[37] | 1 | % VGG MultiView Compute Library
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| 2 | %
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| 3 | % Conversions
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| 4 | % vgg_KR_from_P - extract K, R from P such that P = K*R*[eye(3) -t]
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| 5 | % vgg_F_from_P - fundamental matrix from 2 cameras
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| 6 | % vgg_P_from_F - 2 camera matrices from fundamental matrix
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| 7 | % vgg_T_from_P - trifocal tensor from 3 cameras
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| 8 | % vgg_H_from_2P_plane - inter-image homography from 2 cameras and 3D plane
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| 9 | % vgg_H_from_P_plane - projection matrix from image onto 3D plane
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| 10 | % vgg_plane_from_2P_H - 3D plane from 2 cameras and inter-image homography
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| 11 | %
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| 12 | % Multiview tensors from image correspondences
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| 13 | % vgg_H_from_x_lin - homography from points in 2 images, linear method
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| 14 | % vgg_H_from_x_nonlin - MLE of the above, by nonlinear method
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| 15 | % vgg_Haffine_from_x_MLE - MLE of affine transformation from points in 2 images, linear
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| 16 | % vgg_F_from_7pts_2img - fundamental matrix from 7 points in 2 images
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| 17 | % vgg_PX_from_6pts_3img - cameras and world points from 6 points in 3 images
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| 18 | %
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| 19 | % Preconditioning for estimation
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| 20 | % vgg_conditioner_from_image - conditioning shift+scaling from image dimensions
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| 21 | % vgg_conditioner_from_pts - conditioning shift+scaling from image points
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| 22 | %
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| 23 | % Self-calibration and similar
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| 24 | % vgg_signsPX_from_x - swaps signs of P and X so that projection scales are positive
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| 25 | % vgg_selfcalib_qaffine - quasi-affine from projective reconstruction
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| 26 | % vgg_selfcalib_metric_vansq - metric from projective and 3 orthogonal principal directions and square pixels
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| 27 | %
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| 28 | % Estimation
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| 29 | % vgg_X_from_xP_lin - 3D point from image projections and cameras, linear
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| 30 | % vgg_X_from_xP_nonlin - MLE of that, non-linear method
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| 31 | % vgg_line3d_from_lP_lin - 3D line segment from image line segments and cameras, linear
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| 32 | % vgg_line3d_from_lP_nonlin - MLE of that, non-linear method
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| 33 | %
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| 34 | % 3D lines representations
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| 35 | % vgg_line3d_pv_from_XY - Pluecker vector from 2 points on the line
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| 36 | % vgg_line3d_pv_from_pm - Pluecker matrix from Pluecker vector
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| 37 | % vgg_line3d_pm_from_pv - Pluecker vector from Pluecker matrix
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| 38 | % vgg_line3d_Ppv - rearrange camera matrix to project Pluecker vector to image line
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| 39 | % vgg_line3d_pv_from_2planes - Pluecker vector from 2 planes meeting in the line
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| 40 | % vgg_line3d_XY_from_pm - 2 points on 3D line from Pluecker matrix
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| 41 | % vgg_line3d_XY_from_pv - 2 points on 3D line from Pluecker vector
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| 42 | % (vgg_contreps - dual of Pluecker matrix of 3D line)
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| 43 | %
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| 44 | % Auxiliary & miscellaneous
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| 45 | % vgg_get_homg - adding row of ones
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| 46 | % vgg_get_nonhomg - dividing by the final coordinates
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| 47 | % vgg_projective_basis_2d
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| 48 | % vgg_rms_error
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| 49 | % vgg_scatter_plot_homg
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| 50 | % vgg_scatter_plot
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