Package com.irurueta.ar.epipolar

Class EssentialMatrix

java.lang.Object
com.irurueta.ar.epipolar.FundamentalMatrix
com.irurueta.ar.epipolar.EssentialMatrix
All Implemented Interfaces:
Serializable
public class EssentialMatrix extends FundamentalMatrix implements Serializable
The essential matrix defines the relation between two views in a similar way that the fundamental matrix does, but taking into account the intrinsic parameters of the cameras associated to both views. That ways the relation between their extrinsic parameters (rotation and translation) can be precisely obtained.
See Also:

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final double
    DEFAULT_SINGULAR_VALUES_THRESHOLD
    Default threshold to determine that the two non-zero singular values are equal.
    private boolean
    possibleRotationsAndTranslationsAvailable
     
    private com.irurueta.geometry.Rotation3D
    rotation1
     
    private com.irurueta.geometry.Rotation3D
    rotation2
     
    private com.irurueta.geometry.Point2D
    translation1
     
    private com.irurueta.geometry.Point2D
    translation2
     

    Fields inherited from class com.irurueta.ar.epipolar.FundamentalMatrix

    FUNDAMENTAL_MATRIX_COLS, FUNDAMENTAL_MATRIX_RANK, FUNDAMENTAL_MATRIX_ROWS, internalMatrix, leftEpipole, normalized, rightEpipole

  • Constructor Summary

    Constructors
    Constructor
    Description
    EssentialMatrix()
    Constructor.
    EssentialMatrix(com.irurueta.algebra.Matrix internalMatrix)
    Constructor.
    EssentialMatrix(com.irurueta.algebra.Matrix internalMatrix, double singularValuesThreshold)
    Constructor.
    EssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsicParameters, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsicParameters)
    Constructor from fundamental matrix and intrinsic camera parameters.
    EssentialMatrix(com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera)
    Constructor from a pair of cameras.
    EssentialMatrix(com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera, double singularValuesThreshold)
    Constructor from a pair of cameras.
    EssentialMatrix(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point2D translation)
    Constructor from rotation and translation of the image of world origin relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
    EssentialMatrix(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point2D translation, double singularValuesThreshold)
    Constructor from rotation and translation of the image of world origin relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
    EssentialMatrix(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point3D cameraCenter)
    Constructor from rotation and translation of the camera center relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
    EssentialMatrix(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point3D cameraCenter, double singularValuesThreshold)
    Constructor from rotation and translation of the camera center relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    arePossibleRotationsAndTranslationsAvailable()
    Indicates whether possible camera rotations and translations that can generate this essential matrix have already been computed or not.
    void
    computePossibleRotationAndTranslations()
    Computes all possible camera rotations and translations that can generate this essential matrix.
    com.irurueta.geometry.Rotation3D
    getFirstPossibleRotation()
    Gets first possible rotation that can generate this essential matrix.
    com.irurueta.geometry.Point2D
    getFirstPossibleTranslation()
    Gets first possible translation that can generate this essential matrix.
    com.irurueta.geometry.Rotation3D
    getSecondPossibleRotation()
    Gets second possible rotation that can generate this essential matrix.
    com.irurueta.geometry.Point2D
    getSecondPossibleTranslation()
    Gets second possible translation that can generate this essential matrix.
    static boolean
    isValidInternalMatrix(com.irurueta.algebra.Matrix internalMatrix)
    Returns a boolean indicating whether provided matrix is a valid essential matrix (i.e. has size 3x3, rank 2 and two non-zero and equal singular values).
    static boolean
    isValidInternalMatrix(com.irurueta.algebra.Matrix internalMatrix, double singularValuesThreshold)
    Returns a boolean indicating whether provided matrix is a valid essential matrix (i.e. has size 3x3, rank 2 and his two non-zero singular values are equal up to provided threshold).
    final void
    setFromFundamentalMatrixAndIntrinsics(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsicParameters, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsicParameters)
    Sets essential matrix from provided fundamental matrix and intrinsic camera parameters.
    void
    setFromPairOfCameras(com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera)
    Sets essential matrix from provided a pair of cameras.
    final void
    setFromPairOfCameras(com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera, double singularValuesThreshold)
    Sets essential matrix from provided a pair of cameras.
    void
    setFromRotationAndCameraCenter(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point3D cameraCenter)
    Sets essential matrix from provided rotation and translation of the camera center relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
    final void
    setFromRotationAndCameraCenter(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point3D cameraCenter, double singularValuesThreshold)
    Sets essential matrix from provided rotation and translation of the camera center relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
    void
    setFromRotationAndTranslation(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point2D translation)
    Sets essential matrix from provided rotation and translation of the image of world origin relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
    final void
    setFromRotationAndTranslation(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point2D translation, double singularValuesThreshold)
    Sets essential matrix from provided rotation and translation of the image of world origin relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
    final void
    setInternalMatrix(com.irurueta.algebra.Matrix internalMatrix)
    Sets internal matrix associated to this instance.
    final void
    setInternalMatrix(com.irurueta.algebra.Matrix internalMatrix, double singularValuesThreshold)
    Sets internal matrix associated to this instance.
    FundamentalMatrix
    toFundamentalMatrix(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsicParameters, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsicParameters)
    Converts this essential matrix into a fundamental matrix by applying provided intrinsic parameters on left and right views.

    Methods inherited from class com.irurueta.ar.epipolar.FundamentalMatrix

    areEpipolesAvailable, computeEpipoles, generateCamerasInArbitraryProjectiveSpace, generateCamerasInArbitraryProjectiveSpace, getInternalMatrix, getLeftEpipolarLine, getLeftEpipole, getRightEpipolarLine, getRightEpipole, isInternalMatrixAvailable, isNormalized, leftEpipolarLine, normalize, rightEpipolarLine, setFromHomography

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • DEFAULT_SINGULAR_VALUES_THRESHOLD

      public static final double DEFAULT_SINGULAR_VALUES_THRESHOLD
      Default threshold to determine that the two non-zero singular values are equal.
      See Also:

    • rotation1

      private com.irurueta.geometry.Rotation3D rotation1

    • rotation2

      private com.irurueta.geometry.Rotation3D rotation2

    • translation1

      private com.irurueta.geometry.Point2D translation1

    • translation2

      private com.irurueta.geometry.Point2D translation2

    • possibleRotationsAndTranslationsAvailable

      private boolean possibleRotationsAndTranslationsAvailable

  • Constructor Details

    • EssentialMatrix

      public EssentialMatrix()
      Constructor.

    • EssentialMatrix

      public EssentialMatrix(com.irurueta.algebra.Matrix internalMatrix, double singularValuesThreshold) throws InvalidEssentialMatrixException
      Constructor.
      Parameters:
      internalMatrix - matrix to be set internally.
      singularValuesThreshold - threshold to determine that both singular values are equal.
      Throws:
      InvalidEssentialMatrixException - if provided matrix is not 3x3, does not have rank 2 or its two non-zero singular values are not equal up to provided threshold.
      IllegalArgumentException - if provided threshold is negative.

    • EssentialMatrix

      public EssentialMatrix(com.irurueta.algebra.Matrix internalMatrix) throws InvalidEssentialMatrixException
      Constructor.
      Parameters:
      internalMatrix - matrix to be set internally.
      Throws:
      InvalidEssentialMatrixException - if provided matrix is not 3x3, does not have rank 2 or its two non-zero singular values are not equal.

    • EssentialMatrix

      public EssentialMatrix(com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera, double singularValuesThreshold) throws InvalidPairOfCamerasException
      Constructor from a pair of cameras.
      Parameters:
      leftCamera - camera corresponding to left view.
      rightCamera - camera corresponding to right view.
      singularValuesThreshold - threshold to determine that both singular values of generated essential matrix are equal.
      Throws:
      InvalidPairOfCamerasException - if provided cameras do not span a valid epipolar geometry (i.e. they are set in a degenerate configuration).
      IllegalArgumentException - if provided threshold is negative.

    • EssentialMatrix

      public EssentialMatrix(com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera) throws InvalidPairOfCamerasException
      Constructor from a pair of cameras.
      Parameters:
      leftCamera - camera corresponding to left view.
      rightCamera - camera corresponding to right view.
      Throws:
      InvalidPairOfCamerasException - if provided cameras do not span a valid epipolar geometry (i.e. they are set in a degenerate configuration).

    • EssentialMatrix

      public EssentialMatrix(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point2D translation, double singularValuesThreshold) throws InvalidRotationAndTranslationException
      Constructor from rotation and translation of the image of world origin relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
      Parameters:
      rotation - rotation of right camera relative to left camera.
      translation - translation of the image of world origin on right camera relative to left camera.
      singularValuesThreshold - threshold to determine that both singular values of generated essential matrix are equal.
      Throws:
      InvalidRotationAndTranslationException - if provided rotation and translation yield a degenerate epipolar geometry.
      IllegalArgumentException - if provided threshold is negative.

    • EssentialMatrix

      public EssentialMatrix(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point2D translation) throws InvalidRotationAndTranslationException
      Constructor from rotation and translation of the image of world origin relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
      Parameters:
      rotation - rotation of right camera relative to left camera.
      translation - translation of the image of world origin on right camera relative to left camera.
      Throws:
      InvalidRotationAndTranslationException - if provided rotation and translation yield a degenerate epipolar geometry.

    • EssentialMatrix

      public EssentialMatrix(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point3D cameraCenter, double singularValuesThreshold) throws InvalidRotationAndTranslationException
      Constructor from rotation and translation of the camera center relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
      Parameters:
      rotation - rotation of right camera relative to left camera.
      cameraCenter - camera center of right camera relative to left camera.
      singularValuesThreshold - threshold to determine that both singular values of generated essential matrix are equal.
      Throws:
      InvalidRotationAndTranslationException - if provided rotation and translation yield a degenerate epipolar geometry.
      IllegalArgumentException - if provided threshold is negative.

    • EssentialMatrix

      public EssentialMatrix(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point3D cameraCenter) throws InvalidRotationAndTranslationException
      Constructor from rotation and translation of the camera center relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
      Parameters:
      rotation - rotation of right camera relative to left camera.
      cameraCenter - camera center of right camera relative to left camera.
      Throws:
      InvalidRotationAndTranslationException - if provided rotation and translation yield a degenerate epipolar geometry.

    • EssentialMatrix

      public EssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsicParameters, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsicParameters) throws InvalidPairOfIntrinsicParametersException
      Constructor from fundamental matrix and intrinsic camera parameters.
      Parameters:
      fundamentalMatrix - a fundamental matrix.
      leftIntrinsicParameters - intrinsic camera parameters of left view.
      rightIntrinsicParameters - intrinsic camera parameters of right view.
      Throws:
      InvalidPairOfIntrinsicParametersException - if provided intrinsic parameters generate an invalid essential matrix.

  • Method Details

    • setInternalMatrix

      public final void setInternalMatrix(com.irurueta.algebra.Matrix internalMatrix) throws InvalidEssentialMatrixException
      Sets internal matrix associated to this instance. This method makes a copy of provided matrix.
      Overrides:
      setInternalMatrix in class FundamentalMatrix
      Parameters:
      internalMatrix - matrix to be assigned to this instance.
      Throws:
      InvalidEssentialMatrixException - if provided matrix is not 3x3, does not have rank 2 or its two non-zero singular values are not equal.

    • setInternalMatrix

      public final void setInternalMatrix(com.irurueta.algebra.Matrix internalMatrix, double singularValuesThreshold) throws InvalidEssentialMatrixException
      Sets internal matrix associated to this instance. This method makes a copy of provided matrix.
      Parameters:
      internalMatrix - matrix to be assigned to this instance.
      singularValuesThreshold - threshold to determine that both singular values are equal.
      Throws:
      IllegalArgumentException - if provided threshold is negative.
      InvalidEssentialMatrixException - if provided matrix is not 3x3, does not have rank 2 or its two non-zero singular values are not equal up to provided threshold.

    • isValidInternalMatrix

      public static boolean isValidInternalMatrix(com.irurueta.algebra.Matrix internalMatrix)
      Returns a boolean indicating whether provided matrix is a valid essential matrix (i.e. has size 3x3, rank 2 and two non-zero and equal singular values).
      Parameters:
      internalMatrix - matrix to be checked.
      Returns:
      true if provided matrix is a valid essential matrix, false otherwise.

    • isValidInternalMatrix

      public static boolean isValidInternalMatrix(com.irurueta.algebra.Matrix internalMatrix, double singularValuesThreshold)
      Returns a boolean indicating whether provided matrix is a valid essential matrix (i.e. has size 3x3, rank 2 and his two non-zero singular values are equal up to provided threshold).
      Parameters:
      internalMatrix - matrix to be checked.
      singularValuesThreshold - threshold to determine that both singular values are equal.
      Returns:
      true if provided matrix is a valid essential matrix, false otherwise.
      Throws:
      IllegalArgumentException - if provided threshold is negative.

    • setFromPairOfCameras

      public void setFromPairOfCameras(com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera) throws InvalidPairOfCamerasException
      Sets essential matrix from provided a pair of cameras.
      Overrides:
      setFromPairOfCameras in class FundamentalMatrix
      Parameters:
      leftCamera - camera corresponding to left view.
      rightCamera - camera corresponding to right view.
      Throws:
      InvalidPairOfCamerasException - if provided cameras do not span a valid epipolar geometry (i.e. they are set in a degenerate configuration).

    • setFromPairOfCameras

      public final void setFromPairOfCameras(com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera, double singularValuesThreshold) throws InvalidPairOfCamerasException
      Sets essential matrix from provided a pair of cameras.
      Parameters:
      leftCamera - camera corresponding to left view.
      rightCamera - camera corresponding to right view.
      singularValuesThreshold - threshold to determine that both singular values of generated essential matrix are equal.
      Throws:
      InvalidPairOfCamerasException - if provided cameras do not span a valid epipolar geometry (i.e. they are set in a degenerate configuration).
      IllegalArgumentException - if provided threshold is negative.

    • setFromRotationAndTranslation

      public void setFromRotationAndTranslation(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point2D translation) throws InvalidRotationAndTranslationException
      Sets essential matrix from provided rotation and translation of the image of world origin relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
      Parameters:
      rotation - rotation of right camera relative to left camera.
      translation - translation of the image of world origin on right camera relative to left camera.
      Throws:
      InvalidRotationAndTranslationException - if provided rotation and translation yield a degenerate epipolar geometry.

    • setFromRotationAndTranslation

      public final void setFromRotationAndTranslation(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point2D translation, double singularValuesThreshold) throws InvalidRotationAndTranslationException
      Sets essential matrix from provided rotation and translation of the image of world origin relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
      Parameters:
      rotation - rotation of right camera relative to left camera.
      translation - translation of the image of world origin on right camera relative to left camera.
      singularValuesThreshold - threshold to determine that both singular values of generated essential matrix are equal.
      Throws:
      InvalidRotationAndTranslationException - if provided rotation and translation yield a degenerate epipolar geometry.
      IllegalArgumentException - if provided threshold is negative.

    • setFromRotationAndCameraCenter

      public void setFromRotationAndCameraCenter(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point3D cameraCenter) throws InvalidRotationAndTranslationException
      Sets essential matrix from provided rotation and translation of the camera center relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
      Parameters:
      rotation - rotation of right camera relative to left camera.
      cameraCenter - camera center of right camera relative to left camera.
      Throws:
      InvalidRotationAndTranslationException - if provided rotation and camera center yield a degenerate epipolar geometry.

    • setFromRotationAndCameraCenter

      public final void setFromRotationAndCameraCenter(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point3D cameraCenter, double singularValuesThreshold) throws InvalidRotationAndTranslationException
      Sets essential matrix from provided rotation and translation of the camera center relative to left view camera, which is assumed to be located at origin of coordinates with no rotation.
      Parameters:
      rotation - rotation of right camera relative to left camera.
      cameraCenter - camera center of right camera relative to left camera.
      singularValuesThreshold - threshold to determine that both singular values of generated essential matrix are equal.
      Throws:
      InvalidRotationAndTranslationException - if provided rotation and camera center yield a degenerate epipolar geometry.
      IllegalArgumentException - if provided threshold is negative.

    • setFromFundamentalMatrixAndIntrinsics

      public final void setFromFundamentalMatrixAndIntrinsics(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsicParameters, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsicParameters) throws InvalidPairOfIntrinsicParametersException
      Sets essential matrix from provided fundamental matrix and intrinsic camera parameters.
      Parameters:
      fundamentalMatrix - a fundamental matrix.
      leftIntrinsicParameters - intrinsic camera parameters of left view.
      rightIntrinsicParameters - intrinsic camera parameters of right view.
      Throws:
      InvalidPairOfIntrinsicParametersException - if provided intrinsic parameters generate an invalid essential matrix.

    • toFundamentalMatrix

      public FundamentalMatrix toFundamentalMatrix(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsicParameters, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsicParameters) throws EpipolarException
      Converts this essential matrix into a fundamental matrix by applying provided intrinsic parameters on left and right views. The essential matrix only contains information about rotation and translation relating two views, while fundamental matrix also contains information about the intrinsic parameters in both views. NOTE: although essential matrix is a subclass of fundamental matrix, it does not behave like a fundamental matrix.
      Parameters:
      leftIntrinsicParameters - intrinsic parameters in left view.
      rightIntrinsicParameters - intrinsic parameters in right view.
      Returns:
      a fundamental matrix.
      Throws:
      EpipolarException - if something fails.

    • computePossibleRotationAndTranslations

      public void computePossibleRotationAndTranslations() throws InvalidEssentialMatrixException
      Computes all possible camera rotations and translations that can generate this essential matrix.
      Throws:
      InvalidEssentialMatrixException - if essential matrix contains numerically unstable values.

    • arePossibleRotationsAndTranslationsAvailable

      public boolean arePossibleRotationsAndTranslationsAvailable()
      Indicates whether possible camera rotations and translations that can generate this essential matrix have already been computed or not.
      Returns:
      true if possible camera rotations and translations have been computed, false otherwise.

    • getFirstPossibleRotation

      public com.irurueta.geometry.Rotation3D getFirstPossibleRotation() throws com.irurueta.geometry.NotAvailableException
      Gets first possible rotation that can generate this essential matrix.
      Returns:
      first possible rotation.
      Throws:
      com.irurueta.geometry.NotAvailableException - if possible rotation has not yet been computed.

    • getSecondPossibleRotation

      public com.irurueta.geometry.Rotation3D getSecondPossibleRotation() throws com.irurueta.geometry.NotAvailableException
      Gets second possible rotation that can generate this essential matrix.
      Returns:
      second possible rotation.
      Throws:
      com.irurueta.geometry.NotAvailableException - if possible rotation has not yet been computed.

    • getFirstPossibleTranslation

      public com.irurueta.geometry.Point2D getFirstPossibleTranslation() throws com.irurueta.geometry.NotAvailableException
      Gets first possible translation that can generate this essential matrix.
      Returns:
      first possible translation.
      Throws:
      com.irurueta.geometry.NotAvailableException - if possible translation has not yet been computed.

    • getSecondPossibleTranslation

      public com.irurueta.geometry.Point2D getSecondPossibleTranslation() throws com.irurueta.geometry.NotAvailableException
      Gets second possible translation that can generate this essential matrix.
      Returns:
      second possible translation.
      Throws:
      com.irurueta.geometry.NotAvailableException - if possible translation has not yet been computed.