Package boofcv.alg.geo.f

Class FundamentalLinear

java.lang.Object

boofcv.alg.geo.f.FundamentalLinear

Direct Known Subclasses:

FundamentalLinear7, FundamentalLinear8

public abstract class FundamentalLinear
extends Object

Base class for linear algebra based algorithms for computing the Fundamental/Essential matrices.

The computed fundamental matrix follow the following convention (with no noise) for the associated pair: x2^T*F*x1 = 0
x1 = keyLoc and x2 = currLoc.

Field Summary

Fields

Modifier and Type	Field	Description
protected DMatrixRMaj	A
protected MassageSingularValues	massger
protected NormalizationPoint2D	N1
protected NormalizationPoint2D	N2
protected BoofLambdas.ProcessObject<DMatrixRMaj>	opEssential
protected BoofLambdas.ProcessObject<DMatrixRMaj>	opFundamental
protected SolveNullSpace<DMatrixRMaj>	solverNull

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	FundamentalLinear(boolean computeFundamental)	Specifies which type of matrix is to be computed

Method Summary

Modifier and Type	Method	Description
protected void	createA(List<AssociatedPair> points, DMatrixRMaj A)	Reorganizes the epipolar constraint equation (xT2*F*x1 = 0) such that it is formulated as a standard linear system of the form Ax=0.
protected boolean	projectOntoEssential(DMatrixRMaj E)	Projects the found estimate of E onto essential space.
protected boolean	projectOntoFundamentalSpace(DMatrixRMaj F)	Projects the found estimate of F onto Fundamental space.

Methods inherited from class java.lang.Object

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

Field Details

A

protected DMatrixRMaj A

solverNull

protected SolveNullSpace<DMatrixRMaj> solverNull

massger

protected MassageSingularValues massger

opEssential

protected BoofLambdas.ProcessObject<DMatrixRMaj> opEssential

opFundamental

protected BoofLambdas.ProcessObject<DMatrixRMaj> opFundamental

N1

protected NormalizationPoint2D N1

N2

protected NormalizationPoint2D N2

Constructor Details

FundamentalLinear

protected FundamentalLinear(boolean computeFundamental)

Specifies which type of matrix is to be computed

Parameters:

computeFundamental - true it computes a fundamental matrix and false for essential

Method Details

projectOntoEssential

protected boolean projectOntoEssential(DMatrixRMaj E)

Projects the found estimate of E onto essential space.

Returns:

true if svd returned true.

projectOntoFundamentalSpace

protected boolean projectOntoFundamentalSpace(DMatrixRMaj F)

Projects the found estimate of F onto Fundamental space.

Returns:

true if svd returned true.

createA

protected void createA(List<AssociatedPair> points,
 DMatrixRMaj A)

Reorganizes the epipolar constraint equation (x^T₂*F*x₁ = 0) such that it is formulated as a standard linear system of the form Ax=0. Where A contains the pixel locations and x is the reformatted fundamental matrix.

Parameters:

points - Set of associated points in left and right images.

A - Matrix where the reformatted points are written to.