Class FundamentalLinear7


public class FundamentalLinear7 extends FundamentalLinear

Computes the essential or fundamental matrix using exactly 7 points with linear algebra. The number of required points is reduced from 8 to 7 by enforcing the singularity constraint, det(F) = 0. The number of solutions found is either one or three depending on the number of real roots found in the quadratic.

The computed fundamental matrix follow the following convention (with no noise) for the associated pair: x2T*F*x1 = 0
x1 = keyLoc and x2 = currLoc.


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

  • Field Details

  • Constructor Details

    • FundamentalLinear7

      public FundamentalLinear7(boolean computeFundamental)
      When computing the essential matrix normalization is optional because pixel coordinates
      computeFundamental - true it computes a fundamental matrix and false for essential
  • Method Details

    • process

      public boolean process(List<AssociatedPair> points, DogArray<DMatrixRMaj> solutions)

      Computes a fundamental or essential matrix from a set of associated point correspondences.

      points - Input: List of corresponding image coordinates. In pixel for fundamental matrix or normalized coordinates for essential matrix.
      solutions - Output: Storage for the found solutions.
      true If successful or false if it failed
    • computeSolutions

      public void computeSolutions(DogArray<DMatrixRMaj> solutions)

      Find the polynomial roots and for each root compute the Fundamental matrix. Given the two matrices it will compute an alpha such that the determinant is zero.
      det(&alpha*F1 + (1-α)*F2 ) = 0

    • computeCoefficients

      public static void computeCoefficients(DMatrixRMaj F1, DMatrixRMaj F2, double[] coefs)

      Computes the coefficients such that the following is true:
      det(&alpha*F1 + (1-α)*F2 ) = c0 + c1*α + c22 + c23

      F1 - a fundamental matrix
      F2 - a fundamental matrix
      coefs - Where results are returned.
    • computeCoefficients

      public static void computeCoefficients(DMatrixRMaj F1, DMatrixRMaj F2, int i, int j, int k, double[] coefs, boolean minus)
    • computeCoefficients

      public static void computeCoefficients(double x1, double y1, double z1, double x2, double y2, double z2, double[] coefs)
    • computeCoefficientsMinus

      public static void computeCoefficientsMinus(double x1, double y1, double z1, double x2, double y2, double z2, double[] coefs)