boofcv.alg.geo.f

Class FundamentalLinear

java.lang.Object

boofcv.alg.geo.f.FundamentalLinear

Direct Known Subclasses:

FundamentalLinear7, FundamentalLinear8

public abstract class FundamentalLinear
extends Object

Base class for linear algebra based algorithms for computing the Fundamental/Essential matrices.

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.

Author:

Peter Abeles

Field Summary

Fields

Modifier and Type	Field and Description
protected org.ejml.data.DenseMatrix64F	A
protected org.ejml.data.DenseMatrix64F	N1
protected org.ejml.data.DenseMatrix64F	N2
protected org.ejml.factory.SingularValueDecomposition<org.ejml.data.DenseMatrix64F>	svdConstraints
protected org.ejml.factory.SingularValueDecomposition<org.ejml.data.DenseMatrix64F>	svdNull
protected org.ejml.data.DenseMatrix64F	svdS
protected org.ejml.data.DenseMatrix64F	svdU
protected org.ejml.data.DenseMatrix64F	svdV
protected org.ejml.data.DenseMatrix64F	temp0

Constructor Summary

Constructors

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

Method Summary

Methods

Modifier and Type	Method and Description
protected void	createA(List<AssociatedPair> points, org.ejml.data.DenseMatrix64F A) Reorganizes the epipolar constraint equation (xT2*F*x1 = 0) such that it is formulated as a standard linear system of the form Ax=0.
org.ejml.data.DenseMatrix64F	getSvdS() Returns the S from the SVD of F.
org.ejml.data.DenseMatrix64F	getSvdU() Returns the U from the SVD of F.
org.ejml.data.DenseMatrix64F	getSvdV() Returns the V from the SVD of F.
boolean	isComputeFundamental() Returns true if it is computing a fundamental matrix or false if it is an essential matrix.
protected boolean	projectOntoEssential(org.ejml.data.DenseMatrix64F E) Projects the found estimate of E onto essential space.
protected boolean	projectOntoFundamentalSpace(org.ejml.data.DenseMatrix64F F) Projects the found estimate of F onto Fundamental space.
protected void	undoNormalizationF(org.ejml.data.DenseMatrix64F M, org.ejml.data.DenseMatrix64F N1, org.ejml.data.DenseMatrix64F N2) Undo the normalization done to the input matrices for a Fundamental matrix.

Methods inherited from class java.lang.Object

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

Field Detail

A

protected org.ejml.data.DenseMatrix64F A

svdNull

protected org.ejml.factory.SingularValueDecomposition<org.ejml.data.DenseMatrix64F> svdNull

svdConstraints

protected org.ejml.factory.SingularValueDecomposition<org.ejml.data.DenseMatrix64F> svdConstraints

svdU

protected org.ejml.data.DenseMatrix64F svdU

svdS

protected org.ejml.data.DenseMatrix64F svdS

svdV

protected org.ejml.data.DenseMatrix64F svdV

temp0

protected org.ejml.data.DenseMatrix64F temp0

N1

protected org.ejml.data.DenseMatrix64F N1

N2

protected org.ejml.data.DenseMatrix64F N2

Constructor Detail

FundamentalLinear

public FundamentalLinear(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

projectOntoEssential

protected boolean projectOntoEssential(org.ejml.data.DenseMatrix64F E)

Projects the found estimate of E onto essential space.

Returns:

true if svd returned true.

projectOntoFundamentalSpace

protected boolean projectOntoFundamentalSpace(org.ejml.data.DenseMatrix64F F)

Projects the found estimate of F onto Fundamental space.

Returns:

true if svd returned true.

undoNormalizationF

protected void undoNormalizationF(org.ejml.data.DenseMatrix64F M,
                      org.ejml.data.DenseMatrix64F N1,
                      org.ejml.data.DenseMatrix64F N2)

Undo the normalization done to the input matrices for a Fundamental matrix.
M = N₂^T*M*N₁

Parameters:

M - Either the homography or fundamental matrix computed from normalized points.

N1 - normalization matrix.

N2 - normalization matrix.

createA

protected void createA(List<AssociatedPair> points,
           org.ejml.data.DenseMatrix64F A)

Reorganizes the epipolar constraint equation (x^T₂*F*x₁ = 0) such that it is formulated as a standard linear system of the form Ax=0. Where A contains the pixel locations and x is the reformatted fundamental matrix.

Parameters:

points - Set of associated points in left and right images.

A - Matrix where the reformatted points are written to.

getSvdU

public org.ejml.data.DenseMatrix64F getSvdU()

Returns the U from the SVD of F.

Returns:

U matrix.

getSvdS

public org.ejml.data.DenseMatrix64F getSvdS()

Returns the S from the SVD of F.

Returns:

S matrix.

getSvdV

public org.ejml.data.DenseMatrix64F getSvdV()

Returns the V from the SVD of F.

Returns:

V matrix.

isComputeFundamental

public boolean isComputeFundamental()

Returns true if it is computing a fundamental matrix or false if it is an essential matrix.

Returns:

true for fundamental and false for essential