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 Summary
Fields Modifier and Type Field Description DMatrixRMaj
T1
DMatrixRMaj
T2
DMatrixRMaj
T3
-
Constructor Summary
Constructors Constructor Description TrifocalTensor()
-
Method Summary
Modifier and Type Method Description 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 ]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)TrifocalTensor
copy()
Returns a new copy of the TrifocalTensorDMatrixRMaj
getT(int index)
void
normalizeScale()
The scale of the trifocal tensor is arbitrary.void
print()
void
setTo(TrifocalTensor a)
String
toString()
-
Field Details
-
T1
-
T2
-
T3
-
-
Constructor Details
-
TrifocalTensor
public TrifocalTensor()
-
-
Method Details
-
getT
-
setTo
-
convertFrom
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
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
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
-
print
public void print()
-