This class implements epipolar geometry functions for multiple views. More...

Data Structures
class	TrifocalTensor
	Definition of a trifocal tensor matrix. More...

Static Public Member Functions
static bool	projectiveReconstructionFrom6PointsIF (const ImagePoint points1, const ImagePoint points2, const ImagePoint points3, const size_t correspondences, HomogenousMatrix4 &iFlippedProjectionMatrix1, HomogenousMatrix4 &iFlippedProjectionMatrix2, HomogenousMatrix4 &iFlippedProjectionMatrix3, const Scalar squaredSuccessThreshold=(2.5 2.5), Scalar *squaredProjectionError=nullptr)
	Computes geometric valid camera projection matrices which are determined up to a common 3d projection transformation. More...

static bool	projectiveReconstructionFrom6PointsIF (const ConstIndexedAccessor< ImagePoints > &imagePointsPerPose, NonconstIndexedAccessor< HomogenousMatrix4 > posesIF, const Scalar squaredSuccessThreshold=Scalar(2.5 2.5), Scalar *squaredProjectionError=nullptr)
	Computes geometric valid camera projection matrices which are determined up to a common 3d projection transformation. More...

static bool	trifocalTensorIF (const ImagePoint points1, const ImagePoint points2, const ImagePoint points3, const size_t correspondences, HomogenousMatrix4 &iFlippedProjectionMatrix1, HomogenousMatrix4 &iFlippedProjectionMatrix2, HomogenousMatrix4 &iFlippedProjectionMatrix3, TrifocalTensor trifocalTensor=nullptr)
	The normalized linear algorithm of computation of trifocal tensor. More...

static bool	calibrateFromProjectionsMatricesIF (const ConstIndexedAccessor< HomogenousMatrix4 > &iFlippedProjectionMatrices, const unsigned int imageWidth, const unsigned int imageHeight, SquareMatrix3 &cameraIntrinsic, HomogenousMatrix4 *iFlippedPoses)
	Calibrate multiple projection matrices from a single camera. More...

static bool	calibrateFromProjectionsMatricesIF (const HomogenousMatrix4 &iFlippedProjectionMatrix1, const HomogenousMatrix4 &iFlippedProjectionMatrix2, const HomogenousMatrix4 &iFlippedProjectionMatrix3, const unsigned int imageWidth, const unsigned int imageHeight, SquareMatrix3 &cameraIntrinsics, HomogenousMatrix4 &iFlippedPose1, HomogenousMatrix4 &iFlippedPose2, HomogenousMatrix4 &iFlippedPose3)
	Calibrate three projection matrices from a single camera. More...

Static Protected Member Functions
static bool	trifocalTensorNormalizedLinear (const ImagePoint points1, const ImagePoint points2, const ImagePoint *points3, const size_t correspondences, TrifocalTensor &trifocal)
	The normalized linear algorithm of computation of trifocal tensor. More...

static bool	trifocalTensorMinimizingError (const ImagePoint points1, const ImagePoint points2, const ImagePoint *points3, const size_t correspondences, TrifocalTensor &trifocal)
	Computing a geometric valid trifocal tensor minimizing algebraic error. More...

static bool	trifocalTensorFromProjectionMatrices (const HomogenousMatrix4 &iFlippedProjectionMatrixB, const HomogenousMatrix4 &iFlippedProjectionMatrixC, TrifocalTensor &trifocal)
	Calculates the trifocal tensor by two projection matrix given: P_1 = [I \| 0], P_2 = [A \| a4], P_3 = [B \| b4] and P = C * [Rt]. More...

static bool	trifocalTensorFromProjectionMatrices (const HomogenousMatrix4 &iFlippedProjectionMatrixA, const HomogenousMatrix4 &iFlippedProjectionMatrixB, const HomogenousMatrix4 &iFlippedProjectionMatrixC, TrifocalTensor &trifocal)
	Calculates the trifocal tensor by three projection matrix given: P_1 = [A \| a4], P_2 = [B \| b4], P_3 = [C \| c4] and P = CameraInstrinsics * [Rt]. More...

static bool	epipoles (const TrifocalTensor &trifocal, Vector3 &normedEpipole2, Vector3 &normedEpipole3)
	Calculates the normalized epipoles of second and third view from trifocal tensor. More...

static bool	epipolesIF (const TrifocalTensor &trifocal, Vector3 &iFlippedNormedEpipole2, Vector3 &iFlippedNormedEpipole3)
	Calculates the normalized epipoles of second and third view from trifocal tensor for inverted flipped cameras. More...

static bool	fundamentalMatricesIF (const TrifocalTensor &trifocal, const Vector3 &iFlippedEpipole2, const Vector3 &iFlippedEpipole3, SquareMatrix3 &fundamental21, SquareMatrix3 &fundamental31)
	Calculates the fundamental matrices of second view and third view from trifocal tensor. More...

static bool	cameraProjectionMatricesIF (const TrifocalTensor &trifocal, const Vector3 &iFlippedNormedEpipole2, const Vector3 &iFlippedNormedEpipole3, HomogenousMatrix4 &iFlippedProjectionMatrix2, HomogenousMatrix4 &iFlippedProjectionMatrix3)
	Calculates the camera projection matrices of second and third view. More...

template<bool tUseIF>
static bool	epipoles (const Scalar const trifocal1, const Scalar const trifocal2, const Scalar *const trifocal3, Vector3 &normedEpipole2, Vector3 &normedEpipole3)
	Calculates the normalized epipoles of second and third view from trifocal tensor. More...

Static Private Member Functions
static bool	trifocalTensorLinear (const ImagePoint points1, const ImagePoint points2, const ImagePoint points3, const size_t correspondences, Scalar trifocal3x9, Matrix *matrixA=nullptr)
	Calculates the trifocal tensor using linear system. More...

static bool	trifocalTensorNormalizedLinear (const ImagePoint points1, const ImagePoint points2, const ImagePoint points3, const size_t correspondences, Scalar trifocal3x9, Matrix *matrixA=nullptr)
	The normalized linear algorithm of computation of trifocal tensor. More...

static Scalar	errorMatrix (const TrifocalTensor &trifocal, const ImagePoint points1, const ImagePoint points2, const ImagePoint points3, const size_t correspondences, SquareMatrix3 errorMatrix=nullptr)
	Calculates the trifocal tensor error in point–point–point correspondence equation: [x_2]_x * (sum_i(x_1^i * T_i) * [x_3]_x). More...

static bool	calculateProjectiveBasisTransform (const Vector2 &imagePointForTargetPoint100, const Vector2 &imagePointForTargetPoint010, const Vector2 &imagePointForTargetPoint001, const Vector2 &imagePointForTargetPoint111, SquareMatrix3 &baseTransformation)
	Calculates a transformation for a projective basis defined by four individual (image) target points each corresponding to a specific (projective/3D) reference points. More...

static bool	pointIsCollinear (const Triangle2 &triangle, const Vector2 &point, const Scalar threshold=Scalar(0.01))
	Checks if a given 2D point is collinear to three given 2D points (defined by a 2D triangle). More...

Detailed Description

This class implements epipolar geometry functions for multiple views.

Member Function Documentation

◆ calculateProjectiveBasisTransform()

static bool Ocean::Geometry::MultipleViewGeometry::calculateProjectiveBasisTransform	(	const Vector2 &	imagePointForTargetPoint100,
		const Vector2 &	imagePointForTargetPoint010,
		const Vector2 &	imagePointForTargetPoint001,
		const Vector2 &	imagePointForTargetPoint111,
		SquareMatrix3 &	baseTransformation
	)

staticprivate

Calculates a transformation for a projective basis defined by four individual (image) target points each corresponding to a specific (projective/3D) reference points.

The following projective reference points are used: e_i = (1, 0, 0), (0, 1, 0), (0, 0, 1), (1, 1, 1).
The resulting transformation transforms the provided image points to projective references points:
si * ei = H * pi, each up to a scale factor si.

Parameters

imagePointForTargetPoint100	Image point p0 corresponding to s0 * (1, 0, 0)
imagePointForTargetPoint010	Image point p1 corresponding to s1 * (0, 1, 0)
imagePointForTargetPoint001	Image point p2 corresponding to s2 * (0, 0, 1)
imagePointForTargetPoint111	Image point p3 corresponding to s3 * (1, 1, 1)
baseTransformation	Resulting transformation

Returns: True, if succeeded

◆ calibrateFromProjectionsMatricesIF() [1/2]

static bool Ocean::Geometry::MultipleViewGeometry::calibrateFromProjectionsMatricesIF	(	const ConstIndexedAccessor< HomogenousMatrix4 > &	iFlippedProjectionMatrices,
		const unsigned int	imageWidth,
		const unsigned int	imageHeight,
		SquareMatrix3 &	cameraIntrinsic,
		HomogenousMatrix4 *	iFlippedPoses
	)

static

Calibrate multiple projection matrices from a single camera.

The projection matrices are transformed into metric transformation matrix using absolute conic ω and absolute dual quadric Q∞:
ω = P * Q∞ * P^T.
Q∞ = H * Î * H^T.
P_metric = P * H.
The camera intrinsics are determined by Cholesky decomposition of absolute conic ω = K * K^T.

Parameters

iFlippedProjectionMatrices	The camera projection matrices (at least 3, inverted flipped)
imageWidth	Width of image
imageHeight	Height of image
cameraIntrinsic	The resulting intrinsic camera matrix
iFlippedPoses	Resulting inverted and flipped camera poses, one for each given camera projection matrix

Returns: True, if succeeded

See also: calibrateFromProjectionsMatricesIF()

◆ calibrateFromProjectionsMatricesIF() [2/2]

static bool Ocean::Geometry::MultipleViewGeometry::calibrateFromProjectionsMatricesIF	(	const HomogenousMatrix4 &	iFlippedProjectionMatrix1,
		const HomogenousMatrix4 &	iFlippedProjectionMatrix2,
		const HomogenousMatrix4 &	iFlippedProjectionMatrix3,
		const unsigned int	imageWidth,
		const unsigned int	imageHeight,
		SquareMatrix3 &	cameraIntrinsics,
		HomogenousMatrix4 &	iFlippedPose1,
		HomogenousMatrix4 &	iFlippedPose2,
		HomogenousMatrix4 &	iFlippedPose3
	)

static

Calibrate three projection matrices from a single camera.

The projection matrices are transformed into metric transformation matrix using absolute conic ω and absolute dual quadric Q∞:
ω = P * Q∞ * P^T.
Q∞ = H * Î * H^T.
P_metric = P * H.
The camera intrinsics are determined by Cholesky decomposition of absolute conic ω = KK^T.

Parameters

iFlippedProjectionMatrix1	First camera projection matrices (inverted flipped)
iFlippedProjectionMatrix2	Second camera projection matrices (inverted flipped)
iFlippedProjectionMatrix3	Third camera projection matrices (inverted flipped)
imageWidth	Width of image
imageHeight	Height of image
cameraIntrinsics	Resulting camera intrinsics matrix
iFlippedPose1	Resulting first camera pose (inverted flipped)
iFlippedPose2	Resulting second camera pose (inverted flipped)
iFlippedPose3	Resulting third camera pose (inverted flipped)

Returns: True, if succeeded

See also: calibrateFromProjectionsMatricesIF()

◆ cameraProjectionMatricesIF()

static bool Ocean::Geometry::MultipleViewGeometry::cameraProjectionMatricesIF	(	const TrifocalTensor &	trifocal,
		const Vector3 &	iFlippedNormedEpipole2,
		const Vector3 &	iFlippedNormedEpipole3,
		HomogenousMatrix4 &	iFlippedProjectionMatrix2,
		HomogenousMatrix4 &	iFlippedProjectionMatrix3
	)

staticprotected

Calculates the camera projection matrices of second and third view.

The matrices are determined only up to a common projective transformation of 3-space. The projection matrix of first camera must be P_0 = [I | 0]

Parameters

trifocal	Trifocal tensor matrices
iFlippedNormedEpipole2	Normalized epipole in second view
iFlippedNormedEpipole3	Normalized epipole in third view
iFlippedProjectionMatrix2	Resulting camera projection matrices of second view (determined only up to a common projective 3d transformation)
iFlippedProjectionMatrix3	Resulting camera projection matrices of third view (determined only up to a common projective 3d transformation)

Returns: True, if succeeded

◆ epipoles() [1/2]

template<bool tUseIF>

static bool Ocean::Geometry::MultipleViewGeometry::epipoles	(	const Scalar *const	trifocal1,
		const Scalar *const	trifocal2,
		const Scalar *const	trifocal3,
		Vector3 &	normedEpipole2,
		Vector3 &	normedEpipole3
	)

staticprotected

Calculates the normalized epipoles of second and third view from trifocal tensor.

Parameters

trifocal1	First trifocal tensor matrix T_1
trifocal2	Second trifocal tensor matrix T_2
trifocal3	Third trifocal tensor matrix T_3
normedEpipole2	Resulting (normalized) epipole in second view
normedEpipole3	Resulting (normalized) epipole in third view

Template Parameters

tUseIF Calculation for inverted flipped camera system, if set

Returns: True, if succeeded

◆ epipoles() [2/2]

static bool Ocean::Geometry::MultipleViewGeometry::epipoles	(	const TrifocalTensor &	trifocal,
		Vector3 &	normedEpipole2,
		Vector3 &	normedEpipole3
	)

staticprotected

Calculates the normalized epipoles of second and third view from trifocal tensor.

Parameters

trifocal	Trifocal tensor matrices
normedEpipole2	Resulting (normalized) epipole in second view
normedEpipole3	Resulting (normalized) epipole in third view

Returns: True, if succeeded

◆ epipolesIF()

static bool Ocean::Geometry::MultipleViewGeometry::epipolesIF	(	const TrifocalTensor &	trifocal,
		Vector3 &	iFlippedNormedEpipole2,
		Vector3 &	iFlippedNormedEpipole3
	)

staticprotected

Calculates the normalized epipoles of second and third view from trifocal tensor for inverted flipped cameras.

Parameters

trifocal	Trifocal tensor matrices
iFlippedNormedEpipole2	Resulting (normalized) epipole in second view
iFlippedNormedEpipole3	Resulting (normalized) epipole in third view

Returns: True, if succeeded

◆ errorMatrix()

static Scalar Ocean::Geometry::MultipleViewGeometry::errorMatrix	(	const TrifocalTensor &	trifocal,
		const ImagePoint *	points1,
		const ImagePoint *	points2,
		const ImagePoint *	points3,
		const size_t	correspondences,
		SquareMatrix3 *	errorMatrix = `nullptr`
	)

staticprivate

Calculates the trifocal tensor error in point–point–point correspondence equation: [x_2]_x * (sum_i(x_1^i * T_i) * [x_3]_x).

Parameters

trifocal	Trifocal tensor matrices
points1	Image points of first set
points2	Image points of second set
points3	Image points of third set
correspondences	Number of point correspondences (at least 7)
errorMatrix	Resulting 3x3 error matrix is needed

Returns: The absolute sum of 3x3 error matrix

◆ fundamentalMatricesIF()

static bool Ocean::Geometry::MultipleViewGeometry::fundamentalMatricesIF	(	const TrifocalTensor &	trifocal,
		const Vector3 &	iFlippedEpipole2,
		const Vector3 &	iFlippedEpipole3,
		SquareMatrix3 &	fundamental21,
		SquareMatrix3 &	fundamental31
	)

staticprotected

Calculates the fundamental matrices of second view and third view from trifocal tensor.

Parameters

trifocal	Trifocal tensor matrices
iFlippedEpipole2	Epipole in second view
iFlippedEpipole3	Epipole in third view
fundamental21	Resulting fundamental matrix between second view and first view
fundamental31	Resulting fundamental matrix between third view and first view

Returns: True, if succeeded

◆ pointIsCollinear()

bool Ocean::Geometry::MultipleViewGeometry::pointIsCollinear	(	const Triangle2 &	triangle,
		const Vector2 &	point,
		const Scalar	threshold = `Scalar(0.01)`
	)

inlinestaticprivate

Checks if a given 2D point is collinear to three given 2D points (defined by a 2D triangle).

Parameters

triangle	The triangle defining the three points
point	The point to be check
threshold	Threshold of variance from linearity condition, with range (0, 1]

Returns: True, if the given point is collinear to any of two corners of the triangle

◆ projectiveReconstructionFrom6PointsIF() [1/2]

static bool Ocean::Geometry::MultipleViewGeometry::projectiveReconstructionFrom6PointsIF	(	const ConstIndexedAccessor< ImagePoints > &	imagePointsPerPose,
		NonconstIndexedAccessor< HomogenousMatrix4 > *	posesIF,
		const Scalar	squaredSuccessThreshold = `Scalar(2.5 *2.5)`,
		Scalar *	squaredProjectionError = `nullptr`
	)

static

Computes geometric valid camera projection matrices which are determined up to a common 3d projection transformation.

The calculation uses 6 point correspondences in which three of them are not collinear in any view The projection matrices are defined in inverted flipped coordinates system and are not metric and orthogonally: x_k = P_k * X.

Parameters

imagePointsPerPose	Image points per view (at least 3 views and at least 6 point correspondences)
posesIF	Resulting camera projection matrices per view (inverted flipped)
squaredSuccessThreshold	Threshold indicating successful matrices determination, optionally
squaredProjectionError	Squared back-projection error, optionally

Returns: True, if succeeded and back-projection error is below threshold (note: a valid 3d scene is also maybe given with a higher error)

See also: projectiveReconstructionFrom6PointsIF(); calibrateFromProjectionsMatricesIF()

◆ projectiveReconstructionFrom6PointsIF() [2/2]

static bool Ocean::Geometry::MultipleViewGeometry::projectiveReconstructionFrom6PointsIF	(	const ImagePoint *	points1,
		const ImagePoint *	points2,
		const ImagePoint *	points3,
		const size_t	correspondences,
		HomogenousMatrix4 &	iFlippedProjectionMatrix1,
		HomogenousMatrix4 &	iFlippedProjectionMatrix2,
		HomogenousMatrix4 &	iFlippedProjectionMatrix3,
		const Scalar	squaredSuccessThreshold = `(2.5 *2.5)`,
		Scalar *	squaredProjectionError = `nullptr`
	)

static

Computes geometric valid camera projection matrices which are determined up to a common 3d projection transformation.

The calculation uses 6 point correspondences in which three of them are not collinear in any view The projection matrices are defined in inverted flipped coordinates system and are necessary metric and orthogonally: x_k = P_k * X.

Parameters

points1	Image points of first view
points2	Image points of second view
points3	Image points of third view
correspondences	Number of point correspondences (at least 6)
iFlippedProjectionMatrix1	Resulting camera projection matrix of first view (inverted flipped)
iFlippedProjectionMatrix2	Resulting camera projection matrix of second view (inverted flipped)
iFlippedProjectionMatrix3	Resulting camera projection matrix of third view (inverted flipped)
squaredSuccessThreshold	Threshold indicating successful matrices determination, optionally
squaredProjectionError	Squared back-projection error, optionally

Returns: True, if succeeded and back-projection error is below threshold (note: a valid 3d scene is also maybe given with a higher error)

See also: projectiveReconstructionFrom6PointsIF(); calibrateFromProjectionsMatricesIF()

◆ trifocalTensorFromProjectionMatrices() [1/2]

static bool Ocean::Geometry::MultipleViewGeometry::trifocalTensorFromProjectionMatrices	(	const HomogenousMatrix4 &	iFlippedProjectionMatrixA,
		const HomogenousMatrix4 &	iFlippedProjectionMatrixB,
		const HomogenousMatrix4 &	iFlippedProjectionMatrixC,
		TrifocalTensor &	trifocal
	)

staticprotected

Calculates the trifocal tensor by three projection matrix given: P_1 = [A | a4], P_2 = [B | b4], P_3 = [C | c4] and P = CameraInstrinsics * [Rt].

Parameters

iFlippedProjectionMatrixA	projection matrix P_1 in homogeneous format
iFlippedProjectionMatrixB	projection matrix P_2 in homogeneous format
iFlippedProjectionMatrixC	projection matrix P_3 in homogeneous format
trifocal	Resulting trifocal tensor matrices

Returns: True, if succeeded

◆ trifocalTensorFromProjectionMatrices() [2/2]

static bool Ocean::Geometry::MultipleViewGeometry::trifocalTensorFromProjectionMatrices	(	const HomogenousMatrix4 &	iFlippedProjectionMatrixB,
		const HomogenousMatrix4 &	iFlippedProjectionMatrixC,
		TrifocalTensor &	trifocal
	)

staticprotected

Calculates the trifocal tensor by two projection matrix given: P_1 = [I | 0], P_2 = [A | a4], P_3 = [B | b4] and P = C * [Rt].

Parameters

iFlippedProjectionMatrixB	projection matrix P_2 in homogeneous format
iFlippedProjectionMatrixC	projection matrix P_3 in homogeneous format
trifocal	Resulting trifocal tensor matrices

Returns: True, if succeeded

◆ trifocalTensorIF()

static bool Ocean::Geometry::MultipleViewGeometry::trifocalTensorIF	(	const ImagePoint *	points1,
		const ImagePoint *	points2,
		const ImagePoint *	points3,
		const size_t	correspondences,
		HomogenousMatrix4 &	iFlippedProjectionMatrix1,
		HomogenousMatrix4 &	iFlippedProjectionMatrix2,
		HomogenousMatrix4 &	iFlippedProjectionMatrix3,
		TrifocalTensor *	trifocalTensor = `nullptr`
	)

static

The normalized linear algorithm of computation of trifocal tensor.

Calculates the trifocal tensor by three sets of at least seven corresponding image points and generates geometric valid camera projection matrices. The projection matrices are defined in inverted flipped coordinates system and are not metric and orthogonally: x_k = P_k * X.

Parameters

points1	Image points of first view
points2	Image points of second view
points3	Image points of third view
correspondences	Number of point correspondences (at least 7)
iFlippedProjectionMatrix1	Resulting camera projection matrix of first view (inverted flipped)
iFlippedProjectionMatrix2	Resulting camera projection matrix of second view (inverted flipped)
iFlippedProjectionMatrix3	Resulting camera projection matrix of third view (inverted flipped)
trifocalTensor	Optional pointer to resulting trifocal tensor

Returns: True, if succeeded

See also: calibrateFromProjectionsMatricesIF()

◆ trifocalTensorLinear()

static bool Ocean::Geometry::MultipleViewGeometry::trifocalTensorLinear	(	const ImagePoint *	points1,
		const ImagePoint *	points2,
		const ImagePoint *	points3,
		const size_t	correspondences,
		Scalar *	trifocal3x9,
		Matrix *	matrixA = `nullptr`
	)

staticprivate

Calculates the trifocal tensor using linear system.

Parameters

points1	Image points of first set
points2	Image points of second set
points3	Image points of third set
correspondences	Number of point correspondences (at least 7)
trifocal3x9	Pointer to resulting values of trifocal tensor matrices
matrixA	Pointer to constructed linear system, if needed

Returns: True, if succeeded

◆ trifocalTensorMinimizingError()

static bool Ocean::Geometry::MultipleViewGeometry::trifocalTensorMinimizingError	(	const ImagePoint *	points1,
		const ImagePoint *	points2,
		const ImagePoint *	points3,
		const size_t	correspondences,
		TrifocalTensor &	trifocal
	)

staticprotected

Computing a geometric valid trifocal tensor minimizing algebraic error.

Calculates the trifocal tensor by three sets of at least seven corresponding image points.

Parameters

points1	Image points of first set
points2	Image points of second set
points3	Image points of third set
correspondences	Number of point correspondences (at least 7)
trifocal	Resulting trifocal tensor matrices

Returns: True, if succeeded

◆ trifocalTensorNormalizedLinear() [1/2]

static bool Ocean::Geometry::MultipleViewGeometry::trifocalTensorNormalizedLinear	(	const ImagePoint *	points1,
		const ImagePoint *	points2,
		const ImagePoint *	points3,
		const size_t	correspondences,
		Scalar *	trifocal3x9,
		Matrix *	matrixA = `nullptr`
	)

staticprivate

The normalized linear algorithm of computation of trifocal tensor.

Calculates the trifocal tensor by three sets of at least seven corresponding image points.

Parameters

points1	Image points of first set
points2	Image points of second set
points3	Image points of third set
correspondences	Number of point correspondences (at least 7)
trifocal3x9	Pointer to resulting values of trifocal tensor matrices
matrixA	Pointer to constructed linear system, if needed

Returns: True, if succeeded

◆ trifocalTensorNormalizedLinear() [2/2]

static bool Ocean::Geometry::MultipleViewGeometry::trifocalTensorNormalizedLinear	(	const ImagePoint *	points1,
		const ImagePoint *	points2,
		const ImagePoint *	points3,
		const size_t	correspondences,
		TrifocalTensor &	trifocal
	)

staticprotected

The normalized linear algorithm of computation of trifocal tensor.

Calculates the trifocal tensor by three sets of at least seven corresponding image points.

Parameters

points1	Image points of first set
points2	Image points of second set
points3	Image points of third set
correspondences	Number of point correspondences (at least 7)
trifocal	Resulting trifocal tensor matrices

Returns: True, if succeeded

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

MultipleViewGeometry.h

Data Structures

Static Public Member Functions

Static Protected Member Functions

Static Private Member Functions

Detailed Description

Member Function Documentation

◆ calculateProjectiveBasisTransform()

◆ calibrateFromProjectionsMatricesIF() [1/2]

◆ calibrateFromProjectionsMatricesIF() [2/2]

◆ cameraProjectionMatricesIF()

◆ epipoles() [1/2]

◆ epipoles() [2/2]

◆ epipolesIF()

◆ errorMatrix()

◆ fundamentalMatricesIF()

◆ pointIsCollinear()

◆ projectiveReconstructionFrom6PointsIF() [1/2]

◆ projectiveReconstructionFrom6PointsIF() [2/2]

◆ trifocalTensorFromProjectionMatrices() [1/2]

◆ trifocalTensorFromProjectionMatrices() [2/2]

◆ trifocalTensorIF()

◆ trifocalTensorLinear()

◆ trifocalTensorMinimizingError()

◆ trifocalTensorNormalizedLinear() [1/2]

◆ trifocalTensorNormalizedLinear() [2/2]