Blender  V3.3
triangulation.cc
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20 
22 
24 #include "libmv/numeric/numeric.h"
25 
26 namespace libmv {
27 
28 // HZ 12.2 pag.312
29 void TriangulateDLT(const Mat34& P1,
30  const Vec2& x1,
31  const Mat34& P2,
32  const Vec2& x2,
33  Vec4* X_homogeneous) {
34  Mat4 design;
35  for (int i = 0; i < 4; ++i) {
36  design(0, i) = x1(0) * P1(2, i) - P1(0, i);
37  design(1, i) = x1(1) * P1(2, i) - P1(1, i);
38  design(2, i) = x2(0) * P2(2, i) - P2(0, i);
39  design(3, i) = x2(1) * P2(2, i) - P2(1, i);
40  }
41  Nullspace(&design, X_homogeneous);
42 }
43 
44 void TriangulateDLT(const Mat34& P1,
45  const Vec2& x1,
46  const Mat34& P2,
47  const Vec2& x2,
48  Vec3* X_euclidean) {
49  Vec4 X_homogeneous;
50  TriangulateDLT(P1, x1, P2, x2, &X_homogeneous);
51  HomogeneousToEuclidean(X_homogeneous, X_euclidean);
52 }
53 
54 } // namespace libmv
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double Nullspace(TMat *A, TVec *nullspace)
Definition: numeric.h:158
Eigen::Vector4d Vec4
Definition: numeric.h:107
Eigen::Vector2d Vec2
Definition: numeric.h:105
void TriangulateDLT(const Mat34 &P1, const Vec2 &x1, const Mat34 &P2, const Vec2 &x2, Vec4 *X_homogeneous)
void HomogeneousToEuclidean(const Mat &H, Mat *X)
Definition: projection.cc:166
Eigen::Matrix< double, 3, 4 > Mat34
Definition: numeric.h:73
Eigen::Vector3d Vec3
Definition: numeric.h:106