boofcv.alg.geo.trifocal

Class EnforceTrifocalGeometry

java.lang.Object

boofcv.alg.geo.trifocal.EnforceTrifocalGeometry

public class EnforceTrifocalGeometry
extends java.lang.Object

Applies geometric constraints to an estimated trifocal tensor. See page 394 in [1].

References:

• R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003

Constructor Summary

Constructors

Constructor and Description
EnforceTrifocalGeometry()

Method Summary

Modifier and Type	Method and Description
void	computeErrorVector(org.ejml.data.DenseMatrix64F A, org.ejml.data.DenseMatrix64F errors) Returns the algebraic error vector.
void	extractSolution(TrifocalTensor tensor) Inserts the found trifocal tensor into the provided object.
void	process(Point3D_F64 e2, Point3D_F64 e3, org.ejml.data.DenseMatrix64F A) Computes a trifocal tensor which minimizes the algebraic error given the two epipoles and the linear constraint matrix.

Methods inherited from class java.lang.Object

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

Constructor Detail

EnforceTrifocalGeometry

public EnforceTrifocalGeometry()

Method Detail

process

public void process(Point3D_F64 e2,
                    Point3D_F64 e3,
                    org.ejml.data.DenseMatrix64F A)

Computes a trifocal tensor which minimizes the algebraic error given the two epipoles and the linear constraint matrix. The epipoles are from a previously computed trifocal tensor.

Parameters:

e2 - Epipole of first image in the second image

e3 - Epipole of first image in the third image

A - Linear constraint matrix for trifocal tensor created from image observations.

computeErrorVector

public void computeErrorVector(org.ejml.data.DenseMatrix64F A,
                               org.ejml.data.DenseMatrix64F errors)

Returns the algebraic error vector. error = A*U*x. length = number of observations

extractSolution

public void extractSolution(TrifocalTensor tensor)

Inserts the found trifocal tensor into the provided object.