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release/4.3a0
Frank Dellaert 2024-10-25 07:33:24 -07:00
parent 502dcc480b
commit 90ae543c7f
2 changed files with 8 additions and 7 deletions
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5
gtsam/geometry/FundamentalMatrix.cpp
View File

@ -10,8 +10,8 @@
namespace gtsam {
//*************************************************************************
Point2 Transfer(const Matrix3& Fca, const Point2& pa, //
const Matrix3& Fcb, const Point2& pb) {
Point2 EpipolarTransfer(const Matrix3& Fca, const Point2& pa, //
const Matrix3& Fcb, const Point2& pb) {
// Create lines in camera a from projections of the other two cameras
Vector3 line_a = Fca * Vector3(pa.x(), pa.y(), 1);
Vector3 line_b = Fcb * Vector3(pb.x(), pb.y(), 1);
@ -24,6 +24,7 @@ Point2 Transfer(const Matrix3& Fca, const Point2& pa, //
return intersectionPoint.head<2>(); // Return the 2D point
}
//*************************************************************************
FundamentalMatrix::FundamentalMatrix(const Matrix3& F) {
// Perform SVD

10
gtsam/geometry/FundamentalMatrix.h
View File

@ -147,8 +147,8 @@ class GTSAM_EXPORT SimpleFundamentalMatrix {
* Take two fundamental matrices Fca and Fcb, and two points pa and pb, and
* returns the 2D point in view (c) where the epipolar lines intersect.
*/
GTSAM_EXPORT Point2 Transfer(const Matrix3& Fca, const Point2& pa,
const Matrix3& Fcb, const Point2& pb);
GTSAM_EXPORT Point2 EpipolarTransfer(const Matrix3& Fca, const Point2& pa,
const Matrix3& Fcb, const Point2& pb);
/// Represents a set of three fundamental matrices for transferring points
/// between three cameras.
@ -158,17 +158,17 @@ struct TripleF {
/// Transfers a point from cameras b,c to camera a.
Point2 transferToA(const Point2& pb, const Point2& pc) {
return Transfer(Fab.matrix(), pb, Fca.matrix().transpose(), pc);
return EpipolarTransfer(Fab.matrix(), pb, Fca.matrix().transpose(), pc);
}
/// Transfers a point from camera a,c to camera b.
Point2 transferToB(const Point2& pa, const Point2& pc) {
return Transfer(Fab.matrix().transpose(), pa, Fbc.matrix(), pc);
return EpipolarTransfer(Fab.matrix().transpose(), pa, Fbc.matrix(), pc);
}
/// Transfers a point from cameras a,b to camera c.
Point2 transferToC(const Point2& pa, const Point2& pb) {
return Transfer(Fca.matrix(), pa, Fbc.matrix().transpose(), pb);
return EpipolarTransfer(Fca.matrix(), pa, Fbc.matrix().transpose(), pb);
}
};