Package boofcv.alg.geo.trifocal

Class TrifocalLinearPoint7

java.lang.Object

boofcv.alg.geo.trifocal.TrifocalLinearPoint7

Direct Known Subclasses:

TrifocalAlgebraicPoint7

public class TrifocalLinearPoint7
extends Object

Estimates the TrifocalTensor using a linear algorithm from 7 or more image points correspondences from three views, see page 394 of [1] for details. After an initial linear solution has been computed it is improved upon by applying geometric constraints. Note that the solution will not be optimal in a geometric or algebraic sense, but can be used as an initial estimate for refinement algorithms.

References:

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

See Also:

EnforceTrifocalGeometry

Field Summary

Fields

Modifier and Type	Field	Description
protected DMatrixRMaj	A
protected Point3D_F64	e2
protected Point3D_F64	e3
protected EnforceTrifocalGeometry	enforce
protected TrifocalExtractGeometries	extractEpipoles
protected NormalizationPoint2D	N1
protected NormalizationPoint2D	N2
protected NormalizationPoint2D	N3
protected Point2D_F64	p1_norm
protected Point2D_F64	p2_norm
protected Point2D_F64	p3_norm
protected TrifocalTensor	solutionN
protected SingularValueDecomposition_F64<DMatrixRMaj>	svdNull
protected DMatrixRMaj	vectorizedSolution

Constructor Summary

Constructors

Constructor	Description
TrifocalLinearPoint7()

Method Summary

Modifier and Type	Method	Description
protected void	createLinearSystem(List<AssociatedTriple> observations)	Constructs the linear matrix that describes from the 3-point constraint with linear dependent rows removed
boolean	process(List<AssociatedTriple> observations, TrifocalTensor solution)	Estimates the trifocal tensor given the set of observations
protected void	removeNormalization(TrifocalTensor solution)	Translates the trifocal tensor back into regular coordinate system
protected boolean	solveLinearSystem()	Computes the null space of the linear system to find the trifocal tensor

Methods inherited from class java.lang.Object

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

Field Details

solutionN

protected TrifocalTensor solutionN

N1

protected NormalizationPoint2D N1

N2

protected NormalizationPoint2D N2

N3

protected NormalizationPoint2D N3

A

protected DMatrixRMaj A

svdNull

protected SingularValueDecomposition_F64<DMatrixRMaj> svdNull

vectorizedSolution

protected DMatrixRMaj vectorizedSolution

p1_norm

protected Point2D_F64 p1_norm

p2_norm

protected Point2D_F64 p2_norm

p3_norm

protected Point2D_F64 p3_norm

enforce

protected EnforceTrifocalGeometry enforce

extractEpipoles

protected TrifocalExtractGeometries extractEpipoles

e2

protected Point3D_F64 e2

e3

protected Point3D_F64 e3

Constructor Details

TrifocalLinearPoint7

public TrifocalLinearPoint7()

Method Details

process

public boolean process(List<AssociatedTriple> observations,
TrifocalTensor solution)

Estimates the trifocal tensor given the set of observations

Parameters:

observations - Set of observations

solution - Output: Where the solution is written to

Returns:

true if successful and false if it fails

createLinearSystem

protected void createLinearSystem(List<AssociatedTriple> observations)

Constructs the linear matrix that describes from the 3-point constraint with linear dependent rows removed

solveLinearSystem

protected boolean solveLinearSystem()

Computes the null space of the linear system to find the trifocal tensor

removeNormalization

protected void removeNormalization(TrifocalTensor solution)

Translates the trifocal tensor back into regular coordinate system