Package com.irurueta.ar.epipolar

Class SampsonSingleCorrector

java.lang.Object

com.irurueta.ar.epipolar.SingleCorrector

com.irurueta.ar.epipolar.SampsonSingleCorrector

public class SampsonSingleCorrector
extends SingleCorrector

Fixes a single matched pair of points so that they perfectly follow a given epipolar geometry using the Sampson approximation. 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.SingleCorrector

DEFAULT_TYPE, fundamentalMatrix, leftCorrectedPoint, leftPoint, rightCorrectedPoint, rightPoint

Constructor Summary

Constructors

Constructor	Description
SampsonSingleCorrector()	Constructor.
SampsonSingleCorrector(FundamentalMatrix fundamentalMatrix)	Constructor.
SampsonSingleCorrector(com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint)	Constructor.
SampsonSingleCorrector(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.
protected 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, com.irurueta.geometry.Line2D leftEpipolarLine, com.irurueta.geometry.Line2D rightEpipolarLine)	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.

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

Constructor Details

SampsonSingleCorrector

public SampsonSingleCorrector()

Constructor.

SampsonSingleCorrector

public SampsonSingleCorrector(FundamentalMatrix fundamentalMatrix)

Constructor.

Parameters:

fundamentalMatrix - fundamental matrix defining the epipolar geometry.

SampsonSingleCorrector

public SampsonSingleCorrector(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.

SampsonSingleCorrector

public SampsonSingleCorrector(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

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).

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

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.

correct

protected 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,
 com.irurueta.geometry.Line2D leftEpipolarLine,
 com.irurueta.geometry.Line2D rightEpipolarLine)
                       throws com.irurueta.geometry.estimators.NotReadyException

Corrects the pair of provided matched points to be corrected using provided fundamental matrix and stores the corrected points into provided instances. Provided epipolar lines are used for memory efficiency purposes only, so that those instances can be reused.

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.

leftEpipolarLine - left epipolar line to be reused for memory efficiency purposes.

rightEpipolarLine - right epipolar line to be reused for memory efficiency purposes.

Throws:

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