Package com.irurueta.ar.epipolar

Class SampsonCorrector

java.lang.Object

com.irurueta.ar.epipolar.Corrector

com.irurueta.ar.epipolar.SampsonCorrector

public class SampsonCorrector
extends Corrector

Fixes matched pairs of points so that they perfectly follow a given epipolar geometry. 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 Sampson approximation which is capable to remove small errors when matches are close to their real epipolar lines. This method is faster than the Gold Standard method, but can only correct small errors (1 or 2 pixels).

Field Summary

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

DEFAULT_PROGRESS_DELTA, DEFAULT_TYPE, fundamentalMatrix, leftCorrectedPoints, leftPoints, listener, locked, MAX_PROGRESS_DELTA, MIN_PROGRESS_DELTA, progressDelta, rightCorrectedPoints, rightPoints

Constructor Summary

Constructors

Constructor	Description
SampsonCorrector()	Constructor.
SampsonCorrector(CorrectorListener listener)	Constructor.
SampsonCorrector(FundamentalMatrix fundamentalMatrix)	Constructor.
SampsonCorrector(FundamentalMatrix fundamentalMatrix, CorrectorListener listener)	Constructor.
SampsonCorrector(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)	Constructor.
SampsonCorrector(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, CorrectorListener listener)	Constructor.
SampsonCorrector(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix)	Constructor.
SampsonCorrector(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix, CorrectorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	correct()	Corrects the lists of provided matched points to be corrected.
CorrectorType	getType()	Gets type of correction being used.

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

areValidPoints, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getFundamentalMatrix, getLeftCorrectedPoints, getLeftPoints, getListener, getProgressDelta, getRightCorrectedPoints, getRightPoints, isLocked, isReady, setFundamentalMatrix, setLeftAndRightPoints, setListener, setPointsAndFundamentalMatrix, setProgressDelta

Methods inherited from class java.lang.Object

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

Constructor Details

SampsonCorrector

public SampsonCorrector()

Constructor.

SampsonCorrector

public SampsonCorrector(FundamentalMatrix fundamentalMatrix)

Constructor.

Parameters:

fundamentalMatrix - fundamental matrix to be set.

SampsonCorrector

public SampsonCorrector(List<com.irurueta.geometry.Point2D> leftPoints,
 List<com.irurueta.geometry.Point2D> rightPoints)

Constructor.

Parameters:

leftPoints - points to be corrected on left view.

rightPoints - points to be corrected on right view.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size.

SampsonCorrector

public SampsonCorrector(List<com.irurueta.geometry.Point2D> leftPoints,
 List<com.irurueta.geometry.Point2D> rightPoints,
 FundamentalMatrix fundamentalMatrix)

Constructor.

Parameters:

leftPoints - points to be corrected on left view.

rightPoints - points to be corrected on right view.

fundamentalMatrix - fundamental matrix to be set.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size.

SampsonCorrector

public SampsonCorrector(CorrectorListener listener)

Constructor.

Parameters:

listener - listener to handle events generated by this class.

SampsonCorrector

public SampsonCorrector(FundamentalMatrix fundamentalMatrix,
 CorrectorListener listener)

Constructor.

Parameters:

fundamentalMatrix - fundamental matrix to be set.

listener - listener to handle events generated by this class.

SampsonCorrector

public SampsonCorrector(List<com.irurueta.geometry.Point2D> leftPoints,
 List<com.irurueta.geometry.Point2D> rightPoints,
 CorrectorListener listener)

Constructor.

Parameters:

leftPoints - points to be corrected on left view.

rightPoints - points to be corrected on right view.

listener - listener to handle events generated by this class.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size.

SampsonCorrector

public SampsonCorrector(List<com.irurueta.geometry.Point2D> leftPoints,
 List<com.irurueta.geometry.Point2D> rightPoints,
 FundamentalMatrix fundamentalMatrix,
 CorrectorListener listener)

Constructor.

Parameters:

leftPoints - points to be corrected on left view.

rightPoints - points to be corrected on right view.

fundamentalMatrix - fundamental matrix to be set.

listener - listener to handle events generated by this class.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size.

Method Details

correct

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

Corrects the lists of provided matched points to be corrected.

Specified by:

correct in class Corrector

Throws:

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

com.irurueta.geometry.estimators.LockedException - if this instance is locked doing computations.

getType

public CorrectorType getType()

Gets type of correction being used.

Specified by:

getType in class Corrector

Returns:

type of correction.