DVision::FSolver Class Reference

Computes fundamental matrices. More...

#include <FSolver.h>

Inheritance diagram for DVision::FSolver:

List of all members.

Public Member Functions
	FSolver ()
	FSolver (int cols, int rows)
virtual	~FSolver ()
virtual void	setImageSize (int cols, int rows)
cv::Mat	findFundamentalMat (const cv::Mat &P1, const cv::Mat &P2, double reprojection_error, int min_points=9, std::vector< uchar > *status=NULL, bool computeF=true, double probability=0.99, int max_its=500) const
bool	checkFundamentalMat (const cv::Mat &P1, const cv::Mat &P2, double reprojection_error, int min_points=9, double probability=0.99, int max_its=500) const
Protected Member Functions
void	normalizePoints (const cv::Mat &P, cv::Mat &Q) const
cv::Mat	_computeF (const cv::Mat &Qc1, const cv::Mat &Qc2, const std::vector< unsigned int > &i_cols) const
Protected Attributes
cv::Mat	m_N
	Normalization matrix.
cv::Mat	m_N_t
	Traspose of normalization matrix.

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Detailed Description

Computes fundamental matrices.

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Constructor & Destructor Documentation

DVision::FSolver::FSolver

(

)

Creates the solver without setting the image dimensions

DVision::FSolver::FSolver	(	int	cols,
		int	rows
	)

Creates the solver and set the image dimensions

Parameters:

	cols	width of images
	rows	height of images

virtual DVision::FSolver::~FSolver

(

)

[inline, virtual]

Destructor

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Member Function Documentation

cv::Mat DVision::FSolver::_computeF	(	const cv::Mat &	Qc1,
		const cv::Mat &	Qc2,
		const std::vector< unsigned int > &	i_cols
	)			const [protected]

Computes F from correspondences Q1(:,i_cols), Q2(:,i_cols)

Parameters:

	Qc1	3xN normalized
	Qc2	3xN normalized
	i_cols	# >= 9

Returns:

F12 3x3 or empty

bool DVision::FSolver::checkFundamentalMat	(	const cv::Mat &	P1,
		const cv::Mat &	P2,
		double	reprojection_error,
		int	min_points = 9,
		double	probability = 0.99,
		int	max_its = 500
	)			const

Checks if a consistent fundamental matrix can be computed from the given points. It is not computed, though.

Parameters:

	P1	2xN, 3xN, Nx2, Nx3, correspondences of image 1 in image coordinates
	P2	2xN, 3xN, Nx2, Nx3, correspondences of image 2 in image coordinates
	reprojection_error	max reprojection error for getting inliers
	min_points	min number of required inliers
	probability	RANSAC success probability
	max_its	maximum number of RANSAC iterations

Returns:

true iff some fundamental matrix is found

cv::Mat DVision::FSolver::findFundamentalMat	(	const cv::Mat &	P1,
		const cv::Mat &	P2,
		double	reprojection_error,
		int	min_points = 9,
		std::vector< uchar > *	status = NULL,
		bool	computeF = true,
		double	probability = 0.99,
		int	max_its = 500
	)			const

Finds a fundamental matrix from the given correspondences by running RANSAC

Parameters:

	P1	2xN, 3xN, Nx2, Nx3, correspondences of image 1 in image coordinates
	P2	2xN, 3xN, Nx2, Nx3, correspondences of image 2 in image coordinates
	reprojection_error	max reprojection error for getting inliers
	min_points	min number of required inliers
	status	(out) vector s.t. status[i] == 1 if i-th point is an inlier, 0 otherwise
	computeF	(default: true) if false, the final F is not computed and an arbitrary non-empty 3x3 matrix is returned (it saves a svd operation)
	probability	RANSAC success probability
	max_its	maximum number of RANSAC iterations

Returns:

F s.t. P1' * F * P2 == 0, or empty

void DVision::FSolver::normalizePoints	(	const cv::Mat &	P,
		cv::Mat &	Q
	)			const [protected]

Normalize points

Parameters:

	P	2xN, 3xN, Nx2, Nx3, float or double points
	Q	(out) 3xN (double) homogeneous coordinates of points

void DVision::FSolver::setImageSize	(	int	cols,
		int	rows
	)			[virtual]

Sets image size

Parameters:

	cols
	rows

Reimplemented in DVision::HSolver.

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Member Data Documentation

cv::Mat DVision::FSolver::m_N [protected]

Normalization matrix.

Get inliers in the opencv manner

Parameters:

	Q1	3xN homogeneous points
	Q2	3xN homogeneous points
	F12	fundamental matrix
	err	max reprojection error
	status	(out) 1xN CV_8U vector with 1 in the positions of the inliers

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

• FSolver.h
• FSolver.cpp