contrib/gel/mrc/vpgl/vpgl_reg_fundamental_matrix.h

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// This is gel/mrc/vpgl/vpgl_reg_fundamental_matrix.h
#ifndef vpgl_reg_fundamental_matrix_h_
#define vpgl_reg_fundamental_matrix_h_
//:
// \file
// \brief A class for the fundamental matrix between two affine cameras registered to a ground plane.
// \author Thomas Pollard
// \date June 8, 2005
// \author Joseph Mundy, Matt Leotta, Vishal Jain
//
// The fundamental matrix for two registered images has a simplified form and can be
// written as:
// \verbatim
// |  0  0  a |
// |  0  0 -b |
// | -a  b  0 |
// \endverbatim

#include <vnl/vnl_fwd.h>
#include <vgl/vgl_fwd.h>
#include "vpgl_fundamental_matrix.h"

template <class T>
class vpgl_reg_fundamental_matrix : public vpgl_fundamental_matrix<T>
{
 public:
  // Constructors:----------------------

  //: Default constructor creates dummy matrix.
  vpgl_reg_fundamental_matrix();

  //: Main constructor takes corresponding points from right and left images.
  vpgl_reg_fundamental_matrix( const vgl_point_2d<T>& pr, const vgl_point_2d<T>& pl );

  //: Cast up from a regular vpgl_fundamental_matrix.
  vpgl_reg_fundamental_matrix( const vpgl_fundamental_matrix<T>& fm );

  // Getters and Setters:----------------

  //: Form the matrix from corresponding points from right and left images.
  bool set_from_points( const vgl_point_2d<T>& pr, const vgl_point_2d<T>& pl );

  //: Form the matrix from its free parameters.
  void set_from_params( T a, T b );
};

#endif // vpgl_reg_fundamental_matrix_h_