MVE - Multi-View Environment mve-devel
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Namespaces | Typedefs | Functions
fundamental.h File Reference
#include <limits>
#include <vector>
#include "math/vector.h"
#include "math/matrix.h"
#include "sfm/defines.h"
#include "sfm/camera_pose.h"
#include "sfm/correspondence.h"
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Namespaces

namespace  sfm
 Structure-from-Motion library.
 

Typedefs

typedef math::Matrix< double, 3, 8 > sfm::Eight2DPoints
 
typedef math::Matrix< double, 3, 3 > sfm::EssentialMatrix
 
typedef math::Matrix< double, 3, 3 > sfm::FundamentalMatrix
 

Functions

template<typename T , int DIM>
void sfm::compute_normalization (math::Matrix< T, 3, DIM > const &points, math::Matrix< T, 3, 3 > *transformation)
 Computes a transformation for 2D points in homogeneous coordinates such that the mean of the points is zero and the points fit in the unit square.
 
void sfm::enforce_essential_constraints (EssentialMatrix *matrix)
 Constraints the given matrix to have TWO EQUAL NON-ZERO eigenvalues.
 
void sfm::enforce_fundamental_constraints (FundamentalMatrix *matrix)
 Constraints the given matrix to have TWO NON-ZERO eigenvalues.
 
bool sfm::fundamental_8_point (Eight2DPoints const &points_view_1, Eight2DPoints const &points_view_2, FundamentalMatrix *result)
 Algorithm to compute the fundamental or essential matrix from 8 image correspondences.
 
void sfm::fundamental_from_pose (CameraPose const &cam1, CameraPose const &cam2, FundamentalMatrix *result)
 Computes the fundamental matrix corresponding to cam1 and cam2.
 
bool sfm::fundamental_least_squares (Correspondences2D2D const &points, FundamentalMatrix *result)
 Algorithm to compute the fundamental or essential matrix from image correspondences.
 
void sfm::pose_from_essential (EssentialMatrix const &matrix, std::vector< CameraPose > *result)
 Retrieves the camera matrices from the essential matrix.
 
double sfm::sampson_distance (FundamentalMatrix const &fundamental, Correspondence2D2D const &match)
 Computes the Sampson distance for an image correspondence given the fundamental matrix between two views.