Generic Solver for the 5pt Essential Matrix Estimation. More...

Inheritance diagram for aliceVision::multiview::relativePose::EssentialKernel< SolverT, ErrorT, ModelT >:

Public Types
using	KernelBase = robustEstimation::PointFittingKernel< SolverT, ErrorT, ModelT >

Public Types inherited from aliceVision::robustEstimation::PointFittingKernel< SolverT, ErrorT, robustEstimation::Mat3Model >
using	SolverT = SolverT

using	ErrorT = ErrorT

using	ModelT = robustEstimation::Mat3Model

Public Member Functions
	EssentialKernel (const Mat &x1, const Mat &x2, const Mat3 &K1, const Mat3 &K2)

void	fit (const std::vector< std::size_t > &samples, std::vector< ModelT > &models) const override
	Extract required sample and fit model(s) to the sample. More...

double	error (std::size_t sample, const ModelT &model) const
	Return the error associated to the model and a sample point. More...

Public Member Functions inherited from aliceVision::robustEstimation::PointFittingKernel< SolverT, ErrorT, robustEstimation::Mat3Model >
	PointFittingKernel (const Mat &x1, const Mat &x2)

std::size_t	getMinimumNbRequiredSamples () const
	Return the minimum number of required samples. More...

std::size_t	getMaximumNbModels () const
	Return the maximum number of models. More...

virtual void	errors (const ModelT &model, std::vector< double > &errors) const
	Return the errors associated to the model and each sample point. More...

std::size_t	nbSamples () const
	get the number of putative points More...

Protected Attributes
Mat3	_K1

Mat3	_K2

Protected Attributes inherited from aliceVision::robustEstimation::PointFittingKernel< SolverT, ErrorT, robustEstimation::Mat3Model >
const Mat &	_x1
	left corresponding data

const Mat &	_x2
	right corresponding data

const SolverT	_kernelSolver
	two view solver

const ErrorT	_errorEstimator
	solver error estimation

Detailed Description

Generic Solver for the 5pt Essential Matrix Estimation.

Todo:: Error must be overwrite in order to compute F from E and K's. Fitting must normalize image values to camera values.

Member Function Documentation

template<typename SolverT , typename ErrorT , typename ModelT = robustEstimation::Mat3Model>

double aliceVision::multiview::relativePose::EssentialKernel< SolverT, ErrorT, ModelT >::error	(	std::size_t	sample,
		const ModelT &	model
	)		const

inlinevirtual

Return the error associated to the model and a sample point.

Parameters

[in]	sample
[in]	model

template<typename SolverT , typename ErrorT , typename ModelT = robustEstimation::Mat3Model>

void aliceVision::multiview::relativePose::EssentialKernel< SolverT, ErrorT, ModelT >::fit	(	const std::vector< std::size_t > &	samples,
		std::vector< ModelT > &	models
	)		const

inlineoverridevirtual

Extract required sample and fit model(s) to the sample.

Parameters

[in]	samples
[out]	models

The documentation for this class was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/alicevision/checkouts/latest/src/aliceVision/multiview/relativePose/EssentialKernel.hpp