boofcv.alg.geo.trifocal.EnforceTrifocalGeometry

public class EnforceTrifocalGeometry
extends Object

Applies geometric constraints to an estimated trifocal tensor. See page 394 in [1].

References:

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

Method Summary

Modifier and Type	Method	Description
`void`	`computeErrorVector(DMatrixRMaj A, DMatrixRMaj errors)`	Returns the algebraic error vector.
`protected void`	`constructE(Point3D_F64 e2, Point3D_F64 e3)`	The matrix E is a linear system for computing the trifocal tensor.
`void`	`extractSolution(TrifocalTensor tensor)`	Inserts the found trifocal tensor into the provided object.
`void`	`process(Point3D_F64 e2, Point3D_F64 e3, DMatrixRMaj A)`	Computes a trifocal tensor which minimizes the algebraic error given the two epipoles and the linear constraint matrix.

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

Field Details
- E
  
  protected DMatrixRMaj E
Constructor Details
- EnforceTrifocalGeometry
  
  public EnforceTrifocalGeometry()
Method Details
- process
  
  public void process(Point3D_F64 e2, Point3D_F64 e3, DMatrixRMaj A)
  
  Computes a trifocal tensor which minimizes the algebraic error given the two epipoles and the linear constraint matrix. The epipoles are from a previously computed trifocal tensor.
  
  Parameters:
  
  e2 - Epipole of first image in the second image
  
  e3 - Epipole of first image in the third image
  
  A - Linear constraint matrix for trifocal tensor created from image observations.
- computeErrorVector
  
  public void computeErrorVector(DMatrixRMaj A, DMatrixRMaj errors)
  
  Returns the algebraic error vector. error = A*U*x. length = number of observations
- extractSolution
  
  public void extractSolution(TrifocalTensor tensor)
  
  Inserts the found trifocal tensor into the provided object.
- constructE
  
  protected void constructE(Point3D_F64 e2, Point3D_F64 e3)
  
  The matrix E is a linear system for computing the trifocal tensor. The columns are the unknown square matrices from view 2 and 3. The right most column in both projection matrices are the provided epipoles, whose values are inserted into E

Class EnforceTrifocalGeometry