diff options
Diffstat (limited to 'intern/libmv/libmv/multiview/fundamental.h')
| -rw-r--r-- | intern/libmv/libmv/multiview/fundamental.h | 115 |
1 files changed, 55 insertions, 60 deletions
diff --git a/intern/libmv/libmv/multiview/fundamental.h b/intern/libmv/libmv/multiview/fundamental.h index a6c7a6802fe..6d25691c4a3 100644 --- a/intern/libmv/libmv/multiview/fundamental.h +++ b/intern/libmv/libmv/multiview/fundamental.h @@ -27,36 +27,34 @@ namespace libmv { -void ProjectionsFromFundamental(const Mat3 &F, Mat34 *P1, Mat34 *P2); -void FundamentalFromProjections(const Mat34 &P1, const Mat34 &P2, Mat3 *F); +void ProjectionsFromFundamental(const Mat3& F, Mat34* P1, Mat34* P2); +void FundamentalFromProjections(const Mat34& P1, const Mat34& P2, Mat3* F); /** * 7 points (minimal case, points coordinates must be normalized before): */ -double FundamentalFrom7CorrespondencesLinear(const Mat &x1, - const Mat &x2, - std::vector<Mat3> *F); +double FundamentalFrom7CorrespondencesLinear(const Mat& x1, + const Mat& x2, + std::vector<Mat3>* F); /** * 7 points (points coordinates must be in image space): */ -double FundamentalFromCorrespondences7Point(const Mat &x1, - const Mat &x2, - std::vector<Mat3> *F); +double FundamentalFromCorrespondences7Point(const Mat& x1, + const Mat& x2, + std::vector<Mat3>* F); /** * 8 points (points coordinates must be in image space): */ -double NormalizedEightPointSolver(const Mat &x1, - const Mat &x2, - Mat3 *F); +double NormalizedEightPointSolver(const Mat& x1, const Mat& x2, Mat3* F); /** * Fundamental matrix utility function: */ -void EnforceFundamentalRank2Constraint(Mat3 *F); +void EnforceFundamentalRank2Constraint(Mat3* F); -void NormalizeFundamental(const Mat3 &F, Mat3 *F_normalized); +void NormalizeFundamental(const Mat3& F, Mat3* F_normalized); /** * Approximate squared reprojection errror. @@ -64,14 +62,14 @@ void NormalizeFundamental(const Mat3 &F, Mat3 *F_normalized); * See page 287 of HZ equation 11.9. This avoids triangulating the point, * relying only on the entries in F. */ -double SampsonDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2); +double SampsonDistance(const Mat& F, const Vec2& x1, const Vec2& x2); /** * Calculates the sum of the distances from the points to the epipolar lines. * * See page 288 of HZ equation 11.10. */ -double SymmetricEpipolarDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2); +double SymmetricEpipolarDistance(const Mat& F, const Vec2& x1, const Vec2& x2); /** * Compute the relative camera motion between two cameras. @@ -81,32 +79,29 @@ double SymmetricEpipolarDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2); * If T1 and T2 are the camera motions, the computed relative motion is * T = T2 T1^{-1} */ -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); +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); /** * Choose one of the four possible motion solutions from an essential matrix. @@ -117,25 +112,25 @@ void MotionFromEssential(const Mat3 &E, * * \return index of the right solution or -1 if no solution. */ -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); +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); /** * Find closest essential matrix E to fundamental F */ -void FundamentalToEssential(const Mat3 &F, Mat3 *E); +void FundamentalToEssential(const Mat3& F, Mat3* E); /** * This structure contains options that controls how the fundamental @@ -170,10 +165,10 @@ struct EstimateFundamentalOptions { * refinement. */ bool EstimateFundamentalFromCorrespondences( - const Mat &x1, - const Mat &x2, - const EstimateFundamentalOptions &options, - Mat3 *F); + const Mat& x1, + const Mat& x2, + const EstimateFundamentalOptions& options, + Mat3* F); } // namespace libmv |