Progress

Sfm module is divided in the following (low-level) headers:

• conditioning.hpp

Function	Wrapper	Port	Test	Comments
preconditionerFromPoints	DONE	ToDo	-
applyTransformationToPoints	DONE	ToDo	-
normalizePoints	DONE	-	Yes*	Port is not needed.
normalizeIsotropicPoints	DONE	-	ToDo	Port is not needed.

• fundamental.hpp

Function	Wrapper	Port	Test	Comments
projectionsFromFundamental	DONE	ToDo	Yes*
fundamentalFromProjections	DONE	ToDo	Yes*
normalizedEightPointSolver	DONE	ToDo	Yes*
motionFromEssential	DONE	ToDo	ToDo
essentialFromFundamental	Todo	ToDo	ToDo

• triangulation.hpp

Function	Wrapper	Port	Test	Comments
triangulateDLT	DONE	DONE	Yes
nViewTriangulate	DONE	DONE	Yes

• numeric.hpp

Function	Wrapper	Port	Test	Comments
meanAndVarianceAlongRows	DONE	DONE	Yes*
skewMat	DONE	DONE	Yes
skewMatMinimal	DONE	DONE	-

• projection.hpp

Function	Wrapper	Port	Test	Comments
homogeneousToEuclidean	DONE	DONE	Yes	ToDo: check homogeneousToEuclidean( X, X );
euclideanToHomogeneous	DONE	DONE	Yes
P_From_KRt	DONE	DONE	Yes*	P = K * [R t]
KRt_From_P	DONE	ToDo	Yes*	RQ decomposition HZ A4.1.1 pag.579

Note: [*] Test only in double