fundamental.h

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#ifndef LIBMV_MULTIVIEW_FUNDAMENTAL_H_
#define LIBMV_MULTIVIEW_FUNDAMENTAL_H_
 
#include <vector>
 
#include "libmv/numeric/numeric.h"
 
namespace libmv {
 
void ProjectionsFromFundamental(const Mat3& F, Mat34* P1, Mat34* P2);
void FundamentalFromProjections(const Mat34& P1, const Mat34& P2, Mat3* F);
 
double FundamentalFrom7CorrespondencesLinear(const Mat& x1,
                                             const Mat& x2,
                                             std::vector<Mat3>* F);
 
double FundamentalFromCorrespondences7Point(const Mat& x1,
                                            const Mat& x2,
                                            std::vector<Mat3>* F);
 
double NormalizedEightPointSolver(const Mat& x1, const Mat& x2, Mat3* F);
 
void EnforceFundamentalRank2Constraint(Mat3* F);
 
void NormalizeFundamental(const Mat3& F, Mat3* F_normalized);
 
double SampsonDistance(const Mat& F, const Vec2& x1, const Vec2& x2);
 
double SymmetricEpipolarDistance(const Mat& F, const Vec2& x1, const Vec2& x2);
 
void RelativeCameraMotion(const Mat3& R1,
                          const Vec3& t1,
                          const Mat3& R2,
                          const Vec3& t2,
                          Mat3* R,
                          Vec3* t);
 
void EssentialFromFundamental(const Mat3& F,
                              const Mat3& K1,
                              const Mat3& K2,
                              Mat3* E);
 
void FundamentalFromEssential(const Mat3& E,
                              const Mat3& K1,
                              const Mat3& K2,
                              Mat3* F);
 
void EssentialFromRt(
    const Mat3& R1, const Vec3& t1, const Mat3& R2, const Vec3& t2, Mat3* E);
 
void MotionFromEssential(const Mat3& E,
                         std::vector<Mat3>* Rs,
                         std::vector<Vec3>* ts);
 
int MotionFromEssentialChooseSolution(const std::vector<Mat3>& Rs,
                                      const std::vector<Vec3>& ts,
                                      const Mat3& K1,
                                      const Vec2& x1,
                                      const Mat3& K2,
                                      const Vec2& x2);
 
bool MotionFromEssentialAndCorrespondence(const Mat3& E,
                                          const Mat3& K1,
                                          const Vec2& x1,
                                          const Mat3& K2,
                                          const Vec2& x2,
                                          Mat3* R,
                                          Vec3* t);
 
void FundamentalToEssential(const Mat3& F, Mat3* E);
 
struct EstimateFundamentalOptions {
  // Default constructor which sets up a options for generic usage.
  EstimateFundamentalOptions(void);
 
  // Maximal number of iterations for refinement step.
  int max_num_iterations;
 
  // Expected average of symmetric epipolar distance between
  // actual destination points and original ones transformed by
  // estimated fundamental matrix.
  //
  // Refinement will finish as soon as average of symmetric
  // epipolar distance is less or equal to this value.
  //
  // This distance is measured in the same units as input points are.
  double expected_average_symmetric_distance;
};
 
bool EstimateFundamentalFromCorrespondences(
    const Mat& x1,
    const Mat& x2,
    const EstimateFundamentalOptions& options,
    Mat3* F);
 
}  // namespace libmv
 
#endif  // LIBMV_MULTIVIEW_FUNDAMENTAL_H_