Package boofcv.alg.geo.f

Class EpipolarMinimizeGeometricError

java.lang.Object

boofcv.alg.geo.f.EpipolarMinimizeGeometricError

public class EpipolarMinimizeGeometricError
extends Object

Given point correspondences x[1] and x[2] and a fundamental matrix F, compute the correspondences x'[1] and x'[2] which minimize the geometric error subject to x'[2] F' x'[1] = 0

Page 318 in: R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003

Constructor Summary

Constructors

Constructor	Description
EpipolarMinimizeGeometricError()

Method Summary

Modifier and Type	Method	Description
boolean	process(DMatrixRMaj F21, double x1, double y1, double x2, double y2, Point2D_F64 p1, Point2D_F64 p2)	Minimizes the geometric error
boolean	solvePolynomial(double f1, double f2, double a, Double b, double c, double d)	Solves for the roots of an ugly polynomial defined in 12.7 in book [1] Coefficients found using Sage Math a,b,c,d,f1,f2,t = var('a,b,c,d,f1,f2,t') g = t*((a*t+b)^2 + f2^2*(c*t+d)^2)^2 - (a*d-b*c)*(1+f1^2*t^2)^2*(a*t+b)*(c*t+d) g.expand().collect(t)

Methods inherited from class java.lang.Object

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

Constructor Details

EpipolarMinimizeGeometricError

public EpipolarMinimizeGeometricError()

Method Details

process

public boolean process(DMatrixRMaj F21,
 double x1,
 double y1,
 double x2,
 double y2,
 Point2D_F64 p1,
 Point2D_F64 p2)

Minimizes the geometric error

Parameters:

F21 - (Input) Fundamental matrix x2 * F21 * x1 == 0

x1 - (Input) Point 1 x-coordinate. Pixels

y1 - (Input) Point 1 y-coordinate. Pixels

x2 - (Input) Point 2 x-coordinate. Pixels

y2 - (Input) Point 2 y-coordinate. Pixels

p1 - (Output) Point 1. Pixels

p2 - (Output) Point 2. Pixels

Returns:

true if a solution was found or false if it failed

solvePolynomial

public boolean solvePolynomial(double f1,
 double f2,
 double a,
 Double b,
 double c,
 double d)

Solves for the roots of an ugly polynomial defined in 12.7 in book [1] Coefficients found using Sage Math a,b,c,d,f1,f2,t = var('a,b,c,d,f1,f2,t') g = t*((a*t+b)^2 + f2^2*(c*t+d)^2)^2 - (a*d-b*c)*(1+f1^2*t^2)^2*(a*t+b)*(c*t+d) g.expand().collect(t)