gtsam::SimpleFundamentalMatrix Class Reference

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.

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

Public Member Functions
	SimpleFundamentalMatrix ()
	Default constructor.
	SimpleFundamentalMatrix (const EssentialMatrix &E, double fa, double fb, const Point2 &ca, const Point2 &cb)
	Construct from essential matrix and focal lengths.
Matrix3	matrix () const
	Return the fundamental matrix representation F = Ka^(-T) * E * Kb^(-1).
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 SimpleFundamentalMatrix
void	print (const std::string &s="") const
bool	equals (const SimpleFundamentalMatrix &other, double tol=1e-9) const
	Check equality within a tolerance.

Constructor & Destructor Documentation

SimpleFundamentalMatrix()

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

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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