fivePointAlgorithm.h File Reference

Header file declaring the fivePointAlgorithm() function template. More...

#include <dlrNumeric/array1D.h>
#include <dlrNumeric/array2D.h>
#include <dlrNumeric/transform3D.h>
#include <dlrNumeric/vector2D.h>
#include <dlrRandom/pseudoRandom.h>
#include <cmath>
#include <complex>
#include <limits>
#include <dlrComputerVision/cameraIntrinsicsPinhole.h>
#include <dlrComputerVision/threePointAlgorithm.h>
#include <dlrGeometry/ray2D.h>
#include <dlrGeometry/utilities2D.h>
#include <dlrLinearAlgebra/linearAlgebra.h>
#include <dlrNumeric/subArray2D.h>
#include <dlrNumeric/utilities.h>

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Namespaces
namespace	dlr::computerVision
	This namespace is still in the early stages of development.
Functions
template<class Iterator >
std::vector < dlr::numeric::Array2D < double > >	dlr::computerVision::fivePointAlgorithm (Iterator sequence0Begin, Iterator sequence0End, Iterator sequence1Begin)
	WARNING(xxx): The essential matrix returned by this funtion is currently not normalized to reasonable magnitude.
template<class Iterator >
dlr::numeric::Array2D< double >	dlr::computerVision::fivePointAlgorithmRobust (Iterator sequence0Begin, Iterator sequence0End, Iterator sequence1Begin, size_t iterations, double inlierProportion, double &score, dlr::random::PseudoRandom pRandom=dlr::random::PseudoRandom())
	WARNING(xxx): The essential matrix returned by this funtion is currently not normalized to reasonable magnitude.
template<class Iterator >
void	dlr::computerVision::fivePointAlgorithmRobust (Iterator sequence0Begin, Iterator sequence0End, Iterator sequence1Begin, Iterator sequence2Begin, size_t iterations, double inlierProportion, dlr::numeric::Array2D< double > &cam2Ecam0, dlr::numeric::Transform3D &cam0Tcam2, dlr::numeric::Transform3D &cam1Tcam2, double &score, dlr::random::PseudoRandom pRandom=dlr::random::PseudoRandom())
	Warning: this interface may change.
double	dlr::computerVision::checkEpipolarConstraint (dlr::numeric::Array2D< double > const &fundamentalMx, dlr::numeric::Vector2D &point0, dlr::numeric::Vector2D &point1)
dlr::numeric::Transform3D	dlr::computerVision::getCameraMotionFromEssentialMatrix (dlr::numeric::Array2D< double > const &EE, dlr::numeric::Vector2D const &testPointCamera0, dlr::numeric::Vector2D const &testPointCamera1)
dlr::numeric::Vector3D	dlr::computerVision::triangulateCalibratedImagePoint (dlr::numeric::Transform3D const &c0Tc1, dlr::numeric::Vector2D const &testPointCamera0, dlr::numeric::Vector2D const &testPointCamera1)
dlr::numeric::Array2D< double >	dlr::computerVision::generateFivePointConstraintMatrix (dlr::numeric::Array2D< double > const &E0Array, dlr::numeric::Array2D< double > const &E1Array, dlr::numeric::Array2D< double > const &E2Array, dlr::numeric::Array2D< double > const &E3Array)
	This function is used internally by fivePointAlgorithm() to generate a 10x20 matrix of coefficients of polynomial constraints.

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Detailed Description

Header file declaring the fivePointAlgorithm() function template.

Copyright (C) 2009 David LaRose, dlr@cs.cmu.edu See accompanying file, LICENSE.TXT, for details.

Revision

Date

Definition in file fivePointAlgorithm.h.