boofcv.alg.geo.f

Class FundamentalLinear8

java.lang.Object

boofcv.alg.geo.f.FundamentalLinear

boofcv.alg.geo.f.FundamentalLinear8

public class FundamentalLinear8
extends FundamentalLinear

Given a set of 8 or more points this class computes the essential or fundamental matrix. The result is often used as an initial guess for more accurate non-linear approaches.

The computed fundamental matrix follow the following convention (with no noise) for the associated pair: x2^T*F*x1 = 0
x1 = keyLoc and x2 = currLoc.

References:

• Y. Ma, S. Soatto, J. Kosecka, and S. S. Sastry, "An Invitation to 3-D Vision" Springer-Verlad, 2004
• R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003

Author:

Peter Abeles

Field Summary

Fields inherited from class boofcv.alg.geo.f.FundamentalLinear

A, N1, N2, svdConstraints, svdNull, svdS, svdU, svdV, temp0

Constructor Summary

Constructors

Constructor and Description
FundamentalLinear8(boolean computeFundamental) Specifies which type of matrix is to be computed

Method Summary

Methods

Modifier and Type	Method and Description
protected boolean	process(DenseMatrix64F A, DenseMatrix64F F) Computes the SVD of A and extracts the essential/fundamental matrix from its null space
boolean	process(java.util.List<AssociatedPair> points, DenseMatrix64F solution) Computes a fundamental or essential matrix from a set of associated point correspondences.

Methods inherited from class boofcv.alg.geo.f.FundamentalLinear

createA, getSvdS, getSvdU, getSvdV, isComputeFundamental, projectOntoEssential, projectOntoFundamentalSpace, undoNormalizationF

Methods inherited from class java.lang.Object

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

Constructor Detail

FundamentalLinear8

public FundamentalLinear8(boolean computeFundamental)

Specifies which type of matrix is to be computed

Parameters:

computeFundamental - true it computes a fundamental matrix and false for essential

Method Detail

process

public boolean process(java.util.List<AssociatedPair> points,
              DenseMatrix64F solution)

Computes a fundamental or essential matrix from a set of associated point correspondences.

Parameters:

points - List of corresponding image coordinates. In pixel for fundamental matrix or normalized coordinates for essential matrix.

Returns:

true If successful or false if it failed

process

protected boolean process(DenseMatrix64F A,
              DenseMatrix64F F)

Computes the SVD of A and extracts the essential/fundamental matrix from its null space