ExampleEpipolarLine.cpp

Example for epipolar line estimation

Author

MIP

/* 
This file is part of the BIAS library (Basic ImageAlgorithmS).

Copyright (C) 2003-2009    (see file CONTACT for details)
  Multimediale Systeme der Informationsverarbeitung
  Institut fuer Informatik
  Christian-Albrechts-Universitaet Kiel


BIAS is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

BIAS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with BIAS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

/**
   @example ExampleEpipolarLine.cpp
   @brief Example for epipolar line estimation
   @ingroup g_examples
   @author MIP
*/
#include <Geometry/FMatrix.hh>
#include <Geometry/RMatrix.hh>
#include <Geometry/PMatrix.hh>
#include <Geometry/EpipolarLine.hh>

using namespace BIAS;
using namespace std;


int main(int argc, char *argv[])
{
  // set up two perspective pinhole cameras and commpute epipolar geometry:
  KMatrix K1(MatrixIdentity), K2(MatrixIdentity);
  RMatrix R1(MatrixIdentity), R2(MatrixIdentity);
  Vector3<double> C1(0,0,0), C2(1,0,0);
  PMatrix P1(K1,R1,C1), P2(K2,R2,C2);
  FMatrix F(P1,P2);


//  F[0][0] = -7.93016446160826e-18; 
//  F[0][1] = -0.142857142857143; 
//  F[0][2] = 0.142857142857143;
//
//  F[1][0] = 0.142857142857143;
//  F[1][1] = 9.51619735392991e-17;
//  F[1][2] = -1;
//  
//  F[2][0] = -0.142857142857143;
//  F[2][1] = 1;
//  F[2][2] = 1.58603289232165e-16;






  // two corresponding 2d points (x2 yet undefined)
  HomgPoint3D X(0,0,1);
  HomgPoint2D x1(P1*X), x2(P2*X);
  x1.Homogenize(); 
  x2.Homogenize();
  EpipolarLine e = F * x1;
//  e[0] = -0.1447129985;
//  e[1] = 0.9894736722;
//  e[2] = 0.02351731724;

  double minx = -0.704896591;
  double miny = -0.5087899419;
  double maxx = 0.6917137055;
  double maxy =  0.5023428813;
  HomgPoint2D epipoleinimage1(0,0,0), epipoleinimage2(0,0,0);
  F.GetEpipolesHomogenized(epipoleinimage1,  epipoleinimage2);
  HomgPoint2D::EPosition epos2 =
    epipoleinimage2.DeterminePosition(minx, miny, maxx, maxy);



  int res = e.Recalc(minx,miny,maxx,maxy,epipoleinimage2,epos2);
  cout<<"result from recalc is "<<res<<endl;
  /*
  if (fabs(x2.ScalarProduct(e))>1e-5) {
    BIASERR("Something went wrong with P and F !!!");
    BIASABORT;
  }
  */
  
  cout<<"Epipolar line is "<<e<<" with epipole "<< epipoleinimage2
      <<" and epos "
      <<int(epos2)<<endl;
  cout<<" far intersection is "<<e.GetFarIntersectionWithImageBorder()
      <<" close intersection: "<<e.GetCloseIntersectionWithImageBorder()
      <<endl;
  
  
  return 0;
}