boofcv.alg.geo.trifocal

Class TrifocalExtractEpipoles

java.lang.Object

boofcv.alg.geo.trifocal.TrifocalExtractEpipoles

public class TrifocalExtractEpipoles
extends Object

Extracts the epipoles for views 2 and 3 with respect to view 1 from the trifocal tensor. Epipoles are found in homogeneous coordinates. Singular value decomposition is used to compute each vector and is robust to noise and epipoles will have a norm of one..

Properties:

• e2^T*F12 = 0
• e3^T*F13 = 0

where F1i is a fundamental matrix from image 1 to i.

References:

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

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
TrifocalExtractEpipoles()

Method Summary

Methods

Modifier and Type	Method and Description
void	process(TrifocalTensor tensor, georegression.struct.point.Point3D_F64 e2, georegression.struct.point.Point3D_F64 e3) Extracts the epipoles from the trifocal tensor.

Methods inherited from class java.lang.Object

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

Constructor Detail

TrifocalExtractEpipoles

public TrifocalExtractEpipoles()

Method Detail

process

public void process(TrifocalTensor tensor,
           georegression.struct.point.Point3D_F64 e2,
           georegression.struct.point.Point3D_F64 e3)

Extracts the epipoles from the trifocal tensor. Extracted epipoles will have a norm of 1 as an artifact of using SVD.

Parameters:

tensor - Input: Trifocal tensor. Not Modified

e2 - Output: Epipole in image 2. Homogeneous coordinates. Modified

e3 - Output: Epipole in image 3. Homogeneous coordinates. Modified