Package boofcv.alg.geo.f

Class HelperNister5

java.lang.Object

boofcv.alg.geo.f.HelperNister5

public class HelperNister5
extends Object

Helper class for EssentialNister5. Contains ugly unrolled linear systems. See generate/python/nister5.py for code which created the mess you see below.

Constructor Summary

Constructors

Constructor	Description
HelperNister5()

Method Summary

Modifier and Type	Method	Description
void	extractPolynomial(double[] coefs)	Extracts the polynomial coefficients from det(B) where B = [K;L;M] and the columns are variables (x,y,1) see paper for a slightly less confusing description.
void	setDeterminantVectors(DMatrixRMaj A)	See equations 11-13 K = E - z*F L = G - z*H M = I - z*J (E,F,G,H,I,J) = x*(z^2 + z + 1) + y*(z^2 + z + 1) + z^3 + z^2 + z + 1
void	setNullSpace(double[] x, double[] y, double[] z, double[] w)
void	setupA1(DMatrixRMaj A)	Construct 10 by 10 coefficient matrix for the following coefficients 'x^3','y^3','x^2*y','x*y^2','x^2*z','x^2','y^2*z','y^2','x*y*z','x*y'
void	setupA2(DMatrixRMaj B)	Construct 10 by 10 coefficient matrix for the following coefficients 'x*z^2','x*z','x','y*z^2','y*z','y','z^3','z^2','z','1'

Methods inherited from class java.lang.Object

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

Constructor Details

HelperNister5

public HelperNister5()

Method Details

setNullSpace

public void setNullSpace(double[] x,
 double[] y,
 double[] z,
 double[] w)

setupA1

public void setupA1(DMatrixRMaj A)

Construct 10 by 10 coefficient matrix for the following coefficients 'x^3','y^3','x^2*y','x*y^2','x^2*z','x^2','y^2*z','y^2','x*y*z','x*y'

Parameters:

A - a 10 by 10 matrix

setupA2

public void setupA2(DMatrixRMaj B)

Construct 10 by 10 coefficient matrix for the following coefficients 'x*z^2','x*z','x','y*z^2','y*z','y','z^3','z^2','z','1'

Parameters:

B - a 10 by 10 matrix

setDeterminantVectors

public void setDeterminantVectors(DMatrixRMaj A)

See equations 11-13 K = E - z*F L = G - z*H M = I - z*J (E,F,G,H,I,J) = x*(z^2 + z + 1) + y*(z^2 + z + 1) + z^3 + z^2 + z + 1

Parameters:

A - Solution to linear system

extractPolynomial

public void extractPolynomial(double[] coefs)

Extracts the polynomial coefficients from det(B) where B = [K;L;M] and the columns are variables (x,y,1) see paper for a slightly less confusing description. polynomial = coef[0] + z*coef[1] + z^2*coef[2] + z^3*coef[3] ... etc

Parameters:

coefs - Array with 11 elements. The index corresponds to the coefficient power.