Package com.irurueta.ar.epipolar.refiners

Class InhomogeneousRightEpipoleRefiner

java.lang.Object

com.irurueta.geometry.refiners.Refiner<T>

com.irurueta.geometry.refiners.InliersDataRefiner<T>

com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner<com.irurueta.geometry.Point2D,com.irurueta.geometry.Point2D,com.irurueta.geometry.Point2D>

com.irurueta.ar.epipolar.refiners.RightEpipoleRefiner

com.irurueta.ar.epipolar.refiners.InhomogeneousRightEpipoleRefiner

public class InhomogeneousRightEpipoleRefiner
extends RightEpipoleRefiner

Refines the epipole of a fundamental matrix formed by an initial epipole estimation and an estimated homography. Any fundamental matrix can be expressed as F = [e']x*H, where e' is the epipole on the right view, []x is the skew matrix, and H is a non-degenerate homography. This class refines an initial epipole so that residuals from provided point correspondences generating fundamental matrix F are reduced. This class is especially useful in cases where geometry of the scene is degenerate (e.g. planar scene) and provided point correspondences would generate an inaccurate fundamental matrix. This implementation uses Levenberg-Marquardt algorithm for a fast cost optimization and uses inhomogeneous points for epipole refinement, which makes it unsuitable for cases when epipoles are at or near infinity (i.e. pure lateral translations).

Field Summary

Fields

Modifier and Type	Field	Description
static final int	MAX_ITERS	Maximum allowed number of refinement iterations.

Fields inherited from class com.irurueta.ar.epipolar.refiners.RightEpipoleRefiner

homography, testLine

Fields inherited from class com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner

samples1, samples2

Fields inherited from class com.irurueta.geometry.refiners.InliersDataRefiner

inliers, numInliers, residuals

Fields inherited from class com.irurueta.geometry.refiners.Refiner

covariance, DEFAULT_KEEP_COVARIANCE, initialEstimation, keepCovariance, listener, locked

Constructor Summary

Constructors

Constructor	Description
InhomogeneousRightEpipoleRefiner()	Constructor.
InhomogeneousRightEpipoleRefiner(com.irurueta.geometry.Point2D initialEpipoleEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<com.irurueta.geometry.Point2D> samples1, List<com.irurueta.geometry.Point2D> samples2, double refinementStandardDeviation, com.irurueta.geometry.Transformation2D homography)	Constructor.
InhomogeneousRightEpipoleRefiner(com.irurueta.geometry.Point2D initialEpipoleEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<com.irurueta.geometry.Point2D> samples1, List<com.irurueta.geometry.Point2D> samples2, double refinementStandardDeviation, com.irurueta.geometry.Transformation2D homography)	Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	refine(com.irurueta.geometry.Point2D result)	Refines provided initial right epipole estimation.

Methods inherited from class com.irurueta.ar.epipolar.refiners.RightEpipoleRefiner

computeFundamentalMatrix, getHomography, getRefinementStandardDeviation, isReady, refine, residual, setHomography, setRefinementStandardDeviation, totalResidual

Methods inherited from class com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner

getSamples1, getSamples2, setSamples1, setSamples2

Methods inherited from class com.irurueta.geometry.refiners.InliersDataRefiner

getInliers, getNumInliers, getResiduals, getTotalSamples, setInliers, setInliersData, setNumInliers, setResiduals

Methods inherited from class com.irurueta.geometry.refiners.Refiner

getCovariance, getInitialEstimation, getListener, isCovarianceKept, isLocked, setCovarianceKept, setInitialEstimation, setListener

Methods inherited from class java.lang.Object

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

Field Details

MAX_ITERS

public static final int MAX_ITERS

Maximum allowed number of refinement iterations.

See Also:

• Constant Field Values

Constructor Details

InhomogeneousRightEpipoleRefiner

public InhomogeneousRightEpipoleRefiner()

Constructor.

InhomogeneousRightEpipoleRefiner

public InhomogeneousRightEpipoleRefiner(com.irurueta.geometry.Point2D initialEpipoleEstimation,
 boolean keepCovariance,
 BitSet inliers,
 double[] residuals,
 int numInliers,
 List<com.irurueta.geometry.Point2D> samples1,
 List<com.irurueta.geometry.Point2D> samples2,
 double refinementStandardDeviation,
 com.irurueta.geometry.Transformation2D homography)

Constructor.

Parameters:

initialEpipoleEstimation - initial right epipole estimation to be set and refined.

keepCovariance - true if covariance of estimation must be kept after refinement, false otherwise.

inliers - set indicating which of the provided matches are inliers.

residuals - residuals for matched samples.

numInliers - number of inliers on initial estimation.

samples1 - 1st set of paired samples.

samples2 - 2nd set of paired samples.

refinementStandardDeviation - standard deviation used for Levenberg-Marquardt fitting.

homography - homography relating samples in two views, which is used to generate a fundamental matrix and its corresponding epipolar geometry.

InhomogeneousRightEpipoleRefiner

public InhomogeneousRightEpipoleRefiner(com.irurueta.geometry.Point2D initialEpipoleEstimation,
 boolean keepCovariance,
 com.irurueta.numerical.robust.InliersData inliersData,
 List<com.irurueta.geometry.Point2D> samples1,
 List<com.irurueta.geometry.Point2D> samples2,
 double refinementStandardDeviation,
 com.irurueta.geometry.Transformation2D homography)

Constructor.

Parameters:

initialEpipoleEstimation - initial right epipole estimation to be set and refined.

keepCovariance - true if covariance of estimation must be kept after refinement, false otherwise.

inliersData - inlier data, typically obtained from a robust estimator.

samples1 - 1st set of paired samples.

samples2 - 2nd set of paired samples.

refinementStandardDeviation - standard deviation used for Levenberg-Marquardt fitting.

homography - homography relating samples in two views, which is used to generate a fundamental matrix and its corresponding epipolar geometry.

Method Details

refine

public boolean refine(com.irurueta.geometry.Point2D result)
               throws com.irurueta.geometry.estimators.NotReadyException,
com.irurueta.geometry.estimators.LockedException,
com.irurueta.geometry.refiners.RefinerException

Refines provided initial right epipole estimation. This method always sets a value into provided result instance regardless of the fact that error has actually improved in LMSE terms or not.

Specified by:

refine in class com.irurueta.geometry.refiners.Refiner<com.irurueta.geometry.Point2D>

Parameters:

result - instance where refined estimation will be stored.

Returns:

true if result improves (decreases) in LMSE terms respect to initial estimation, false if no improvement has been achieved.

Throws:

com.irurueta.geometry.estimators.NotReadyException - if not enough input data has been provided.

com.irurueta.geometry.estimators.LockedException - if estimator is locked because refinement is already in progress.

com.irurueta.geometry.refiners.RefinerException - if refinement fails for some reason (e.g. unable to converge to a result).