#include <vpgl_fundamental_matrix.h>

Inheritance diagram for vpgl_fundamental_matrix< T >:

Public Member Functions
	vpgl_fundamental_matrix ()
	Default constructor creates dummy rank 2 matrix.
	vpgl_fundamental_matrix (const vpgl_proj_camera< T > &cr, const vpgl_proj_camera< T > &cl)
	Main constructor takes two projective cameras.
	vpgl_fundamental_matrix (const vnl_matrix_fixed< T, 3, 3 > &F)
	Construct from a fundamental matrix in vnl form.
	vpgl_fundamental_matrix (const vpgl_fundamental_matrix< T > &other)
	Copy Constructor.
	vpgl_fundamental_matrix (const vpgl_calibration_matrix< T > &kr, const vpgl_calibration_matrix< T > &kl, const vpgl_essential_matrix< T > &em)
	Construct from an essential matrix and two calibration matrices.
const vpgl_fundamental_matrix < T > &	operator= (const vpgl_fundamental_matrix< T > &fm)
	Assignment.
virtual	~vpgl_fundamental_matrix ()
	Destructor.
void	get_epipoles (vgl_homg_point_2d< T > &er, vgl_homg_point_2d< T > &el) const
	Put the coordinates of the epipoles in er, el.
vgl_homg_line_2d< T >	r_epipolar_line (const vgl_homg_point_2d< T > &pl) const
	Given a point in one image, find the corresponding epipolar line in the other image.
vgl_homg_line_2d< T >	l_epipolar_line (const vgl_homg_point_2d< T > &pr) const
vgl_homg_line_2d< T >	r_epipolar_line (const vgl_homg_line_2d< T > &epiline_l) const
	Given an epipolar line in one image, find the corresponding epipolar line in the other image.
vgl_homg_line_2d< T >	l_epipolar_line (const vgl_homg_line_2d< T > &epiline_r) const
vpgl_proj_camera< T >	extract_left_camera (const vnl_vector_fixed< T, 3 > &v, T lambda) const
	Gives the left camera matrix corresponding to the fundamental matrix.
vpgl_proj_camera< T >	extract_left_camera (const vcl_vector< vgl_point_3d< T > > &world_points, const vcl_vector< vgl_point_2d< T > > &image_points) const
	Alternative left camera extractor.
const vnl_matrix_fixed< T, 3, 3 > &	get_matrix () const
	Get a copy of the FM in vnl form.
const vnl_svd< T > &	svd () const
	Get a copy of the svd of the fundamental matrix.
void	set_matrix (const vpgl_proj_camera< T > &cr, const vpgl_proj_camera< T > &cl)
void	set_matrix (const vnl_matrix_fixed< T, 3, 3 > &F)
Protected Attributes
vnl_matrix_fixed< T, 3, 3 >	F_
	Internal representation of the fundamental matrix.
vnl_svd< T > *	cached_svd_
	Cached copy of the svd.

Detailed Description

template<class T>
class vpgl_fundamental_matrix< T >

Definition at line 39 of file vpgl_fundamental_matrix.h.

Constructor & Destructor Documentation

template<class T >

vpgl_fundamental_matrix< T >::vpgl_fundamental_matrix ( )

Default constructor creates dummy rank 2 matrix.

Definition at line 30 of file vpgl_fundamental_matrix.txx.

template<class T>

vpgl_fundamental_matrix< T >::vpgl_fundamental_matrix	(	const vpgl_proj_camera< T > &	cr,
		const vpgl_proj_camera< T > &	cl
	)		`[inline]`

Main constructor takes two projective cameras.

The RHS of the fundamental matrix will correspond to cr and the LHS to cl.

Definition at line 49 of file vpgl_fundamental_matrix.h.

template<class T>

vpgl_fundamental_matrix< T >::vpgl_fundamental_matrix ( const vnl_matrix_fixed< T, 3, 3 > & F ) [inline]

Construct from a fundamental matrix in vnl form.

Definition at line 54 of file vpgl_fundamental_matrix.h.

template<class T >

vpgl_fundamental_matrix< T >::vpgl_fundamental_matrix ( const vpgl_fundamental_matrix< T > & other )

Copy Constructor.

Definition at line 41 of file vpgl_fundamental_matrix.txx.

template<class T >

vpgl_fundamental_matrix< T >::vpgl_fundamental_matrix	(	const vpgl_calibration_matrix< T > &	kr,
		const vpgl_calibration_matrix< T > &	kl,
		const vpgl_essential_matrix< T > &	em
	)

Construct from an essential matrix and two calibration matrices.

From Essential Matrix.

Since E = Kl^T * F * Kr, then F = Kl^-T * E * Kr^-1. WARNING! This constructor uses two 3x3 inverse calculations, so it is expensive.

Since $E = Kl^T \times F \times Kr$ , $F = Kl^{-T} \times E \times Kr^{-1}$

Definition at line 52 of file vpgl_fundamental_matrix.txx.

template<class T >

vpgl_fundamental_matrix< T >::~vpgl_fundamental_matrix ( ) [virtual]

Destructor.

Definition at line 77 of file vpgl_fundamental_matrix.txx.

Member Function Documentation

template<class T >

vpgl_proj_camera< T > vpgl_fundamental_matrix< T >::extract_left_camera	(	const vnl_vector_fixed< T, 3 > &	v,
		T	lambda
	)		const

Gives the left camera matrix corresponding to the fundamental matrix.

The right camera matrix is assumed to be identity. The variables v, lambda are free parameters as described in H&Z 2nd ed p. 256.

Definition at line 159 of file vpgl_fundamental_matrix.txx.

template<class T >

vpgl_proj_camera< T > vpgl_fundamental_matrix< T >::extract_left_camera	(	const vcl_vector< vgl_point_3d< T > > &	world_points,
		const vcl_vector< vgl_point_2d< T > > &	image_points
	)		const

Alternative left camera extractor.

Takes corresponding lists of image points with their world locations to determine the correct camera. Must give at least 2 pairs of correspondences. This is not a robust algorithm but this shouldn't be a problem as these correspondences will usually be picked by hand.

Definition at line 184 of file vpgl_fundamental_matrix.txx.

template<class T >

void vpgl_fundamental_matrix< T >::get_epipoles	(	vgl_homg_point_2d< T > &	er,
		vgl_homg_point_2d< T > &	el
	)		const

Put the coordinates of the epipoles in er, el.

Definition at line 85 of file vpgl_fundamental_matrix.txx.

template<class T>

const vnl_matrix_fixed<T,3,3>& vpgl_fundamental_matrix< T >::get_matrix ( ) const [inline]

Get a copy of the FM in vnl form.

Definition at line 104 of file vpgl_fundamental_matrix.h.

template<class T >

vgl_homg_line_2d< T > vpgl_fundamental_matrix< T >::l_epipolar_line ( const vgl_homg_point_2d< T > & pr ) const

Definition at line 108 of file vpgl_fundamental_matrix.txx.

template<class T >

vgl_homg_line_2d< T > vpgl_fundamental_matrix< T >::l_epipolar_line ( const vgl_homg_line_2d< T > & epiline_r ) const

Definition at line 139 of file vpgl_fundamental_matrix.txx.

template<class T >

const vpgl_fundamental_matrix< T > & vpgl_fundamental_matrix< T >::operator= ( const vpgl_fundamental_matrix< T > & fm )

Assignment.

Definition at line 67 of file vpgl_fundamental_matrix.txx.

template<class T >

vgl_homg_line_2d< T > vpgl_fundamental_matrix< T >::r_epipolar_line ( const vgl_homg_point_2d< T > & pl ) const

Given a point in one image, find the corresponding epipolar line in the other image.

Definition at line 97 of file vpgl_fundamental_matrix.txx.

template<class T >

vgl_homg_line_2d< T > vpgl_fundamental_matrix< T >::r_epipolar_line ( const vgl_homg_line_2d< T > & epiline_l ) const

Given an epipolar line in one image, find the corresponding epipolar line in the other image.

H&Z 2nd ed p. 247

Definition at line 119 of file vpgl_fundamental_matrix.txx.

template<class T >

void vpgl_fundamental_matrix< T >::set_matrix	(	const vpgl_proj_camera< T > &	cr,
		const vpgl_proj_camera< T > &	cl
	)

Definition at line 225 of file vpgl_fundamental_matrix.txx.

template<class T >

void vpgl_fundamental_matrix< T >::set_matrix ( const vnl_matrix_fixed< T, 3, 3 > & F )

Definition at line 247 of file vpgl_fundamental_matrix.txx.

template<class T>

const vnl_svd<T>& vpgl_fundamental_matrix< T >::svd ( ) const [inline]

Get a copy of the svd of the fundamental matrix.

The svd is computed when the matrix is first set, so this just accesses a cached version.

Definition at line 108 of file vpgl_fundamental_matrix.h.

Member Data Documentation

template<class T>

vnl_svd<T>* vpgl_fundamental_matrix< T >::cached_svd_ [mutable, protected]

Cached copy of the svd.

Definition at line 120 of file vpgl_fundamental_matrix.h.

template<class T>

vnl_matrix_fixed<T,3,3> vpgl_fundamental_matrix< T >::F_ [protected]

Internal representation of the fundamental matrix.

Definition at line 117 of file vpgl_fundamental_matrix.h.

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

core/vpgl/vpgl_fundamental_matrix.h
core/vpgl/vpgl_fundamental_matrix.txx

Public Member Functions

Protected Attributes

Detailed Description

template<class T> class vpgl_fundamental_matrix< T >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class T>
class vpgl_fundamental_matrix< T >