points, | ||
| vcl_vector< vnl_vector_fixed< T, 9 > > & | basis | ||
| ) | const [protected] |
Constructs the 5x9 epipolar constraint matrix based off the constraint that q1' * E * q2 = 0, and fills the vectors x, y, z and w with the nullspace basis for this matrix.
Definition at line 99 of file vpgl_em_compute_5_point.txx.
| double vpgl_em_compute_5_point< T >::get_coeff | ( | const vnl_real_npolynomial & | p, |
| unsigned int | x_p, | ||
| unsigned int | y_p, | ||
| unsigned int | z_p | ||
| ) | const [protected] |
Returns the coefficient of a term of a vnl_real_npolynomial in three variables with an x power of x_p, a y power of y_p and a z power of z_p.
Definition at line 263 of file vpgl_em_compute_5_point.txx.
| void vpgl_em_compute_5_point< T >::normalize | ( | const vcl_vector< vgl_point_2d< T > > & | points, |
| const vpgl_calibration_matrix< T > & | k, | ||
| vcl_vector< vgl_point_2d< T > > & | normed_points | ||
| ) | const [protected] |
Normalization is the process of left-multiplying by the inverse of the calibration matrix.
Definition at line 81 of file vpgl_em_compute_5_point.txx.
const double vpgl_em_compute_5_point< T >::tolerance [protected] |
Definition at line 58 of file vpgl_em_compute_5_point.h.
const bool vpgl_em_compute_5_point< T >::verbose [protected] |
Definition at line 57 of file vpgl_em_compute_5_point.h.
1.7.5.1