24 #ifndef __TRIFOCAL_TENSOR__
25 #define __TRIFOCAL_TENSOR__
30 #include <opencv2/core.hpp>
75 double projectAxis(
const cv::Point2d &p0,
const cv::Point2d &p1,
int l);
130 void project(
const cv::Point2d &p0,
const cv::Point2d &p1, cv::Point2d &p2);
148 double projectError(
const cv::Point2d &p0,
const cv::Point2d &p1,
const cv::Point2d &p2);
This file defines library export definitions, version numbers and build information.
This file implements a pose.
Pose representation derived from the Rotation class
Trifocal tensor works for three images like a fundamental matrix works for two images.
void computeTensor(const Pose &P1, const Pose &P2)
Initializes the tensor from identity pose and two other known poses.
void project(const cv::Point2d &p0, const cv::Point2d &p1, cv::Point2d &p2)
Computes the projection of a point in the third pose.
TrifocalTensor(const Pose &P0, const Pose &P1, const Pose &P2)
Constructs a tensor from three known poses. See computeTensor.
TrifocalTensor(const Pose &P1, const Pose &P2)
Constructs a tensor from identity pose and two other known poses. See computeTensor.
void computeTensor(const Pose &P0, const Pose &P1, const Pose &P2)
Initializes the tensor from three known poses.
double projectError(const cv::Point2d &p0, const cv::Point2d &p1, const cv::Point2d &p2)
Computes how much three points differ from the tensor.