boofcv.alg.geo.trifocal

Class EnforceTrifocalGeometry

java.lang.Object

boofcv.alg.geo.trifocal.EnforceTrifocalGeometry

public class EnforceTrifocalGeometry
extends Object

Applies geometric constraints to an estimated trifocal tensor. See page 394 in [1].

References:

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

Author:

Peter Abeles

Field Summary

Fields

Modifier and Type	Field and Description
protected org.ejml.data.DenseMatrix64F	E

Constructor Summary

Constructors

Constructor and Description
EnforceTrifocalGeometry()

Method Summary

Methods

Modifier and Type	Method and Description
void	computeErrorVector(org.ejml.data.DenseMatrix64F A, org.ejml.data.DenseMatrix64F errors) Returns the algebraic error vector.
protected void	constructE(georegression.struct.point.Point3D_F64 e2, georegression.struct.point.Point3D_F64 e3) The matrix E is a linear system for computing the trifocal tensor.
void	extractSolution(TrifocalTensor tensor) Inserts the found trifocal tensor into the provided object.
void	process(georegression.struct.point.Point3D_F64 e2, georegression.struct.point.Point3D_F64 e3, org.ejml.data.DenseMatrix64F A) Computes a trifocal tensor which minimizes the algebraic error given the two epipoles and the linear constraint matrix.

Methods inherited from class java.lang.Object

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

Field Detail

E

protected org.ejml.data.DenseMatrix64F E

Constructor Detail

EnforceTrifocalGeometry

public EnforceTrifocalGeometry()

Method Detail

process

public void process(georegression.struct.point.Point3D_F64 e2,
           georegression.struct.point.Point3D_F64 e3,
           org.ejml.data.DenseMatrix64F A)

Computes a trifocal tensor which minimizes the algebraic error given the two epipoles and the linear constraint matrix. The epipoles are from a previously computed trifocal tensor.

Parameters:

e2 - Epipole of first image in the second image

e3 - Epipole of first image in the third image

A - Linear constraint matrix for trifocal tensor created from image observations.

computeErrorVector

public void computeErrorVector(org.ejml.data.DenseMatrix64F A,
                      org.ejml.data.DenseMatrix64F errors)

Returns the algebraic error vector. error = A*U*x. length = number of observations

extractSolution

public void extractSolution(TrifocalTensor tensor)

Inserts the found trifocal tensor into the provided object.

constructE

protected void constructE(georegression.struct.point.Point3D_F64 e2,
              georegression.struct.point.Point3D_F64 e3)

The matrix E is a linear system for computing the trifocal tensor. The columns are the unknown square matrices from view 2 and 3. The right most column in both projection matrices are the provided epipoles, whose values are inserted into E