tag::essential_matrix::EssentialMatrix Struct Reference
[RANSAC robust estimation]

#include <ransac_estimators.h>

List of all members.

Public Member Functions
template<class It>
bool	estimate (It begin, It end)
template<class Match>
bool	isInlier (const Match &m, double r) const
template<class It>
std::vector< std::pair< size_t, TooN::SE3 > >	decompose (It begin, It end, std::vector< int > &group)
Public Attributes
TooN::Matrix< 3 >	E

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Detailed Description

RANSAC estimator to compute the essential matrix from a set of 2D-2D correspondences The observations passed (via iterators) to the estimate method must allow:

    TooN::Vector<2> a = first_point(*it); // default value is "(*it).first"
    TooN::Vector<2> b = second_point(*it); // default value is "(*it).second"
    double R = noise(*it); // default value is "1.0"

The resulting transformation will map from a -> b.

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Member Function Documentation

template<class It> std::vector<std::pair<size_t, TooN::SE3> > tag::essential_matrix::EssentialMatrix::decompose (  It  begin, It  end, std::vector< int > &  group )  [inline]

Decompose the essential matrix into four possible SE3s Parameters: [in]  begin  beginning iterator for observations [in]  end  ending iterator for observations [out]  group  where to store the membership info (0,1,2, or 3) for each observation Returns: four pairs of the form {number of votes, SE3}

template<class It> bool tag::essential_matrix::EssentialMatrix::estimate (  It  begin, It  end )  [inline]

template<class Match> bool tag::essential_matrix::EssentialMatrix::isInlier (  const Match &  m, double  r )  const [inline]

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Member Data Documentation

TooN::Matrix<3> tag::essential_matrix::EssentialMatrix::E

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

• ransac_estimators.h

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