fundamental_matrix_solver_options.h

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/*
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 * Authors: Erik Nelson            ( eanelson@eecs.berkeley.edu )
 *          David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

///////////////////////////////////////////////////////////////////////////////
//
// This struct defines a set of options that are used when solving for the
// fundamental matrix relating the geometry of two cameras.
//
///////////////////////////////////////////////////////////////////////////////

#ifndef BSFM_GEOMETRY_FUNDAMENTAL_MATRIX_SOLVER_OPTIONS_H
#define BSFM_GEOMETRY_FUNDAMENTAL_MATRIX_SOLVER_OPTIONS_H

namespace bsfm {

struct FundamentalMatrixSolverOptions {
  // Normalize the (u, v) image space positions of features prior to computing
  // the. fundamental matrix. This is pretty much necessary for good results.
  bool normalize_features = true;

  // By definition the fundamental matrix is rank deficient (rank 2 for a 3x3
  // matrix). However, most solution methods come up with answers that are not
  // necessarily rank deficient. Enforcing rank deficiency improves results in
  // most cases, but adds a tiny amount to computation time.
  bool enforce_fundamental_matrix_rank_deficiency = true;

};  //\struct FundamentalMatrixSolverOptions

}  //\namespace bsfm

#endif