essential_matrix_solver.h

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/*
 * Copyright (c) 2015, The Regents of the University of California (Regents).
 * All rights reserved.
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 *       notice, this list of conditions and the following disclaimer.
 *
 *    2. Redistributions in binary form must reproduce the above
 *       copyright notice, this list of conditions and the following
 *       disclaimer in the documentation and/or other materials provided
 *       with the distribution.
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 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 *          Erik Nelson            ( eanelson@eecs.berkeley.edu )
 */

///////////////////////////////////////////////////////////////////////////////
//
// This header defines a set of functions for converting a fundamental matrix
// and a pair of camera intrinsics into an essential matrix, and from an
// essential matrix to and a set of camera extrinsics.
//
///////////////////////////////////////////////////////////////////////////////

#ifndef BSFM_GEOMETRY_ESSENTIAL_MATRIX_SOLVER_H
#define BSFM_GEOMETRY_ESSENTIAL_MATRIX_SOLVER_H

#include <Eigen/Core>

#include "../camera/camera_intrinsics.h"
#include "../camera/camera_extrinsics.h"
#include "../pose/pose.h"
#include "../matching/feature_match.h"
#include "../util/disallow_copy_and_assign.h"

namespace bsfm {

using Eigen::Matrix3d;
using Eigen::Vector3d;

class EssentialMatrixSolver {

public:
  // Empty constructor and destructor. No member variables.
  EssentialMatrixSolver() {}
  ~EssentialMatrixSolver() {}

  // Compute the essential matrix from a fundamental matrix and camera intrinsics.
  Matrix3d ComputeEssentialMatrix(const Matrix3d& F,
                                  const CameraIntrinsics& intrinsics1,
                                  const CameraIntrinsics& intrinsics2);

  // Compute relative transformation between two cameras from an essential
  // matrix and a list of keypoint matches. Note that the translation of the
  // output relative transformation can only be computed up to a scale factor.
  bool ComputeExtrinsics(const Matrix3d& E,
                         const FeatureMatchList& matches,
                         const CameraIntrinsics& intrinsics1,
                         const CameraIntrinsics& intrinsics2,
                         Pose& relative_pose);

private:
  DISALLOW_COPY_AND_ASSIGN(EssentialMatrixSolver)

};  //\class EssentialMatrixSolver

} //\namespace bsfm

#endif