Package com.irurueta.ar.epipolar.estimators

Class PlanarFundamentalMatrixEstimator

java.lang.Object
com.irurueta.ar.epipolar.estimators.PlanarFundamentalMatrixEstimator
public class PlanarFundamentalMatrixEstimator extends Object
This class takes an input 2D homography (e.g. transformation) and a given pair of intrinsic parameters for left and right views, and estimates all possible fundamental matrices generating such homography in a planar scene. This estimator will generate either 2 or 4 possible solutions, however only 1 solution will be physically possible, which corresponds to the solution that generates triangulated points located in front of the cameras generating such epipolar geometries. This class is useful in planar scenes where 8-point and 7-point algorithms will fail since this kind of geometry is a degenerate configuration of points.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private com.irurueta.geometry.Transformation2D
    homography
    2D transformation relating two views (left view to right view).
    private com.irurueta.geometry.PinholeCameraIntrinsicParameters
    leftIntrinsics
    Intrinsic parameters to be used on left view.
    private PlanarFundamentalMatrixEstimatorListener
    listener
    Listener to attend events generated by this instance.
    private boolean
    locked
    Indicates whether estimator is locked while estimating fundamental matrix.
    private com.irurueta.geometry.PinholeCameraIntrinsicParameters
    rightIntrinsics
    Intrinsic parameters to be used on right view.

  • Constructor Summary

    Constructors
    Constructor
    Description
    PlanarFundamentalMatrixEstimator()
    Constructor.
    PlanarFundamentalMatrixEstimator(com.irurueta.geometry.Transformation2D homography, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsics, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsics)
    Constructor.
    PlanarFundamentalMatrixEstimator(com.irurueta.geometry.Transformation2D homography, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsics, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsics, PlanarFundamentalMatrixEstimatorListener listener)
    Constructor.

  • Method Summary

    Modifier and Type
    Method
    Description
    List<FundamentalMatrix>
    estimate()
    Estimates fundamental matrices and returns the estimated result.
    void
    estimate(List<FundamentalMatrix> result)
    Estimates fundamental matrices and stores result into provided instance.
    com.irurueta.geometry.Transformation2D
    getHomography()
    Gets 2D transformation relating two views (left view to right view).
    com.irurueta.geometry.PinholeCameraIntrinsicParameters
    getLeftIntrinsics()
    Gets intrinsic parameters to be used on left view.
    PlanarFundamentalMatrixEstimatorListener
    getListener()
    Gets listener to attend events generated by this instance.
    com.irurueta.geometry.PinholeCameraIntrinsicParameters
    getRightIntrinsics()
    Gets intrinsic parameters to be used on right view.
    boolean
    isLocked()
    Indicates whether estimator is locked while estimating fundamental matrix.
    boolean
    isReady()
    Indicates whether estimator is ready to start the estimation when all required data has been provided.
    void
    setHomography(com.irurueta.geometry.Transformation2D homography)
    Sets 2D transformation relating two views (left view to right view).
    void
    setLeftIntrinsics(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsics)
    Sets intrinsic parameters to be used on left view.
    void
    setListener(PlanarFundamentalMatrixEstimatorListener listener)
    Sets listener to attend events generated by this instance.
    void
    setRightIntrinsics(com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsics)
    Sets intrinsic parameters to be used on right view.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • homography

      private com.irurueta.geometry.Transformation2D homography
      2D transformation relating two views (left view to right view).

    • leftIntrinsics

      private com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsics
      Intrinsic parameters to be used on left view.

    • rightIntrinsics

      private com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsics
      Intrinsic parameters to be used on right view.

    • listener

      private PlanarFundamentalMatrixEstimatorListener listener
      Listener to attend events generated by this instance.

    • locked

      private boolean locked
      Indicates whether estimator is locked while estimating fundamental matrix.

  • Constructor Details

    • PlanarFundamentalMatrixEstimator

      public PlanarFundamentalMatrixEstimator()
      Constructor.

    • PlanarFundamentalMatrixEstimator

      public PlanarFundamentalMatrixEstimator(com.irurueta.geometry.Transformation2D homography, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsics, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsics)
      Constructor.
      Parameters:
      homography - 2D transformation relating two views (left view to right view).
      leftIntrinsics - intrinsic parameters to be used on left view.
      rightIntrinsics - intrinsic parameters to be used on right view.

    • PlanarFundamentalMatrixEstimator

      public PlanarFundamentalMatrixEstimator(com.irurueta.geometry.Transformation2D homography, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsics, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsics, PlanarFundamentalMatrixEstimatorListener listener)
      Constructor.
      Parameters:
      homography - 2D transformation relating two views (left view to right view).
      leftIntrinsics - intrinsic parameters to be used on left view.
      rightIntrinsics - intrinsic parameters to be used on right view.
      listener - listener to attend events generated by this instance.

  • Method Details

    • getHomography

      public com.irurueta.geometry.Transformation2D getHomography()
      Gets 2D transformation relating two views (left view to right view).
      Returns:
      2D transformation relating two views.

    • setHomography

      public void setHomography(com.irurueta.geometry.Transformation2D homography) throws com.irurueta.geometry.estimators.LockedException
      Sets 2D transformation relating two views (left view to right view).
      Parameters:
      homography - 2D transformation relating two views.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • getLeftIntrinsics

      public com.irurueta.geometry.PinholeCameraIntrinsicParameters getLeftIntrinsics()
      Gets intrinsic parameters to be used on left view.
      Returns:
      intrinsic parameters to be used on left view.

    • setLeftIntrinsics

      public void setLeftIntrinsics(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsics) throws com.irurueta.geometry.estimators.LockedException
      Sets intrinsic parameters to be used on left view.
      Parameters:
      leftIntrinsics - intrinsic parameters to be used on left view.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • getRightIntrinsics

      public com.irurueta.geometry.PinholeCameraIntrinsicParameters getRightIntrinsics()
      Gets intrinsic parameters to be used on right view.
      Returns:
      intrinsic parameters to be used on right view.

    • setRightIntrinsics

      public void setRightIntrinsics(com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsics) throws com.irurueta.geometry.estimators.LockedException
      Sets intrinsic parameters to be used on right view.
      Parameters:
      rightIntrinsics - intrinsic parameters to be used on right view.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • getListener

      public PlanarFundamentalMatrixEstimatorListener getListener()
      Gets listener to attend events generated by this instance.
      Returns:
      listener to attend events generated by this instance.

    • setListener

      public void setListener(PlanarFundamentalMatrixEstimatorListener listener)
      Sets listener to attend events generated by this instance.
      Parameters:
      listener - listener to attend events generated by this instance.

    • isLocked

      public boolean isLocked()
      Indicates whether estimator is locked while estimating fundamental matrix.
      Returns:
      true if estimator is locked, false otherwise.

    • isReady

      public boolean isReady()
      Indicates whether estimator is ready to start the estimation when all required data has been provided.
      Returns:
      true if estimator is ready, false otherwise.

    • estimate

      public List<FundamentalMatrix> estimate() throws com.irurueta.geometry.estimators.LockedException, com.irurueta.geometry.estimators.NotReadyException, FundamentalMatrixEstimatorException
      Estimates fundamental matrices and returns the estimated result.
      Returns:
      estimated fundamental matrices.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.
      com.irurueta.geometry.estimators.NotReadyException - if estimator is not ready.
      FundamentalMatrixEstimatorException - if estimation fails for some reason.

    • estimate

      public void estimate(List<FundamentalMatrix> result) throws com.irurueta.geometry.estimators.LockedException, com.irurueta.geometry.estimators.NotReadyException, FundamentalMatrixEstimatorException
      Estimates fundamental matrices and stores result into provided instance.
      Parameters:
      result - instance where result will be stored.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.
      com.irurueta.geometry.estimators.NotReadyException - if estimator is not ready.
      FundamentalMatrixEstimatorException - if estimation fails for some reason.