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essential.h File Reference

#include <gandalf/linalg/3vector.h>
#include <gandalf/vision/camera.h>
#include <gandalf/linalg/mat_square.h>
#include <gandalf/linalg/symmat_eigen.h>
#include <gandalf/vision/euclid3D.h>

Go to the source code of this file.

Functions

Gan_Bool gan_essential_matrix_fit (Gan_Vector3 *p1, Gan_Vector3 *p2, int n, Gan_Camera *cal1, Gan_Camera *cal2, Gan_SymMatEigenStruct *sme, Gan_Euclid3D *pose)
 Computes the essential matrix from point matches.


Detailed Description

Module: Compute the essential matrix from point matches in two frames

Part of: Gandalf Library

Revision: Last edited: Author:

Copyright: (c) 2000 Imagineer Software Limited


Function Documentation

Gan_Bool gan_essential_matrix_fit Gan_Vector3   p1,
Gan_Vector3   p2,
int    n,
Gan_Camera   cal1,
Gan_Camera   cal2,
Gan_SymMatEigenStruct   sme,
Gan_Euclid3D   euc
 

Computes the essential matrix from point matches.

Parameters:
p1 The array of image points in image 1
p2 The array of image points in image 2
n The number of point matches
cal1 Camera for image 1
cal2 Camera for image 2
sme An eigensystem structure to use or NULL
euc The relative pose between the two cameras
Applies the Longuet-Higgins eight-point algorithm to compute the essential matrix for images 1 & 2. This is converted into the rotation & translation (up to scale) between the cameras, which are written into the #euc structure. If the #sme structure to compute eigenvectors & eigenvalues is passed as NULL, a suitable structure is allocated and freed inside the function.

Returns:
GAN_TRUE on success, GAN_FALSE on failure.
Warning:
The rank-2 constraint on E is not imposed.
See also:
gan_fundamental_matrix_fit().


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