Package boofcv.alg.geo.f

Class FundamentalExtractEpipoles

java.lang.Object

boofcv.alg.geo.f.FundamentalExtractEpipoles

public class FundamentalExtractEpipoles
extends Object

Extracts the epipoles from an essential or fundamental matrix. The epipoles are extracted from the left and right null space of the provided matrix. Note that the found epipoles are in homogeneous coordinates. If the epipole is at infinity then z=0

Left: e₂^T*F = 0
Right: F*e₁ = 0

Constructor Summary

Constructors

Constructor	Description
FundamentalExtractEpipoles()

Method Summary

Modifier and Type	Method	Description
void	process(DMatrixRMaj F, @Nullable Point3D_F64 e1, @Nullable Point3D_F64 e2)	Extracts the left and right epipoles.

Methods inherited from class java.lang.Object

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

Constructor Details

FundamentalExtractEpipoles

public FundamentalExtractEpipoles()

Method Details

process

public void process(DMatrixRMaj F,
 @Nullable
 @Nullable Point3D_F64 e1,
 @Nullable
 @Nullable Point3D_F64 e2)

Extracts the left and right epipoles.

Parameters:

F - (Input) Fundamental matrix

e1 - (Output) right null space. Can be null.

e2 - (Output) left null space. Can be null.