Utility class for geometric computations between keyframes.
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| template<int rows, int cols> |
| static bool | CheckMatrices (const cv::Mat &cvMat, const Eigen::Matrix< float, rows, cols > &eigMat) |
| | Checks whether an OpenCV matrix and Eigen matrix are approximately equal.
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| template<typename T, int rows, int cols> |
| static bool | CheckMatrices (const Eigen::Matrix< T, rows, cols > &eigMat1, const Eigen::Matrix< T, rows, cols > &eigMat2) |
| | Checks whether two Eigen matrices are approximately equal.
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| static EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix3f | ComputeF12 (KeyFrame *&pKF1, KeyFrame *&pKF2) |
| | Computes the fundamental matrix between two keyframes.
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| static bool | Triangulate (Eigen::Vector3f &x_c1, Eigen::Vector3f &x_c2, Eigen::Matrix< float, 3, 4 > &Tc1w, Eigen::Matrix< float, 3, 4 > &Tc2w, Eigen::Vector3f &x3D) |
| | Triangulates a 3D point from two camera observations.
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Utility class for geometric computations between keyframes.
Provides static methods for computing fundamental matrices, triangulating 3D points, and comparing matrix representations.
Definition at line 14 of file GeometricTools.h.
◆ CheckMatrices() [1/2]
template<int rows, int cols>
| bool GeometricTools::CheckMatrices |
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const cv::Mat & | cvMat, |
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const Eigen::Matrix< float, rows, cols > & | eigMat ) |
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inlinestatic |
Checks whether an OpenCV matrix and Eigen matrix are approximately equal.
- Parameters
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| [in] | cvMat | The OpenCV matrix. |
| [in] | eigMat | The Eigen matrix. |
- Returns
- True if all elements are within epsilon tolerance.
Definition at line 41 of file GeometricTools.h.
◆ CheckMatrices() [2/2]
template<typename T, int rows, int cols>
| bool GeometricTools::CheckMatrices |
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const Eigen::Matrix< T, rows, cols > & | eigMat1, |
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const Eigen::Matrix< T, rows, cols > & | eigMat2 ) |
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inlinestatic |
Checks whether two Eigen matrices are approximately equal.
- Parameters
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| [in] | eigMat1 | First Eigen matrix. |
| [in] | eigMat2 | Second Eigen matrix. |
- Returns
- True if all elements are within epsilon tolerance.
Definition at line 66 of file GeometricTools.h.
◆ ComputeF12()
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix3f GeometricTools::ComputeF12 |
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KeyFrame *& | pKF1, |
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KeyFrame *& | pKF2 ) |
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static |
Computes the fundamental matrix between two keyframes.
- Parameters
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| [in] | pKF1 | First keyframe. |
| [in] | pKF2 | Second keyframe. |
- Returns
- The 3x3 fundamental matrix.
◆ Triangulate()
| bool GeometricTools::Triangulate |
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Eigen::Vector3f & | x_c1, |
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Eigen::Vector3f & | x_c2, |
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Eigen::Matrix< float, 3, 4 > & | Tc1w, |
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Eigen::Matrix< float, 3, 4 > & | Tc2w, |
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Eigen::Vector3f & | x3D ) |
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static |
Triangulates a 3D point from two camera observations.
- Parameters
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| [in] | x_c1 | Bearing vector in camera 1. |
| [in] | x_c2 | Bearing vector in camera 2. |
| [in] | Tc1w | Projection matrix of camera 1. |
| [in] | Tc2w | Projection matrix of camera 2. |
| [out] | x3D | The triangulated 3D point. |
- Returns
- True if triangulation succeeded.
The documentation for this class was generated from the following file:
