boofcv.alg.geo.trifocal

Class TrifocalLinearPoint7

java.lang.Object

boofcv.alg.geo.trifocal.TrifocalLinearPoint7

Direct Known Subclasses:

TrifocalAlgebraicPoint7

public class TrifocalLinearPoint7
extends Object

Estimates the TrifocalTensor using a linear algorithm from 7 or more image points correspondences from three views, see page 394 of [1] for details. After an initial linear solution has been computed it is improved upon by applying geometric constraints. Note that the solution will not be optimal in a geometric or algebraic sense, but can be used as an initial estimate for refinement algorithms.

References:

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

Author:

Peter Abeles

See Also:

EnforceTrifocalGeometry

Field Summary

Fields

Modifier and Type	Field and Description
protected org.ejml.data.DenseMatrix64F	A
protected georegression.struct.point.Point3D_F64	e2
protected georegression.struct.point.Point3D_F64	e3
protected EnforceTrifocalGeometry	enforce
protected TrifocalExtractEpipoles	extractEpipoles
protected org.ejml.data.DenseMatrix64F	N1
protected org.ejml.data.DenseMatrix64F	N2
protected org.ejml.data.DenseMatrix64F	N3
protected georegression.struct.point.Point2D_F64	p1_norm
protected georegression.struct.point.Point2D_F64	p2_norm
protected georegression.struct.point.Point2D_F64	p3_norm
protected TrifocalTensor	solutionN
protected org.ejml.factory.SingularValueDecomposition<org.ejml.data.DenseMatrix64F>	svdNull
protected org.ejml.data.DenseMatrix64F	vectorizedSolution

Constructor Summary

Constructors

Constructor and Description
TrifocalLinearPoint7()

Method Summary

Methods

Modifier and Type	Method and Description
protected void	createLinearSystem(List<AssociatedTriple> observations) Constructs the linear matrix that describes from the 3-point constraint with linear dependent rows removed
boolean	process(List<AssociatedTriple> observations, TrifocalTensor solution) Estimates the trifocal tensor given the set of observations
protected void	removeNormalization(TrifocalTensor solution) Translates the trifocal tensor back into regular coordinate system
protected boolean	solveLinearSystem() Computes the null space of the linear system to find the trifocal tensor

Methods inherited from class java.lang.Object

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

Field Detail

solutionN

protected TrifocalTensor solutionN

N1

protected org.ejml.data.DenseMatrix64F N1

N2

protected org.ejml.data.DenseMatrix64F N2

N3

protected org.ejml.data.DenseMatrix64F N3

A

protected org.ejml.data.DenseMatrix64F A

svdNull

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

vectorizedSolution

protected org.ejml.data.DenseMatrix64F vectorizedSolution

p1_norm

protected georegression.struct.point.Point2D_F64 p1_norm

p2_norm

protected georegression.struct.point.Point2D_F64 p2_norm

p3_norm

protected georegression.struct.point.Point2D_F64 p3_norm

enforce

protected EnforceTrifocalGeometry enforce

extractEpipoles

protected TrifocalExtractEpipoles extractEpipoles

e2

protected georegression.struct.point.Point3D_F64 e2

e3

protected georegression.struct.point.Point3D_F64 e3

Constructor Detail

TrifocalLinearPoint7

public TrifocalLinearPoint7()

Method Detail

process

public boolean process(List<AssociatedTriple> observations,
              TrifocalTensor solution)

Estimates the trifocal tensor given the set of observations

Parameters:

observations - Set of observations

solution - Output: Where the solution is written to

Returns:

true if successful and false if it fails

createLinearSystem

protected void createLinearSystem(List<AssociatedTriple> observations)

Constructs the linear matrix that describes from the 3-point constraint with linear dependent rows removed

solveLinearSystem

protected boolean solveLinearSystem()

Computes the null space of the linear system to find the trifocal tensor

removeNormalization

protected void removeNormalization(TrifocalTensor solution)

Translates the trifocal tensor back into regular coordinate system