/**
* Extracts the epipoles from the trifocal tensor. Extracted epipoles will have a norm of 1 as an
* artifact of using SVD.
*
* @param tensor Input: Trifocal tensor. Not Modified
* @param e2 Output: Epipole in image 2. Homogeneous coordinates. Modified
* @param e3 Output: Epipole in image 3. Homogeneous coordinates. Modified
*/
public void process(TrifocalTensor tensor, Point3D_F64 e2, Point3D_F64 e3) {
svd.decompose(tensor.T1);
SingularOps.nullVector(svd, true, v1);
SingularOps.nullVector(svd, false, u1);
svd.decompose(tensor.T2);
SingularOps.nullVector(svd, true, v2);
SingularOps.nullVector(svd, false, u2);
svd.decompose(tensor.T3);
SingularOps.nullVector(svd, true, v3);
SingularOps.nullVector(svd, false, u3);
for (int i = 0; i < 3; i++) {
U.set(i, 0, u1.get(i));
U.set(i, 1, u2.get(i));
U.set(i, 2, u3.get(i));
V.set(i, 0, v1.get(i));
V.set(i, 1, v2.get(i));
V.set(i, 2, v3.get(i));
}
svd.decompose(U);
SingularOps.nullVector(svd, false, tempE);
e2.set(tempE.get(0), tempE.get(1), tempE.get(2));
svd.decompose(V);
SingularOps.nullVector(svd, false, tempE);
e3.set(tempE.get(0), tempE.get(1), tempE.get(2));
}
