boofcv.alg.geo.f

Class EssentialNister5

java.lang.Object

boofcv.alg.geo.f.EssentialNister5

public class EssentialNister5
extends java.lang.Object

Finds the essential matrix given exactly 5 corresponding points. The approach is described in details in [1] and works by linearlizing the problem then solving for the roots in a polynomial. It is considered one of the fastest and most stable solutions for the 5-point problem.

THIS IMPLEMENTATION DOES NOT CONTAIN ALL THE OPTIMIZATIONS OUTLIED IN [1]. A full implementation is quite involved. Example: SVD instead of the proposed QR factorization.

NOTE: This solution could be generalized for an arbitrary number of points. However, it would complicate the algorithm even more and isn't considered to be worth the effort.

[1] David Nister "An Efficient Solution to the Five-Point Relative Pose Problem" Pattern Analysis and Machine Intelligence, 2004

Constructor Summary

Constructors

Constructor and Description
EssentialNister5()

Method Summary

Modifier and Type	Method and Description
boolean	process(java.util.List<AssociatedPair> points, org.ddogleg.struct.FastQueue<org.ejml.data.DenseMatrix64F> solutions) Computes the essential matrix from point correspondences.

Methods inherited from class java.lang.Object

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

Constructor Detail

EssentialNister5

public EssentialNister5()

Method Detail

process

public boolean process(java.util.List<AssociatedPair> points,
                       org.ddogleg.struct.FastQueue<org.ejml.data.DenseMatrix64F> solutions)

Computes the essential matrix from point correspondences.

Parameters:

points - Input: List of points correspondences in normalized image coordinates

solutions - Output: Storage for the found solutions. .

Returns:

true for success or false if a fault has been detected