boofcv.alg.geo

Class DecomposeEssential

java.lang.Object

boofcv.alg.geo.DecomposeEssential

public class DecomposeEssential
extends java.lang.Object

Decomposed the essential matrix into a rigid body motion; rotation and translation. This is the rigid body transformation from the first camera frame into the second camera frame. A total f four possible motions will be found and the ambiguity can be removed by calling PositiveDepthConstraintCheck on each hypothesis.

An essential matrix is defined as E=cross(T)*R, where cross(T) is a cross product matrix, T is translation vector, and R is a 3x3 rotation matrix. The decomposition works by computing the SVD of E. For more details see "An Invitation to 3-D Vision" 1st edition page 116.

Constructor Summary

Constructors

Constructor and Description
DecomposeEssential()

Method Summary

Modifier and Type	Method and Description
void	decompose(org.ejml.data.DenseMatrix64F E) Computes the decomposition from an essential matrix.
void	decompose(org.ejml.data.DenseMatrix64F U, org.ejml.data.DenseMatrix64F S, org.ejml.data.DenseMatrix64F V) Compute the decomposition given the SVD of E=U*S*VT.
java.util.List<Se3_F64>	getSolutions() Returns the four possible solutions found in the decomposition.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DecomposeEssential

public DecomposeEssential()

Method Detail

decompose

public void decompose(org.ejml.data.DenseMatrix64F E)

Computes the decomposition from an essential matrix.

Parameters:

E - essential matrix

decompose

public void decompose(org.ejml.data.DenseMatrix64F U,
                      org.ejml.data.DenseMatrix64F S,
                      org.ejml.data.DenseMatrix64F V)

Compute the decomposition given the SVD of E=U*S*V^T.

Parameters:

U - Orthogonal matrix from SVD.

S - Diagonal matrix containing singular values from SVD.

V - Orthogonal matrix from SVD.

getSolutions

public java.util.List<Se3_F64> getSolutions()

Returns the four possible solutions found in the decomposition. The returned motions go from the first into the second camera frame.

WARNING: This list is modified on each call to decompose. Create a copy of any solution that needs to be saved.

Returns:

Four possible solutions to the decomposition