boofcv.struct.geo

Class TrifocalTensor

java.lang.Object

boofcv.struct.geo.TrifocalTensor

public class TrifocalTensor
extends java.lang.Object

The trifocal tensor describes the projective relationship between three different camera views and is analogous to the Fundamental matrix for two views. The trifocal tensor is composed of three matrices which are 3x3.

Field Summary

Fields

Modifier and Type	Field and Description
org.ejml.data.DenseMatrix64F	T1
org.ejml.data.DenseMatrix64F	T2
org.ejml.data.DenseMatrix64F	T3

Constructor Summary

Constructors

Constructor and Description
TrifocalTensor()

Method Summary

Modifier and Type	Method and Description
void	convertFrom(org.ejml.data.DenseMatrix64F m) Converts the 27 element vector into a three matrix format: T_i(j,k) = m.data[ i*9 + j*3 + k ]
void	convertTo(org.ejml.data.DenseMatrix64F m) Converts this matrix formated trifocal into a 27 element vector: m.data[ i*9 + j*3 + k ] = T_i(j,k)
TrifocalTensor	copy() Returns a new copy of the TrifocalTensor
org.ejml.data.DenseMatrix64F	getT(int index)
void	normalizeScale() The scale of the trifocal tensor is arbitrary.
void	print()
void	set(TrifocalTensor a)
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

T1

public org.ejml.data.DenseMatrix64F T1

T2

public org.ejml.data.DenseMatrix64F T2

T3

public org.ejml.data.DenseMatrix64F T3

Constructor Detail

TrifocalTensor

public TrifocalTensor()

Method Detail

getT

public org.ejml.data.DenseMatrix64F getT(int index)

set

public void set(TrifocalTensor a)

convertFrom

public void convertFrom(org.ejml.data.DenseMatrix64F m)

Converts the 27 element vector into a three matrix format:
T_i(j,k) = m.data[ i*9 + j*3 + k ]

Parameters:

m - Input: Trifocal tensor encoded in a vector

convertTo

public void convertTo(org.ejml.data.DenseMatrix64F m)

Converts this matrix formated trifocal into a 27 element vector:
m.data[ i*9 + j*3 + k ] = T_i(j,k)

Parameters:

m - Output: Trifocal tensor encoded in a vector

copy

public TrifocalTensor copy()

Returns a new copy of the TrifocalTensor

Returns:

Copy of the trifocal tensor

normalizeScale

public void normalizeScale()

The scale of the trifocal tensor is arbitrary. However there are situations when comparing results that using a consistent scale is useful. This function normalizes the sensor such that its Euclidean length (the f-norm) is equal to one.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

print

public void print()