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fundamental.h File Reference

#include <gandalf/linalg/3x3matrix.h>
#include <gandalf/linalg/mat_square.h>
#include <gandalf/linalg/symmat_eigen.h>

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Functions

Gan_Bool gan_fundamental_matrix_fit (Gan_Vector3 *p1, Gan_Vector3 *p2, int n, Gan_SymMatEigenStruct *sme, Gan_Matrix33 *F)
 Computes the fundamental matrix from point matches.


Detailed Description

Module: Compute the fundamental 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_fundamental_matrix_fit Gan_Vector3   p1,
Gan_Vector3   p2,
int    n,
Gan_SymMatEigenStruct   sme,
Gan_Matrix33   F
 

Computes the fundamental 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
sme An eigensystem structure to use or NULL
F The fundamental matrix to be filled
Applies the Longuet-Higgins eight-point algorithm to compute the fundamental matrix for images 1 & 2. 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 is not imposed. Any normalisation of the image data should be applied before using the function.
See also:
gan_essential_matrix_fit().


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