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New constructor

release/4.3a0
Frank Dellaert 2024-10-26 16:55:23 -07:00
parent e98acff79a
commit 9cfca976ba
2 changed files with 19 additions and 3 deletions
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20
gtsam/geometry/FundamentalMatrix.h
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@ -54,6 +54,22 @@ class GTSAM_EXPORT FundamentalMatrix {
*/
FundamentalMatrix(const Matrix3& F);
/**
* @brief Construct from essential matrix and calibration matrices
*
* Initializes the FundamentalMatrix from the given essential matrix E
* and calibration matrices Ka and Kb.
*
* @tparam CAL Calibration type, expected to have a matrix() method
* @param E Essential matrix
* @param Ka Calibration matrix for the left camera
* @param Kb Calibration matrix for the right camera
*/
template <typename CAL>
FundamentalMatrix(const CAL& Ka, const EssentialMatrix& E, const CAL& Kb)
: FundamentalMatrix(Ka.K().transpose().inverse() * E.matrix() *
Kb.K().inverse()) {}
/**
* @brief Construct from calibration matrices Ka, Kb, and pose aPb
*
@ -67,9 +83,7 @@ class GTSAM_EXPORT FundamentalMatrix {
*/
template <typename CAL>
FundamentalMatrix(const CAL& Ka, const Pose3& aPb, const CAL& Kb)
: FundamentalMatrix(Ka.K().transpose().inverse() *
EssentialMatrix::FromPose3(aPb).matrix() *
Kb.K().inverse()) {}
: FundamentalMatrix(Ka, EssentialMatrix::FromPose3(aPb), Kb) {}
/// Return the fundamental matrix representation
Matrix3 matrix() const;

2
gtsam/geometry/geometry.i
View File

@ -913,6 +913,8 @@ class FundamentalMatrix {
FundamentalMatrix(const gtsam::Matrix3& F);
// Overloaded constructors for specific calibration types
FundamentalMatrix(const gtsam::Cal3_S2& Ka, const gtsam::EssentialMatrix& E,
const gtsam::Cal3_S2& Kb);
FundamentalMatrix(const gtsam::Cal3_S2& Ka, const gtsam::Pose3& aPb,
const gtsam::Cal3_S2& Kb);