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VLmvg

PURPOSE ^

VLMVG reconstructs structure and motion from feature measurements.

SYNOPSIS ^

function [ K_ T_ Omega_ X_ vis_ inlier_ ] = VLmvg( featx, featy, varargin )

DESCRIPTION ^

 VLMVG reconstructs structure and motion from feature measurements.

 Input:
        featx - image points x-coordinates (nxm)
        featy - image points y-coordinates (nxm)

 Options:
        'visibility', vis - visibility map     (nxm)
        'calibrated'      - indicates that the camera is calibrated
        'K', K            - camera calibraiton (3x3 or 4xm)
        'T', T            - camera translation (3xm)
        'Omega', Omega    - camera rotation    (3xm) in exponential map
        'X', X            - point location     (4xn) in homogeneous form
        'ransac'          - performs ransac for rejecting outliers
        'sampson_threshold', threshold - sampson threshold (default=1)

 Output:
        K_       - calibration parameters  (4xm)
        T_       - camera translation      (3xm)
        Omega_   - camera rotation         (3xm)
        X_       - 3D point location       (4xn) in homogeneous form
        vis_     - status of image points  (nxm)
        inlier_  - indicates inlier points (1xn)

CROSS-REFERENCE INFORMATION ^

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