essential_matrix.hpp File Reference

#include <vector>
#include <random>
#include <stdlib.h>
#include "../base.hpp"
#include "../util/math.hpp"
#include "../util/eigen_util.hpp"
#include "../computer_vision/triangulation.hpp"
#include "../computer_vision/camera_matrix.hpp"
#include "../externals/Eigen/Dense"
#include "../externals/Eigen/SVD"
#include "../externals/Eigen/Geometry"

Go to the source code of this file.

Namespaces
	pic

Functions
PIC_INLINE Eigen::Matrix3d	pic::computeEssentialMatrix (Eigen::Matrix3d &F, Eigen::Matrix3d &K1, Eigen::Matrix3d &K2)
	computeEssentialMatrix computes the essential matrix, E, from the fundamental matrix, F12, and the two intrics matrices K1 and K2 More...
PIC_INLINE Eigen::Matrix3d	pic::computeEssentialMatrix (Eigen::Matrix3d &F, Eigen::Matrix3d &K)
	computeEssentialMatrix computes the essential matrix, E, from the fundamental matrix, F, and a single instrics camera, K. More...
PIC_INLINE void	pic::decomposeEssentialMatrix (Eigen::Matrix3d &E, Eigen::Matrix3d &R1, Eigen::Matrix3d &R2, Eigen::Vector3d &t)
	decomposeEssentialMatrix decomposes an essential matrix E. More...
PIC_INLINE bool	pic::decomposeEssentialMatrixWithConfiguration (Eigen::Matrix3d &E, Eigen::Matrix3d &K0, Eigen::Matrix3d &K1, std::vector< Eigen::Vector2f > &points0, std::vector< Eigen::Vector2f > &points1, Eigen::Matrix3d &R, Eigen::Vector3d &t)
	decomposeEssentialMatrixWithConfiguration decomposes an essential matrix E. More...