A class for the essential matrix between two projective cameras. More...
#include <vnl/vnl_fwd.h>#include <vnl/vnl_matrix_fixed.h>#include <vgl/vgl_fwd.h>#include <vcl_iosfwd.h>#include "vpgl_perspective_camera.h"#include "vpgl_calibration_matrix.h"#include "vpgl_fundamental_matrix.h"Go to the source code of this file.
Classes | |
| class | vpgl_essential_matrix< T > |
Functions | |
| template<class T > | |
| bool | extract_left_camera (const vpgl_essential_matrix< T > &E, const vgl_point_2d< T > &left_corr, const vgl_point_2d< T > &right_corr, vpgl_perspective_camera< T > &p_left, const T translation_mag=(T) 1) |
| Left camera extractor. Normalized correspondence pair is needed to determine which of four solutions should be used, i.e. focal plane coordinates. | |
| template<class T > | |
| vcl_ostream & | operator<< (vcl_ostream &s, vpgl_essential_matrix< T > const &p) |
| vpgl_essential_matrix stream I/O. | |
| template<class T > | |
| vcl_istream & | operator>> (vcl_istream &s, vpgl_essential_matrix< T > &p) |
| Read vpgl_perspective_camera from stream. | |
Detailed Description
A class for the essential matrix between two projective cameras.
- Date:
- February 28, 2007
The essential matrix is related to the fundamental matrix by ![$E = [K_{left}]^t [F] [K_{right}]$](form_1.png)
The notation "left" and "right" refers to camera producing points used on the left side of the F or E matrix and vice versa. Note: the extract left camera function requires points be transformed to the camera focal plane. That is, e.g., left_coor(in camera focal plane coordinates) = ![$[K_{left}]^{-1} p_{left}$](form_2.png)
(in image coordinates).
Definition in file vpgl_essential_matrix.h.
Function Documentation
| bool extract_left_camera | ( | const vpgl_essential_matrix< T > & | E, |
| const vgl_point_2d< T > & | left_corr, | ||
| const vgl_point_2d< T > & | right_corr, | ||
| vpgl_perspective_camera< T > & | p_left, | ||
| const T | translation_mag = (T) 1 |
||
| ) |
Left camera extractor. Normalized correspondence pair is needed to determine which of four solutions should be used, i.e. focal plane coordinates.
The translation part of the camera is normalized to the indicated magnitude.
Definition at line 87 of file vpgl_essential_matrix.txx.
| vcl_ostream& operator<< | ( | vcl_ostream & | s, |
| vpgl_essential_matrix< T > const & | p | ||
| ) |
vpgl_essential_matrix stream I/O.
Definition at line 150 of file vpgl_essential_matrix.txx.
| vcl_istream& operator>> | ( | vcl_istream & | s, |
| vpgl_essential_matrix< T > & | p | ||
| ) |
Read vpgl_perspective_camera from stream.
Definition at line 158 of file vpgl_essential_matrix.txx.
