Package com.irurueta.ar.epipolar

Class GoldStandardSingleCorrector

java.lang.Object

com.irurueta.ar.epipolar.SingleCorrector

com.irurueta.ar.epipolar.GoldStandardSingleCorrector

public class GoldStandardSingleCorrector
extends SingleCorrector

Fixes a single matched pair of points so that they perfectly follow a given epipolar geometry using the Gold Standard method, which is capable to completely remove errors assuming their gaussianity. When matching points typically the matching precision is about 1 pixel, however this makes that matched points under a given epipolar geometry (i.e. fundamental or essential matrix), do not lie perfectly on the corresponding epipolar plane or epipolar lines. The consequence is that triangularization of these matches will fail or produce inaccurate results. By fixing matched points using a corrector following a given epipolar geometry, this effect is alleviated. This corrector uses the Gold Standard method, which is more expensive to compute than the Sampson approximation, but is capable to remove larger errors assuming their gaussianity. Contrary to the Sampson corrector, the Gold Standard method might fail in some situations, while in those cases probably the Sampson corrector produces wrong results without failing.

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	EPS	A tiny value.

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

DEFAULT_TYPE, fundamentalMatrix, leftCorrectedPoint, leftPoint, rightCorrectedPoint, rightPoint

Constructor Summary

Constructors

Constructor	Description
GoldStandardSingleCorrector()	Constructor.
GoldStandardSingleCorrector(FundamentalMatrix fundamentalMatrix)	Constructor.
GoldStandardSingleCorrector(com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint)	Constructor.
GoldStandardSingleCorrector(com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint, FundamentalMatrix fundamentalMatrix)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	correct()	Corrects the pair of provided matched points to be corrected.
static void	correct(com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint, FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.Point2D correctedLeftPoint, com.irurueta.geometry.Point2D correctedRightPoint)	Corrects the pair of provided matched points to be corrected using provided fundamental matrix and stores the corrected points into provided instances.
CorrectorType	getType()	Gets type of correction being used.
private static double	s(double t, double a, double b, double c, double d, double f1, double f2)	Evaluates polynomial to be minimized in order to find best corrected points.

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

create, create, create, create, create, create, create, create, getFundamentalMatrix, getLeftCorrectedPoint, getLeftPoint, getRightCorrectedPoint, getRightPoint, isReady, setFundamentalMatrix, setPoints, setPointsAndFundamentalMatrix

Methods inherited from class java.lang.Object

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

Field Details

EPS

private static final double EPS

A tiny value.

See Also:

• Constant Field Values

Constructor Details

GoldStandardSingleCorrector

public GoldStandardSingleCorrector()

Constructor.

GoldStandardSingleCorrector

public GoldStandardSingleCorrector(FundamentalMatrix fundamentalMatrix)

Constructor.

Parameters:

fundamentalMatrix - fundamental matrix defining the epipolar geometry.

GoldStandardSingleCorrector

public GoldStandardSingleCorrector(com.irurueta.geometry.Point2D leftPoint,
 com.irurueta.geometry.Point2D rightPoint)

Constructor.

Parameters:

leftPoint - matched point on left view to be corrected.

rightPoint - matched point on right view to be corrected.

GoldStandardSingleCorrector

public GoldStandardSingleCorrector(com.irurueta.geometry.Point2D leftPoint,
 com.irurueta.geometry.Point2D rightPoint,
 FundamentalMatrix fundamentalMatrix)

Constructor.

Parameters:

leftPoint - matched point on left view to be corrected.

rightPoint - matched point on right view to be corrected.

fundamentalMatrix - fundamental matrix defining an epipolar geometry.

Method Details

correct

public void correct()
             throws com.irurueta.geometry.estimators.NotReadyException,
CorrectionException

Corrects the pair of provided matched points to be corrected.

Specified by:

correct in class SingleCorrector

Throws:

com.irurueta.geometry.estimators.NotReadyException - if this instance is not ready (either points or fundamental matrix has not been provided yet).

CorrectionException - if correction fails.

getType

public CorrectorType getType()

Gets type of correction being used.

Specified by:

getType in class SingleCorrector

Returns:

type of correction.

correct

public static void correct(com.irurueta.geometry.Point2D leftPoint,
 com.irurueta.geometry.Point2D rightPoint,
 FundamentalMatrix fundamentalMatrix,
 com.irurueta.geometry.Point2D correctedLeftPoint,
 com.irurueta.geometry.Point2D correctedRightPoint)
                    throws com.irurueta.geometry.estimators.NotReadyException,
CorrectionException

Corrects the pair of provided matched points to be corrected using provided fundamental matrix and stores the corrected points into provided instances.

Parameters:

leftPoint - point on left view to be corrected.

rightPoint - point on right view to be corrected.

fundamentalMatrix - fundamental matrix defining the epipolar geometry.

correctedLeftPoint - point on left view after correction.

correctedRightPoint - point on right view after correction.

Throws:

com.irurueta.geometry.estimators.NotReadyException - if provided fundamental matrix is not ready.

CorrectionException - if correction fails.

s

private static double s(double t,
 double a,
 double b,
 double c,
 double d,
 double f1,
 double f2)

Evaluates polynomial to be minimized in order to find best corrected points.

Parameters:

t - polynomial variable.

a - a value for transformed fundamental matrix.

b - b value for transformed fundamental matrix.

c - c value for transformed fundamental matrix.

d - d value for transformed fundamental matrix.

f1 - f1 value for transformed fundamental matrix.

f2 - f2 value for transformed fundamental matrix.

Returns:

evaluated polynomial value.