gtsam::SimpleFundamentalMatrix Class Reference

Class for representing a simple fundamental matrix. More...

#include <FundamentalMatrix.h>

Public Member Functions
Vector3	epipolarLine (const Point2 &p, OptionalJacobian< 3, 7 > H={})
	Computes the epipolar line in a (left) for a given point in b (right) More...
Matrix3	matrix () const
	SimpleFundamentalMatrix ()
	Default constructor. More...
	SimpleFundamentalMatrix (const EssentialMatrix &E, double fa, double fb, const Point2 &ca, const Point2 &cb)
	Construct from essential matrix and focal lengths. More...
Testable
Print the SimpleFundamentalMatrix
void	print (const std::string &s="") const
bool	equals (const SimpleFundamentalMatrix &other, double tol=1e-9) const
	Check equality within a tolerance. More...

Private Member Functions
Matrix3	Ka () const
	Return the left calibration matrix. More...
Matrix3	Kb () const
	Return the right calibration matrix. More...

Private Attributes
Point2	ca_
	Principal point for left camera. More...
Point2	cb_
	Principal point for right camera. More...
EssentialMatrix	E_
	Essential matrix. More...
double	fa_
	Focal length for left camera. More...
double	fb_
	Focal length for right camera. More...

Manifold
constexpr static auto	dimension = 7
size_t	dim () const
Vector	localCoordinates (const SimpleFundamentalMatrix &F) const
	Return local coordinates with respect to another SimpleFundamentalMatrix. More...
SimpleFundamentalMatrix	retract (const Vector &delta) const
	Retract the given vector to get a new SimpleFundamentalMatrix. More...
static size_t	Dim ()

Detailed Description

Class for representing a simple fundamental matrix.

This class represents a simple fundamental matrix, which is a parameterization of the essential matrix and focal lengths for left and right cameras. Principal points are not part of the manifold but a convenience.

Definition at line 132 of file FundamentalMatrix.h.

Constructor & Destructor Documentation

SimpleFundamentalMatrix() [1/2]

gtsam::SimpleFundamentalMatrix::SimpleFundamentalMatrix ( )

inline

Default constructor.

Definition at line 148 of file FundamentalMatrix.h.

SimpleFundamentalMatrix() [2/2]

gtsam::SimpleFundamentalMatrix::SimpleFundamentalMatrix ( const EssentialMatrix &  E, double  fa, double  fb, const Point2 &  ca, const Point2 &  cb  )

inline

Construct from essential matrix and focal lengths.

Parameters

E	Essential matrix
fa	Focal length for left camera
fb	Focal length for right camera
ca	Principal point for left camera
cb	Principal point for right camera

Definition at line 159 of file FundamentalMatrix.h.

Member Function Documentation

Dim()

static size_t gtsam::SimpleFundamentalMatrix::Dim ( )

inlinestatic

Definition at line 183 of file FundamentalMatrix.h.

dim()

size_t gtsam::SimpleFundamentalMatrix::dim ( ) const

inline

Definition at line 184 of file FundamentalMatrix.h.

epipolarLine()

Vector3 gtsam::SimpleFundamentalMatrix::epipolarLine	(	const Point2 &	p,
		OptionalJacobian< 3, 7 >	H = {}
	)

Computes the epipolar line in a (left) for a given point in b (right)

Definition at line 133 of file FundamentalMatrix.cpp.

equals()

bool gtsam::SimpleFundamentalMatrix::equals	(	const SimpleFundamentalMatrix &	other,
		double	tol = 1e-9
	)		const

Check equality within a tolerance.

Definition at line 154 of file FundamentalMatrix.cpp.

Ka()

Matrix3 gtsam::SimpleFundamentalMatrix::Ka ( ) const

private

Return the left calibration matrix.

Definition at line 117 of file FundamentalMatrix.cpp.

Kb()

Matrix3 gtsam::SimpleFundamentalMatrix::Kb ( ) const

private

Return the right calibration matrix.

Definition at line 123 of file FundamentalMatrix.cpp.

localCoordinates()

Vector gtsam::SimpleFundamentalMatrix::localCoordinates

(

const SimpleFundamentalMatrix &

F

)

const

Return local coordinates with respect to another SimpleFundamentalMatrix.

Definition at line 161 of file FundamentalMatrix.cpp.

matrix()

Matrix3 gtsam::SimpleFundamentalMatrix::matrix

(

)

const

Return the fundamental matrix representation F = Ka^(-T) * E * Kb^(-1)

Definition at line 129 of file FundamentalMatrix.cpp.

print()

void gtsam::SimpleFundamentalMatrix::print

(

const std::string &

s = ""

)

const

Definition at line 147 of file FundamentalMatrix.cpp.

retract()

SimpleFundamentalMatrix gtsam::SimpleFundamentalMatrix::retract

(

const Vector &

delta

)

const

Retract the given vector to get a new SimpleFundamentalMatrix.

Definition at line 170 of file FundamentalMatrix.cpp.

Member Data Documentation

ca_

Point2 gtsam::SimpleFundamentalMatrix::ca_

private

Principal point for left camera.

Definition at line 137 of file FundamentalMatrix.h.

cb_

Point2 gtsam::SimpleFundamentalMatrix::cb_

private

Principal point for right camera.

Definition at line 138 of file FundamentalMatrix.h.

dimension

constexpr static auto gtsam::SimpleFundamentalMatrix::dimension = 7

inlinestaticconstexpr

Definition at line 182 of file FundamentalMatrix.h.

E_

EssentialMatrix gtsam::SimpleFundamentalMatrix::E_

private

Essential matrix.

Definition at line 134 of file FundamentalMatrix.h.

fa_

double gtsam::SimpleFundamentalMatrix::fa_

private

Focal length for left camera.

Definition at line 135 of file FundamentalMatrix.h.

fb_

double gtsam::SimpleFundamentalMatrix::fb_

private

Focal length for right camera.

Definition at line 136 of file FundamentalMatrix.h.

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The documentation for this class was generated from the following files:

• FundamentalMatrix.h
• FundamentalMatrix.cpp