[Toon-members] tag/tag five_point.h helpers.h

[Gerhard Reitmayr]

CVSROOT:        /cvsroot/toon
Module name:    tag
Changes by:     Gerhard Reitmayr <gerhard>      09/04/23 12:07:45

Modified files:
        tag            : five_point.h helpers.h 

Log message:
        doc updates, created an essential matrix tools group

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/tag/five_point.h?cvsroot=toon&r1=1.2&r2=1.3
http://cvs.savannah.gnu.org/viewcvs/tag/tag/helpers.h?cvsroot=toon&r1=1.4&r2=1.5

Patches:
Index: five_point.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/five_point.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -u -b -r1.2 -r1.3
--- five_point.h        23 Apr 2009 11:54:05 -0000      1.2
+++ five_point.h        23 Apr 2009 12:07:45 -0000      1.3
@@ -9,8 +9,21 @@
 
 namespace tag {
 
+/// @defgroup essentialgroup Essential Matrix tools
+/// various functions dealing with essential matrices including 5 point 
estimation after Nister, 
+/// reconstruction of R,t from essential matrix after Horn, and construction 
of E from R,t.
+
+
+/// @ingroup essentialgroup
 std::vector<TooN::Matrix<3> > 
five_point(std::tr1::array<std::pair<TooN::Vector<3>, TooN::Vector<3> >, 5> 
points);
 
+/// reconstructs possible R,t from essential matrix E.
+/// The implementation follows the algorithm in 
+/// Recovering Baseline and Orientation from 'Esssential' Matrix
+/// BKP Horn, Jan 1990
+/// @arg E essential matrix
+/// @return vector with 4 SE3s representing the possible transformations
+/// @ingroup essentialgroup
 std::vector<TooN::SE3<> > se3_from_E( const TooN::Matrix<3> & E );
 
 }

Index: helpers.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/helpers.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -u -b -r1.4 -r1.5
--- helpers.h   22 Apr 2009 23:36:05 -0000      1.4
+++ helpers.h   23 Apr 2009 12:07:45 -0000      1.5
@@ -73,7 +73,7 @@
 /// creates a cross product matrix M from a 3 vector v, such that for all 
vectors w, the following holds: v ^ w = M * w
 /// @param vec the 3 vector input
 /// @param[out] result the 3x3 matrix to set to the cross product matrix
-/// @ingroup helpersgroup
+/// @ingroup essentialgroup
 template<class V, class M > inline void getCrossProductMatrix( const V & vec, 
M & result ){
     assert(vec.size() == 3);
     assert(result.num_cols() == 3 && result.num_rows() == 3);
@@ -85,7 +85,7 @@
 /// creates an returns a cross product matrix M from a 3 vector v, such that 
for all vectors w, the following holds: v ^ w = M * w
 /// @param vec the 3 vector input
 /// @return the 3x3 matrix to set to the cross product matrix
-/// @ingroup helpersgroup
+/// @ingroup essentialgroup
 template<class V> inline TooN::Matrix<3> getCrossProductMatrix( const V & vec 
){
     TooN::Matrix<3> result;
     getCrossProductMatrix(vec, result);
@@ -95,7 +95,7 @@
 /// creates the essential matrix corresponding to a given transformation
 /// @param transform the transformation as SE3
 /// @param[out] E the 3x3 matrix set to the essential matrix
-/// @ingroup helpersgroup
+/// @ingroup essentialgroup
 template<class M> inline void getEssentialMatrix(const TooN::SE3<> & transform 
, M & E){
     //assert(E.num_cols() == 3 && E.num_rows() == 3);
     const TooN::Vector<3> & t = transform.get_translation();
@@ -108,7 +108,7 @@
 /// creates and returns the essential matrix corresponding to a given 
transformation
 /// @param transform the transformation as SE3
 /// @return the 3x3 matrix set to the essential matrix
-/// @ingroup helpersgroup
+/// @ingroup essentialgroup
 inline TooN::Matrix<3> getEssentialMatrix(const TooN::SE3<> & transform ){
     TooN::Matrix<3> E;
     getEssentialMatrix(transform, E);