Reconstructs 3D structure from two views using homography and fundamental matrix. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	TwoViewReconstruction (const Eigen::Matrix3f &k, float sigma=1.0, uint04 iterations=200U)
	Constructs the two-view reconstruction with a calibration matrix.
bool	Reconstruct (const PrimitiveAlignedBuffer< cv::KeyPoint, 32 > &vKeys1, const PrimitiveAlignedBuffer< cv::KeyPoint, 32 > &vKeys2, const Buffer< uint04 > &vMatches12, Sophus::SE3f &T21, Buffer< cv::Point3f > &vP3D, Buffer< bool > &vbTriangulated)
	Reconstructs geometry from two views.

Detailed Description

Reconstructs 3D structure from two views using homography and fundamental matrix.

Computes both a homography and fundamental matrix in parallel via RANSAC, selects the best model, and recovers the relative pose and 3D point structure.

Definition at line 18 of file TwoViewReconstruction.h.

Constructor & Destructor Documentation

◆ TwoViewReconstruction()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW TwoViewReconstruction::TwoViewReconstruction	(	const Eigen::Matrix3f &	k,
		float	sigma = 1.0,
		uint04	iterations = 200U )

Constructs the two-view reconstruction with a calibration matrix.

Parameters

[in]	k	The 3x3 camera calibration matrix.
[in]	sigma	Standard deviation for RANSAC.
[in]	iterations	Maximum RANSAC iterations.

Member Function Documentation

◆ Reconstruct()

bool TwoViewReconstruction::Reconstruct	(	const PrimitiveAlignedBuffer< cv::KeyPoint, 32 > &	vKeys1,
		const PrimitiveAlignedBuffer< cv::KeyPoint, 32 > &	vKeys2,
		const Buffer< uint04 > &	vMatches12,
		Sophus::SE3f &	T21,
		Buffer< cv::Point3f > &	vP3D,
		Buffer< bool > &	vbTriangulated )

Reconstructs geometry from two views.