TrifocalTensor.h
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1 /*
2  * This file is part of ALVAR, A Library for Virtual and Augmented Reality.
3  *
4  * Copyright 2007-2012 VTT Technical Research Centre of Finland
5  *
6  * Contact: VTT Augmented Reality Team <alvar.info@vtt.fi>
7  * <http://www.vtt.fi/multimedia/alvar.html>
8  *
9  * ALVAR is free software; you can redistribute it and/or modify it under the
10  * terms of the GNU Lesser General Public License as published by the Free
11  * Software Foundation; either version 2.1 of the License, or (at your option)
12  * any later version.
13  *
14  * This library is distributed in the hope that it will be useful, but WITHOUT
15  * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
16  * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License
17  * for more details.
18  *
19  * You should have received a copy of the GNU Lesser General Public License
20  * along with ALVAR; if not, see
21  * <http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>.
22  */
23 
24 #ifndef __TRIFOCAL_TENSOR__
25 #define __TRIFOCAL_TENSOR__
26 
27 #include "Alvar.h"
28 #include <cxcore.h>
29 #include "Pose.h"
30 
37 namespace alvar {
38 
71  private:
72  double T[3][3][3];
73  double projectAxis(const CvPoint2D64f &p0, const CvPoint2D64f &p1, int l);
74 
75  public:
77 
84  TrifocalTensor(const Pose &P1, const Pose &P2);
85 
93  TrifocalTensor(const Pose &P0, const Pose &P1, const Pose &P2);
94 
95  ~TrifocalTensor();
96 
107  void computeTensor(const Pose &P1, const Pose &P2);
108 
115  void computeTensor(const Pose &P0, const Pose &P1, const Pose &P2);
116 
128  void project(const CvPoint2D64f &p0, const CvPoint2D64f &p1, CvPoint2D64f &p2);
129 
146  double projectError(const CvPoint2D64f &p0, const CvPoint2D64f &p1, const CvPoint2D64f &p2);
147  };
148 
149 } // namespace alvar
150 
151 #endif // __TRIFOCAL_TENSOR__
Main ALVAR namespace.
Definition: Alvar.h:174
Trifocal tensor works for three images like a fundamental matrix works for two images.
tf::Vector3 project(const ARPoint &p, const double a, const double b, const double c, const double d)
Pose representation derived from the Rotation class
Definition: Pose.h:50
#define ALVAR_EXPORT
Definition: Alvar.h:168
This file implements a pose.
This file defines library export definitions, version numbers and build information.


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Thu Jun 6 2019 19:27:24