bsfm::FundamentalMatrixSolver Class Reference

#include <fundamental_matrix_solver.h>

Inheritance diagram for bsfm::FundamentalMatrixSolver:

Public Member Functions
	FundamentalMatrixSolver ()
virtual	~FundamentalMatrixSolver ()
virtual void	AddMatchedImagePair (const PairwiseImageMatch &matched_image_data)
virtual void	AddMatchedImagePairs (const PairwiseImageMatchList &matched_image_data)
virtual void	SetOptions (const FundamentalMatrixSolverOptions &options)
virtual bool	ComputeFundamentalMatrices (std::vector< Matrix3d > &fundamental_matrices)
virtual bool	ComputeFundamentalMatrix (const FeatureMatchList &matched_features, Matrix3d &fundamental_matrix) const =0

Protected Attributes
PairwiseImageMatchList	matched_image_data_
FundamentalMatrixSolverOptions	options_

Detailed Description

Definition at line 61 of file fundamental_matrix_solver.h.

Constructor & Destructor Documentation

bsfm::FundamentalMatrixSolver::FundamentalMatrixSolver ( )

inline

Definition at line 63 of file fundamental_matrix_solver.h.

{}

virtual bsfm::FundamentalMatrixSolver::~FundamentalMatrixSolver ( )

inlinevirtual

Definition at line 64 of file fundamental_matrix_solver.h.

{}

Member Function Documentation

void bsfm::FundamentalMatrixSolver::AddMatchedImagePair ( const PairwiseImageMatch &  matched_image_data )

virtual

Definition at line 45 of file fundamental_matrix_solver.cpp.

                                                  {
  matched_image_data_.push_back(matched_image_data);
}

void bsfm::FundamentalMatrixSolver::AddMatchedImagePairs ( const PairwiseImageMatchList &  matched_image_data )

virtual

Definition at line 51 of file fundamental_matrix_solver.cpp.

                                                      {
  matched_image_data_.insert(matched_image_data_.end(),
                             matched_image_data.begin(),
                             matched_image_data.end());
}

bool bsfm::FundamentalMatrixSolver::ComputeFundamentalMatrices ( std::vector< Matrix3d > &  fundamental_matrices )

virtual

Definition at line 63 of file fundamental_matrix_solver.cpp.

                                               {
  // Clear the output.
  fundamental_matrices.clear();

  // Determine a fundamental matrix for each pair of images.
  for (const auto& pair_data : matched_image_data_) {
    Matrix3d fundamental_matrix;
    if (ComputeFundamentalMatrix(pair_data.feature_matches_,
                                 fundamental_matrix)) {
      fundamental_matrices.push_back(fundamental_matrix);
    } else {
      VLOG(1) << "Failed to compute funamental matrix.";
    }
  }

  // Return whether or not we computed any fundamental matrices.
  if (fundamental_matrices.empty()) {
    VLOG(1) << "Unable to compute a fundamental matrix for any of the input "
               "image pairs.";
    return false;
  }

  return true;
}

virtual bool bsfm::FundamentalMatrixSolver::ComputeFundamentalMatrix ( const FeatureMatchList &  matched_features, Matrix3d &  fundamental_matrix  ) const

pure virtual

Implemented in bsfm::EightPointAlgorithmSolver.

void bsfm::FundamentalMatrixSolver::SetOptions ( const FundamentalMatrixSolverOptions &  options )

virtual

Definition at line 58 of file fundamental_matrix_solver.cpp.

                                                   {
  options_ = options;
}

Member Data Documentation

PairwiseImageMatchList bsfm::FundamentalMatrixSolver::matched_image_data_

protected

Definition at line 92 of file fundamental_matrix_solver.h.

FundamentalMatrixSolverOptions bsfm::FundamentalMatrixSolver::options_

protected

Definition at line 95 of file fundamental_matrix_solver.h.

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The documentation for this class was generated from the following files:

• /Users/eanelson/Git/berkeley_sfm/src/cpp/geometry/fundamental_matrix_solver.h
• /Users/eanelson/Git/berkeley_sfm/src/cpp/geometry/fundamental_matrix_solver.cpp