gtsam::FundamentalMatrix Class Reference

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

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

Public Member Functions
	FundamentalMatrix ()
	Default constructor.
	FundamentalMatrix (const Matrix3 &U, double s, const Matrix3 &V)
	Construct from U, V, and scalar s.
	FundamentalMatrix (const Matrix3 &F)
	Construct from a 3x3 matrix using SVD.
	FundamentalMatrix (const Matrix3 &Ka, const EssentialMatrix &E, const Matrix3 &Kb)
	Construct from essential matrix and calibration matrices.
	FundamentalMatrix (const Matrix3 &Ka, const Pose3 &aPb, const Matrix3 &Kb)
	Construct from calibration matrices Ka, Kb, and pose aPb.
Matrix3	matrix () const
	Return the fundamental matrix representation.
Vector3	epipolarLine (const Point2 &p, OptionalJacobian< 3, 7 > H={})
	Computes the epipolar line in a (left) for a given point in b (right).
Testable
Print the FundamentalMatrix
void	print (const std::string &s="") const
bool	equals (const FundamentalMatrix &other, double tol=1e-9) const
	Check if the FundamentalMatrix is equal to another within a tolerance.

Constructor & Destructor Documentation

FundamentalMatrix() [1/4]

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).

FundamentalMatrix() [2/4]

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

FundamentalMatrix() [3/4]

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

FundamentalMatrix() [4/4]

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

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/FundamentalMatrix.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/FundamentalMatrix.cpp