bsfm::FundamentalMatrixRansacModel Struct Reference

#include <fundamental_matrix_ransac_problem.h>

Inheritance diagram for bsfm::FundamentalMatrixRansacModel:

Public Member Functions
	FundamentalMatrixRansacModel ()
virtual	~FundamentalMatrixRansacModel ()
	FundamentalMatrixRansacModel (const Matrix3d &F)
virtual double	Error () const
virtual bool	IsGoodFit (const FeatureMatch &data_point, double error_tolerance)
double	EvaluateEpipolarCondition (const FeatureMatch &match) const
Public Member Functions inherited from bsfm::RansacModel< FeatureMatch >
	RansacModel ()
virtual	~RansacModel ()

Public Attributes
Matrix3d	F_
double	error_

Detailed Description

Definition at line 62 of file fundamental_matrix_ransac_problem.h.

Constructor & Destructor Documentation

bsfm::FundamentalMatrixRansacModel::FundamentalMatrixRansacModel

(

)

Definition at line 63 of file fundamental_matrix_ransac_problem.cpp.

    : F_(Matrix3d::Identity()), error_(0.0) {}

bsfm::FundamentalMatrixRansacModel::~FundamentalMatrixRansacModel ( )

virtual

Definition at line 71 of file fundamental_matrix_ransac_problem.cpp.

{}

bsfm::FundamentalMatrixRansacModel::FundamentalMatrixRansacModel

(

const Matrix3d &

F

)

Definition at line 66 of file fundamental_matrix_ransac_problem.cpp.

    : F_(F), error_(0.0) {}

Member Function Documentation

double bsfm::FundamentalMatrixRansacModel::Error ( ) const

virtual

Implements bsfm::RansacModel< FeatureMatch >.

Definition at line 74 of file fundamental_matrix_ransac_problem.cpp.

                                                 {
  return error_;
}

double bsfm::FundamentalMatrixRansacModel::EvaluateEpipolarCondition

(

const FeatureMatch &

match

)

const

Definition at line 91 of file fundamental_matrix_ransac_problem.cpp.

                                     {
  // Construct vectors for 2D keypoints in match.
  Vector3d kp1, kp2;
  kp1 << match.feature1_.u_, match.feature1_.v_, 1;
  kp2 << match.feature2_.u_, match.feature2_.v_, 1;

  // Compute deviation from the epipolar condition.
  const double epipolar_condition = kp2.transpose() * F_ * kp1;
  return epipolar_condition;
}

bool bsfm::FundamentalMatrixRansacModel::IsGoodFit ( const FeatureMatch &  data_point, double  error_tolerance  )

virtual

Implements bsfm::RansacModel< FeatureMatch >.

Definition at line 79 of file fundamental_matrix_ransac_problem.cpp.

                            {
  const double error = EvaluateEpipolarCondition(data_point);

  // Test squared error against the provided tolerance.
  if (error * error < error_tolerance) {
    return true;
  }
  return false;
}

Member Data Documentation

double bsfm::FundamentalMatrixRansacModel::error_

Definition at line 81 of file fundamental_matrix_ransac_problem.h.

Matrix3d bsfm::FundamentalMatrixRansacModel::F_

Definition at line 80 of file fundamental_matrix_ransac_problem.h.

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

• /Users/eanelson/Git/berkeley_sfm/src/cpp/ransac/fundamental_matrix_ransac_problem.h
• /Users/eanelson/Git/berkeley_sfm/src/cpp/ransac/fundamental_matrix_ransac_problem.cpp