| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
| // All rights reserved. | |
| // | |
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| // | |
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| // | |
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| // from this software without specific prior written permission. | |
| // | |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
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| // POSSIBILITY OF SUCH DAMAGE. | |
| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // Fundamental matrix estimator from corresponding point pairs. | |
| // | |
| // This algorithm solves the 7-Point problem and is based on the following | |
| // paper: | |
| // | |
| // Zhengyou Zhang and T. Kanade, Determining the Epipolar Geometry and its | |
| // Uncertainty: A Review, International Journal of Computer Vision, 1998. | |
| // http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.33.4540 | |
| class FundamentalMatrixSevenPointEstimator { | |
| public: | |
| typedef Eigen::Vector2d X_t; | |
| typedef Eigen::Vector2d Y_t; | |
| typedef Eigen::Matrix3d M_t; | |
| // The minimum number of samples needed to estimate a model. | |
| static const int kMinNumSamples = 7; | |
| // Estimate either 1 or 3 possible fundamental matrix solutions from a set of | |
| // corresponding points. | |
| // | |
| // The number of corresponding points must be exactly 7. | |
| // | |
| // @param points1 First set of corresponding points. | |
| // @param points2 Second set of corresponding points | |
| // | |
| // @return Up to 4 solutions as a vector of 3x3 fundamental matrices. | |
| static std::vector<M_t> Estimate(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2); | |
| // Calculate the residuals of a set of corresponding points and a given | |
| // fundamental matrix. | |
| // | |
| // Residuals are defined as the squared Sampson error. | |
| // | |
| // @param points1 First set of corresponding points as Nx2 matrix. | |
| // @param points2 Second set of corresponding points as Nx2 matrix. | |
| // @param F 3x3 fundamental matrix. | |
| // @param residuals Output vector of residuals. | |
| static void Residuals(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2, const M_t& F, | |
| std::vector<double>* residuals); | |
| }; | |
| // Fundamental matrix estimator from corresponding point pairs. | |
| // | |
| // This algorithm solves the 8-Point problem based on the following paper: | |
| // | |
| // Hartley and Zisserman, Multiple View Geometry, algorithm 11.1, page 282. | |
| class FundamentalMatrixEightPointEstimator { | |
| public: | |
| typedef Eigen::Vector2d X_t; | |
| typedef Eigen::Vector2d Y_t; | |
| typedef Eigen::Matrix3d M_t; | |
| // The minimum number of samples needed to estimate a model. | |
| static const int kMinNumSamples = 8; | |
| // Estimate fundamental matrix solutions from a set of corresponding points. | |
| // | |
| // The number of corresponding points must be at least 8. | |
| // | |
| // @param points1 First set of corresponding points. | |
| // @param points2 Second set of corresponding points | |
| // | |
| // @return Single solution as a vector of 3x3 fundamental matrices. | |
| static std::vector<M_t> Estimate(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2); | |
| // Calculate the residuals of a set of corresponding points and a given | |
| // fundamental matrix. | |
| // | |
| // Residuals are defined as the squared Sampson error. | |
| // | |
| // @param points1 First set of corresponding points as Nx2 matrix. | |
| // @param points2 Second set of corresponding points as Nx2 matrix. | |
| // @param F 3x3 fundamental matrix. | |
| // @param residuals Output vector of residuals. | |
| static void Residuals(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2, const M_t& F, | |
| std::vector<double>* residuals); | |
| }; | |
| } // namespace colmap | |