Package com.irurueta.ar.sfm

Class DualAbsoluteQuadricInitialCamerasEstimator

java.lang.Object

com.irurueta.ar.sfm.InitialCamerasEstimator

com.irurueta.ar.sfm.DualAbsoluteQuadricInitialCamerasEstimator

public class DualAbsoluteQuadricInitialCamerasEstimator
extends InitialCamerasEstimator

Estimates an initial pair of cameras in the metric stratum (up to an arbitrary scale) using a given fundamental matrix and assuming zero skewness and principal point at the origin for the intrinsic parameters of estimated cameras. Aspect ratio can be configured but by default it is assumed to be 1.0.

Field Summary

Fields

Modifier and Type	Field	Description
private double	aspectRatio	Aspect ratio of intrinsic parameters of cameras.

Fields inherited from class com.irurueta.ar.sfm.InitialCamerasEstimator

DEFAULT_METHOD, estimatedLeftCamera, estimatedRightCamera, fundamentalMatrix, listener, locked

Constructor Summary

Constructors

Constructor	Description
DualAbsoluteQuadricInitialCamerasEstimator()	Constructor.
DualAbsoluteQuadricInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix)	Constructor.
DualAbsoluteQuadricInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, InitialCamerasEstimatorListener listener)	Constructor.
DualAbsoluteQuadricInitialCamerasEstimator(InitialCamerasEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	estimate()	Estimates cameras.
static void	generateInitialMetricCamerasUsingDAQ(FundamentalMatrix fundamentalMatrix, double aspectRatio, com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera)	Generates initial cameras in metric stratum (with arbitrary scale) using provided fundamental matrix by means of estimation of the Dual Absolute Quadric and the required projective to metric transformation.
static void	generateInitialMetricCamerasUsingDAQ(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera)	Generates initial cameras in metric stratum (with arbitrary scale) using provided fundamental matrix by means of estimation of the Dual Absolute Quadric and the required projective to metric transformation.
double	getAspectRatio()	Gets aspect ratio of intrinsic parameters of cameras.
InitialCamerasEstimatorMethod	getMethod()	Returns method used by this estimator.
boolean	isReady()	Indicates if estimator is ready.
void	setAspectRatio(double aspectRatio)	Sets aspect ratio of intrinsic parameters of cameras.

Methods inherited from class com.irurueta.ar.sfm.InitialCamerasEstimator

create, create, create, create, create, create, create, create, getEstimatedLeftCamera, getEstimatedRightCamera, getFundamentalMatrix, getListener, isLocked, setFundamentalMatrix, setListener

Methods inherited from class java.lang.Object

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

Field Details

aspectRatio

private double aspectRatio

Aspect ratio of intrinsic parameters of cameras. Typically, this value is 1.0 if vertical coordinates increase upwards, or -1.0 if it is the opposite.

Constructor Details

DualAbsoluteQuadricInitialCamerasEstimator

public DualAbsoluteQuadricInitialCamerasEstimator()

Constructor.

DualAbsoluteQuadricInitialCamerasEstimator

public DualAbsoluteQuadricInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix)

Constructor.

Parameters:

fundamentalMatrix - fundamental matrix relating two views.

DualAbsoluteQuadricInitialCamerasEstimator

public DualAbsoluteQuadricInitialCamerasEstimator(InitialCamerasEstimatorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this instance.

DualAbsoluteQuadricInitialCamerasEstimator

public DualAbsoluteQuadricInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix,
 InitialCamerasEstimatorListener listener)

Constructor.

Parameters:

fundamentalMatrix - fundamental matrix relating two views.

listener - listener to handle events raised by this instance.

Method Details

getMethod

public InitialCamerasEstimatorMethod getMethod()

Returns method used by this estimator.

Specified by:

getMethod in class InitialCamerasEstimator

Returns:

method used by this estimator.

isReady

public boolean isReady()

Indicates if estimator is ready.

Specified by:

isReady in class InitialCamerasEstimator

Returns:

true if estimator is ready, false otherwise.

estimate

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

Estimates cameras.

Specified by:

estimate in class InitialCamerasEstimator

Throws:

com.irurueta.geometry.estimators.LockedException - if estimator is locked.

com.irurueta.geometry.estimators.NotReadyException - if estimator is not ready.

InitialCamerasEstimationFailedException - if estimation of cameras fails for some reason, typically due to numerical instabilities.

getAspectRatio

public double getAspectRatio()

Gets aspect ratio of intrinsic parameters of cameras. Typically, this value is 1.0 if vertical coordinates increase upwards, or -1.0 if it is the opposite.

Returns:

aspect ratio of intrinsic parameters of cameras.

setAspectRatio

public void setAspectRatio(double aspectRatio)
                    throws com.irurueta.geometry.estimators.LockedException

Sets aspect ratio of intrinsic parameters of cameras. Typically, this value is 1.0 if vertical coordinates increase upwards, or -1.0 if it is the opposite.

Parameters:

aspectRatio - aspect ratio of intrinsic parameters of cameras.

Throws:

com.irurueta.geometry.estimators.LockedException - if estimator is locked.

generateInitialMetricCamerasUsingDAQ

public static void generateInitialMetricCamerasUsingDAQ(FundamentalMatrix fundamentalMatrix,
 com.irurueta.geometry.PinholeCamera leftCamera,
 com.irurueta.geometry.PinholeCamera rightCamera)
                                                 throws InitialCamerasEstimationFailedException

Generates initial cameras in metric stratum (with arbitrary scale) using provided fundamental matrix by means of estimation of the Dual Absolute Quadric and the required projective to metric transformation.

Parameters:

fundamentalMatrix - input fundamental matrix to estimate cameras.

leftCamera - instance where left camera will be stored.

rightCamera - instance where right camera will be stored.

Throws:

InitialCamerasEstimationFailedException - if estimation fails.

generateInitialMetricCamerasUsingDAQ

public static void generateInitialMetricCamerasUsingDAQ(FundamentalMatrix fundamentalMatrix,
 double aspectRatio,
 com.irurueta.geometry.PinholeCamera leftCamera,
 com.irurueta.geometry.PinholeCamera rightCamera)
                                                 throws InitialCamerasEstimationFailedException

Generates initial cameras in metric stratum (with arbitrary scale) using provided fundamental matrix by means of estimation of the Dual Absolute Quadric and the required projective to metric transformation.

Parameters:

fundamentalMatrix - input fundamental matrix to estimate cameras.

aspectRatio - aspect ratio of intrinsic parameters of cameras. Typically, this value is 1.0 if vertical coordinates increase upwards or -1.0 if it is the opposite.

leftCamera - instance where left camera will be stored.

rightCamera - instance where right camera will be stored.

Throws:

InitialCamerasEstimationFailedException - if estimation fails.