Package boofcv.struct.geo

Class TrifocalTensor

java.lang.Object
boofcv.struct.geo.TrifocalTensor
public class TrifocalTensor
extends Object
The trifocal tensor describes the projective relationship between three different camera views and is analogous to the Fundamental matrix for two views. The trifocal tensor is composed of three matrices which are 3x3.

  • Field Details

  • Constructor Details

    • TrifocalTensor

      public TrifocalTensor()

  • Method Details

    • getT

      public DMatrixRMaj getT​(int index)

    • setTo

      public void setTo​(TrifocalTensor a)

    • convertFrom

      public void convertFrom​(DMatrixRMaj m)

      Converts the 27 element vector into a three matrix format:
      T_i(j,k) = m.data[ i*9 + j*3 + k ]

      Parameters:
      m - Input: Trifocal tensor encoded in a vector

    • convertTo

      public void convertTo​(DMatrixRMaj m)

      Converts this matrix formated trifocal into a 27 element vector:
      m.data[ i*9 + j*3 + k ] = T_i(j,k)

      Parameters:
      m - Output: Trifocal tensor encoded in a vector

    • copy

      public TrifocalTensor copy()
      Returns a new copy of the TrifocalTensor
      Returns:
      Copy of the trifocal tensor

    • normalizeScale

      public void normalizeScale()
      The scale of the trifocal tensor is arbitrary. However there are situations when comparing results that using a consistent scale is useful. This function normalizes the sensor such that its Euclidean length (the f-norm) is equal to one.

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • print

      public void print()