Represents a fundamental matrix in computer vision, which encodes the epipolar geometry between two views. 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...

	FundamentalMatrix ()
	Default constructor. More...

	FundamentalMatrix (const Matrix3 &F)
	Construct from a 3x3 matrix using SVD. More...

	FundamentalMatrix (const Matrix3 &Ka, const EssentialMatrix &E, const Matrix3 &Kb)
	Construct from essential matrix and calibration matrices. More...

	FundamentalMatrix (const Matrix3 &Ka, const Pose3 &aPb, const Matrix3 &Kb)
	Construct from calibration matrices Ka, Kb, and pose aPb. More...

	FundamentalMatrix (const Matrix3 &U, double s, const Matrix3 &V)
	Construct from U, V, and scalar s. More...

Matrix3	matrix () const
	Return the fundamental matrix representation. More...

Testable
Print the FundamentalMatrix
void	print (const std::string &s="") const

bool	equals (const FundamentalMatrix &other, double tol=1e-9) const

Private Member Functions
	FundamentalMatrix (const Rot3 &U, double s, const Rot3 &V)
	Private constructor for internal use. More...

void	initialize (Matrix3 U, double s, Matrix3 V)
	Initialize SO(3) matrices from general O(3) matrices. More...

Private Attributes
double	s_
	Scalar parameter for S. More...

Rot3	U_
	Left rotation. More...

Rot3	V_
	Right rotation. More...

Manifold
constexpr static auto	dimension = 7

size_t	dim () const

Vector	localCoordinates (const FundamentalMatrix &F) const
	Return local coordinates with respect to another FundamentalMatrix. More...

FundamentalMatrix	retract (const Vector &delta) const
	Retract the given vector to get a new FundamentalMatrix. More...

static size_t	Dim ()

Detailed Description

Represents a fundamental matrix in computer vision, which encodes the epipolar geometry between two views.

The FundamentalMatrix class encapsulates the fundamental matrix, which relates corresponding points in stereo images. It is parameterized by two rotation matrices (U and V) and a scalar parameter (s). Using these values, the fundamental matrix is represented as

F = U * diag(1, s, 0) * V^T

Definition at line 29 of file FundamentalMatrix.h.

Constructor & Destructor Documentation

◆ FundamentalMatrix() [1/6]

gtsam::FundamentalMatrix::FundamentalMatrix ( )

inline

Default constructor.

Definition at line 37 of file FundamentalMatrix.h.

◆ FundamentalMatrix() [2/6]

gtsam::FundamentalMatrix::FundamentalMatrix	(	const Matrix3 &	U,
		double	s,
		const Matrix3 &	V
	)

Construct from U, V, and scalar s.

Initializes the FundamentalMatrix From the SVD representation U*diag(1,s,0)*V^T. It will internally convert to using SO(3).

Definition at line 31 of file FundamentalMatrix.cpp.

◆ FundamentalMatrix() [3/6]

gtsam::FundamentalMatrix::FundamentalMatrix ( const Matrix3 & F )

Construct from a 3x3 matrix using SVD.

Initializes the FundamentalMatrix by performing SVD on the given matrix and ensuring U and V are not reflections.

Parameters

F	A 3x3 matrix representing the fundamental matrix

Definition at line 36 of file FundamentalMatrix.cpp.

◆ FundamentalMatrix() [4/6]

gtsam::FundamentalMatrix::FundamentalMatrix	(	const Matrix3 &	Ka,
		const EssentialMatrix &	E,
		const Matrix3 &	Kb
	)

inline

Construct from essential matrix and calibration matrices.

Initializes the FundamentalMatrix from the given essential matrix E and calibration matrices Ka and Kb, using F = Ka^(-T) * E * Kb^(-1) and then calls constructor that decomposes F via SVD.

Parameters

E	Essential matrix
Ka	Calibration matrix for the left camera
Kb	Calibration matrix for the right camera

Definition at line 69 of file FundamentalMatrix.h.

◆ FundamentalMatrix() [5/6]

gtsam::FundamentalMatrix::FundamentalMatrix	(	const Matrix3 &	Ka,
		const Pose3 &	aPb,
		const Matrix3 &	Kb
	)

inline

Construct from calibration matrices Ka, Kb, and pose aPb.

Initializes the FundamentalMatrix from the given calibration matrices Ka and Kb, and the pose aPb.

Parameters

Ka	Calibration matrix for the left camera
aPb	Pose from the left to the right camera
Kb	Calibration matrix for the right camera

Definition at line 84 of file FundamentalMatrix.h.

◆ FundamentalMatrix() [6/6]

gtsam::FundamentalMatrix::FundamentalMatrix	(	const Rot3 &	U,
		double	s,
		const Rot3 &	V
	)

inlineprivate

Private constructor for internal use.

Definition at line 117 of file FundamentalMatrix.h.

Member Function Documentation

◆ Dim()

static size_t gtsam::FundamentalMatrix::Dim ( )

inlinestatic

Definition at line 106 of file FundamentalMatrix.h.

◆ dim()

size_t gtsam::FundamentalMatrix::dim ( ) const

inline

Definition at line 107 of file FundamentalMatrix.h.

◆ epipolarLine()

Vector3 gtsam::FundamentalMatrix::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 77 of file FundamentalMatrix.cpp.

◆ equals()

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

Check if the FundamentalMatrix is equal to another within a tolerance

Definition at line 95 of file FundamentalMatrix.cpp.

◆ initialize()

void gtsam::FundamentalMatrix::initialize	(	Matrix3	U,
		double	s,
		Matrix3	V
	)

private

Initialize SO(3) matrices from general O(3) matrices.

Definition at line 60 of file FundamentalMatrix.cpp.

◆ localCoordinates()

Vector gtsam::FundamentalMatrix::localCoordinates ( const FundamentalMatrix & F ) const

Return local coordinates with respect to another FundamentalMatrix.

Definition at line 101 of file FundamentalMatrix.cpp.

◆ matrix()

Matrix3 gtsam::FundamentalMatrix::matrix ( ) const

Return the fundamental matrix representation.

Definition at line 72 of file FundamentalMatrix.cpp.

◆ print()

void gtsam::FundamentalMatrix::print ( const std::string & s = "" ) const

Definition at line 91 of file FundamentalMatrix.cpp.

◆ retract()

FundamentalMatrix gtsam::FundamentalMatrix::retract ( const Vector & delta ) const

Retract the given vector to get a new FundamentalMatrix.

Definition at line 109 of file FundamentalMatrix.cpp.

Member Data Documentation

◆ dimension

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

inlinestaticconstexpr

Definition at line 105 of file FundamentalMatrix.h.

◆ s_

double gtsam::FundamentalMatrix::s_

private

Scalar parameter for S.

Definition at line 32 of file FundamentalMatrix.h.

◆ U_

Rot3 gtsam::FundamentalMatrix::U_

private

Left rotation.

Definition at line 31 of file FundamentalMatrix.h.

◆ V_

Rot3 gtsam::FundamentalMatrix::V_

private

Right rotation.

Definition at line 33 of file FundamentalMatrix.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Manifold

Detailed Description

Constructor & Destructor Documentation

◆ FundamentalMatrix() [1/6]

◆ FundamentalMatrix() [2/6]

◆ FundamentalMatrix() [3/6]

◆ FundamentalMatrix() [4/6]

◆ FundamentalMatrix() [5/6]

◆ FundamentalMatrix() [6/6]

Member Function Documentation

◆ Dim()

◆ dim()

◆ epipolarLine()

◆ equals()

◆ initialize()

◆ localCoordinates()

◆ matrix()

◆ print()

◆ retract()

Member Data Documentation

◆ dimension

◆ s_

◆ U_

◆ V_