Focal-length self-calibration factor from a fundamental matrix. More...

Classes
class	gtsam::SelfCalibrationFactor
	Binary factor measuring how close a fundamental matrix is to admitting a valid essential matrix, as a function of the two cameras' focal lengths. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Functions
Eigen::Vector4d	gtsam::fetzer_d (const Eigen::Vector3d &ai, const Eigen::Vector3d &bi, const Eigen::Vector3d &aj, const Eigen::Vector3d &bj, int u, int v)
	Build one 4-vector of bilinear coefficients from two pairs of 3-vectors, picking rows (u, v) — the 2x2 minor of (ai/bi) against (aj/bj) used by the Fetzer focal-length residual.
std::array< Eigen::Vector4d, 3 >	gtsam::fetzer_ds (const Eigen::Matrix3d &G)
	Precompute the Fetzer coefficient vectors from G = K_j^T F K_i.

Detailed Description

Focal-length self-calibration factor from a fundamental matrix.

Classes