fundest change log

• February 14, 2016: fundest version 1.2 released
  • CAUTION FOR PREVIOUS VERSIONS USERS: FUNDEST_NO_NLN_REFINE is obsolete and has been superseded by the more clear FUNDEST_8PT.
  • Extended fundest_wie() to support linear estimation using the inliers detected with the supplied estimate. This is achieved by setting argument howto to FUNDEST_8PT.
  • Implemented yet another fundamental matrix estimation algorithm based on minimizing the algebraic error (see Alg. 11.2 in Hartley-Zisserman, 2nd ed.). This algorithm iteratively minimizes the algebraic error and at the same time enforces the rank-2 constraint. It can be invoked by setting argument howto in fundest() and fundest_wie() to FUNDEST_ALGMIN. Iteratively minimizing the algebraic error produces results that are almost indistinguishable from minimizing geometric error (i.e., the Gold Standard algorithm).
  • Added functions to compute an essential matrix from a fundamental matrix and the camera intrinsics and extract the rotation and translation pairs compatible with it; see fundest_EfromFK() and fundest_RtfromE().
  • Minor other changes.
  
  
• April 3, 2015: fundest version 1.1 released
  • Added fundest_wie() (wie: with initial estimate), a function that allows the non-linear refinement of a fundamental matrix estimate. This function is useful when it is desired to quickly improve an approximation to the epipolar geometry. For example, this situation might arise when the epipolar geometry of a stereo rig is periodically recomputed, to account for vibrations, thermal variations, etc. To detect outliers, the refinement does not use LMedS. Instead, it combines the supplied, approximate epipolar geometry with a user-specified threshold, therefore it is much faster compared to a full-fledged epipolar geometry estimation via fundest(). fundest_wie() performs a non-linear refinement of the supplied approximation to the fundamental matrix using the detected inliers.
  • Updated the MEX interface to support fundest_wie().
  • Added function fundest_epipfromF() for extracting the epipoles from a fundamental matrix.
  • Made a few other minor changes.
  
  
• June 30, 2012: fundest version 1.0 released (first public release)