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incr_reconstruction

PURPOSE ^

INCR_RECONSTRUCTION performs incremental reconstruction.

SYNOPSIS ^

function [ K T Omega X goodfeat status ] = incr_reconstruction( featx, featy, varargin )

DESCRIPTION ^

 INCR_RECONSTRUCTION performs incremental reconstruction.

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

 Options:
        'visibility', vis          - visibility map (nxm)
        'calibrated'               - indicate that camera is calibrated
        'K', K (3x3) or (4xm)      - provide a calibration matrix either
                                     calibration or guessed
        'initialized', T, Omega, X - provide initial reconstruction for
                                     the bundle adjustment
        'status', status           - provide the status of initialized
                                     frames (1xm logical)
        'X', X (4xn)               - provide initial points reconstruction

 Output:
        K     - calibration parameters     (4xm)
        T     - translation                (3xm)
        Omega - rotation                   (3xm)
        X     - 3D points                  (4xn) in homogeneous form
        goodfeat - status of image points  (nxm)
        status   - status of frames        (1xm) logical

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:
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