triangulation.cc

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// Copyright (c) 2007, 2008 libmv authors.
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#include "libmv/multiview/triangulation.h"
 
#include "libmv/multiview/projection.h"
#include "libmv/numeric/numeric.h"
 
namespace libmv {
 
// HZ 12.2 pag.312
void TriangulateDLT(const Mat34& P1,
                    const Vec2& x1,
                    const Mat34& P2,
                    const Vec2& x2,
                    Vec4* X_homogeneous) {
  Mat4 design;
  for (int i = 0; i < 4; ++i) {
    design(0, i) = x1(0) * P1(2, i) - P1(0, i);
    design(1, i) = x1(1) * P1(2, i) - P1(1, i);
    design(2, i) = x2(0) * P2(2, i) - P2(0, i);
    design(3, i) = x2(1) * P2(2, i) - P2(1, i);
  }
  Nullspace(&design, X_homogeneous);
}
 
void TriangulateDLT(const Mat34& P1,
                    const Vec2& x1,
                    const Mat34& P2,
                    const Vec2& x2,
                    Vec3* X_euclidean) {
  Vec4 X_homogeneous;
  TriangulateDLT(P1, x1, P2, x2, &X_homogeneous);
  HomogeneousToEuclidean(X_homogeneous, X_euclidean);
}
 
}  // namespace libmv