contrib/brl/bmvl/brct/brct_epi_reconstructor.h File Reference

A class to attack structure from motion problem. More...

#include <vcl_vector.h>
#include <vnl/vnl_double_2.h>
#include <vnl/vnl_double_3.h>
#include <vnl/vnl_double_3x3.h>
#include <vnl/vnl_double_3x4.h>
#include <vnl/vnl_vector_fixed.h>
#include <vnl/vnl_matrix_fixed.h>
#include <vnl/vnl_matrix.h>
#include <vdgl/vdgl_digital_curve_sptr.h>
#include <bugl/bugl_gaussian_point_2d.h>
#include <vgl/vgl_point_2d.h>
#include <vgl/vgl_point_3d.h>
#include <bugl/bugl_curve_3d.h>

Go to the source code of this file.

Classes
class	brct_epi_reconstructor

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Detailed Description

A class to attack structure from motion problem.

Input:

• A set of tracked vdgl_digital_curve(s). Currently these curves are read in from a track file, which is generated by a 2-d tracking algorithm. The tracks are stored in tracks_.
• A timestamp file that gives the observation time for each frame in milliseconds.
• The calibration matrix K_ for the camera. Currently this matrix is hard-coded in ::init_cam_intrinsic()
• Initial epipole image location e_, a 2-d point.

Internals: The camera translation is computed from the matched curves and an assumed epipolar geometry. This class is a heavily modified version of the original Kalman filter class written by Kongbin Kang.

Author:

J.L. Mundy

    Modifications
     Initial version Dec. 2003
     The class doe
   

Definition in file brct_epi_reconstructor.h.