#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. More...

	vpgl_fundamental_matrix (const vpgl_proj_camera< T > &cr, const vpgl_proj_camera< T > &cl)
	Main constructor takes two projective cameras. More...

	vpgl_fundamental_matrix (const vnl_matrix_fixed< T, 3, 3 > &F)
	Construct from a fundamental matrix in vnl form. More...

	vpgl_fundamental_matrix (const vpgl_fundamental_matrix< T > &other)
	Copy Constructor. More...

	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. More...

const vpgl_fundamental_matrix< T > &	operator= (const vpgl_fundamental_matrix< T > &fm)
	Assignment. More...

virtual	~vpgl_fundamental_matrix ()
	Destructor. More...

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. More...

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. More...

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. More...

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. More...

vpgl_proj_camera< T >	extract_left_camera (const std::vector< vgl_point_3d< T > > &world_points, const std::vector< vgl_point_2d< T > > &image_points) const
	Alternative left camera extractor. More...

const vnl_matrix_fixed< T, 3, 3 > &	get_matrix () const
	Get a copy of the FM in vnl form. More...

const vnl_svd< T > &	svd () const
	Get a copy of the svd of the fundamental matrix. More...

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. More...

vnl_svd< T > *	cached_svd_
	Cached copy of the svd. More...

Detailed Description

template<class T>
class vpgl_fundamental_matrix< T >

Definition at line 42 of file vpgl_fundamental_matrix.h.

Constructor & Destructor Documentation

◆ vpgl_fundamental_matrix() [1/5]

template<class T >

vpgl_fundamental_matrix< T >::vpgl_fundamental_matrix ( )

Default constructor creates dummy rank 2 matrix.

Definition at line 33 of file vpgl_fundamental_matrix.hxx.

◆ vpgl_fundamental_matrix() [2/5]

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 52 of file vpgl_fundamental_matrix.h.

◆ vpgl_fundamental_matrix() [3/5]

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 57 of file vpgl_fundamental_matrix.h.

◆ vpgl_fundamental_matrix() [4/5]

template<class T >

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

Copy Constructor.

Definition at line 44 of file vpgl_fundamental_matrix.hxx.

◆ vpgl_fundamental_matrix() [5/5]

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 55 of file vpgl_fundamental_matrix.hxx.

◆ ~vpgl_fundamental_matrix()

template<class T >

vpgl_fundamental_matrix< T >::~vpgl_fundamental_matrix ( )

virtual

Destructor.

Definition at line 80 of file vpgl_fundamental_matrix.hxx.

Member Function Documentation

◆ extract_left_camera() [1/2]

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 162 of file vpgl_fundamental_matrix.hxx.

◆ extract_left_camera() [2/2]

template<class T >

vpgl_proj_camera< T > vpgl_fundamental_matrix< T >::extract_left_camera	(	const std::vector< vgl_point_3d< T > > &	world_points,
		const std::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 187 of file vpgl_fundamental_matrix.hxx.

◆ get_epipoles()

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 88 of file vpgl_fundamental_matrix.hxx.

◆ get_matrix()

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 107 of file vpgl_fundamental_matrix.h.

◆ l_epipolar_line() [1/2]

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 111 of file vpgl_fundamental_matrix.hxx.

◆ l_epipolar_line() [2/2]

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 142 of file vpgl_fundamental_matrix.hxx.

◆ operator=()

template<class T >

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

Assignment.

Definition at line 70 of file vpgl_fundamental_matrix.hxx.

◆ r_epipolar_line() [1/2]

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 100 of file vpgl_fundamental_matrix.hxx.

◆ r_epipolar_line() [2/2]

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 122 of file vpgl_fundamental_matrix.hxx.

◆ set_matrix() [1/2]

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 228 of file vpgl_fundamental_matrix.hxx.

◆ set_matrix() [2/2]

template<class T >

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

Definition at line 250 of file vpgl_fundamental_matrix.hxx.

◆ svd()

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 111 of file vpgl_fundamental_matrix.h.

Member Data Documentation

◆ cached_svd_

template<class T>

vnl_svd<T>* vpgl_fundamental_matrix< T >::cached_svd_

mutableprotected

Cached copy of the svd.

Definition at line 123 of file vpgl_fundamental_matrix.h.

◆ F_

template<class T>

vnl_matrix_fixed<T,3,3> vpgl_fundamental_matrix< T >::F_

protected

Internal representation of the fundamental matrix.

Definition at line 120 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.hxx

Public Member Functions

Protected Attributes

Detailed Description

template<class T> class vpgl_fundamental_matrix< T >

Constructor & Destructor Documentation

◆ vpgl_fundamental_matrix() [1/5]

◆ vpgl_fundamental_matrix() [2/5]

◆ vpgl_fundamental_matrix() [3/5]

◆ vpgl_fundamental_matrix() [4/5]

◆ vpgl_fundamental_matrix() [5/5]

◆ ~vpgl_fundamental_matrix()

Member Function Documentation

◆ extract_left_camera() [1/2]

◆ extract_left_camera() [2/2]

◆ get_epipoles()

◆ get_matrix()

◆ l_epipolar_line() [1/2]

◆ l_epipolar_line() [2/2]

◆ operator=()

◆ r_epipolar_line() [1/2]

◆ r_epipolar_line() [2/2]

◆ set_matrix() [1/2]

◆ set_matrix() [2/2]

◆ svd()

Member Data Documentation

◆ cached_svd_

◆ F_

template<class T>
class vpgl_fundamental_matrix< T >