QVision: Qt's Image, Video and Computer Vision Library

00001 /*
00002  *      Copyright (C) 2011, 2012. PARP Research Group.
00003  *      <http://perception.inf.um.es>
00004  *      University of Murcia, Spain.
00005  *
00006  *      This file is part of the QVision library.
00007  *
00008  *      QVision is free software: you can redistribute it and/or modify
00009  *      it under the terms of the GNU Lesser General Public License as
00010  *      published by the Free Software Foundation, version 3 of the License.
00011  *
00012  *      QVision is distributed in the hope that it will be useful,
00013  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *      GNU Lesser General Public License for more details.
00016  *
00017  *      You should have received a copy of the GNU Lesser General Public
00018  *      License along with QVision. If not, see <http://www.gnu.org/licenses/>.
00019  */
00020 
00021 #ifndef QVEPIPOLAR_H
00022 #define QVEPIPOLAR_H
00023 
00024 #include <qvmath.h>
00025 #include <QVMatrix>
00026 #include <qvprojective.h>
00027 
00028 #define MIN_FUNDAMENTAL_MATRIX_NORM     1e-16
00029 
00030 #ifndef DOXYGEN_IGNORE_THIS
00031 // Alternative and faster function for 'get8PointsCoefficientMatrix'.
00032 QVMatrix getDLTMatrix(const QVector<QPointFMatching> &matchings);
00033 
00034 // Alternative and faster function for 'getTransposeProductOf8PointsCoefficientMatrix'.
00035 QVMatrix getSquaredDLTMatrix(const QVector<QPointFMatching> &matchings,
00036                                                                                         const QPointF &m0c = QPointF(0.0, 0.0),
00037                                                                                         const QPointF &m1c = QPointF(0.0, 0.0),
00038                                                                                         const double &scale0 = 1.0,
00039                                                                                         const double &scale1 = 1.0);
00040 #endif // DOXYGEN_IGNORE_THIS
00041 
00054 bool computeFundamentalMatrix(const QVector<QPointFMatching> &matchings, QVMatrix &F, const TQVSVD_Method svdMethod = DEFAULT_TQVSVD_METHOD);
00055 
00070 double symmetricEpipolarDistance(const QVMatrix &F, const QPointFMatching &matching);
00071 
00072 
00087 QVVector symmetricEpipolarDistance(const QVMatrix &F, const QVector<QPointFMatching> &matchings);
00088 
00109 bool iterativeLocalOptimization(const QList<QPointFMatching> &matchings,  QList<QPointFMatching> &result, const double maxEE = 1.0, const int minInliers = 32);
00110 
00111 #endif // QVEPIPOLAR_H
00112
src/qvmath/qvepipolar.h
