Package com.irurueta.ar.sfm

Class EssentialMatrixInitialCamerasEstimator

java.lang.Object
com.irurueta.ar.sfm.InitialCamerasEstimator
com.irurueta.ar.sfm.EssentialMatrixInitialCamerasEstimator
public class EssentialMatrixInitialCamerasEstimator extends InitialCamerasEstimator
Estimates an initial pair of cameras in the metric stratum (up to an arbitrary scale) using a given fundamental matrix and provided intrinsic parameters on left and right views (which can be obtained by offline calibration) to compute the essential matrix and choose the best combination of rotation and translation on estimated cameras so that triangulated 3D points obtained from provided matched 2D points are located in front of the estimated cameras.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private CorrectorType
    correctorType
    Type of corrector to use to triangulate matched points or null if no corrector needs to be used.
    static final boolean
    DEFAULT_MARK_VALID_TRIANGULATED_POINTS
    Indicates whether triangulated points must be marked as valid (i.e. when they lie in front of both of the estimated cameras) or not.
    static final boolean
    DEFAULT_TRIANGULATE_POINTS
    Indicates whether matched 2D points must be triangulated by default.
    private com.irurueta.geometry.PinholeCameraIntrinsicParameters
    leftIntrinsic
    Intrinsic parameters to be used for estimated left camera.
    private List<com.irurueta.geometry.Point2D>
    leftPoints
    Matched 2D points on left view.
    private boolean
    markValidTriangulatedPoints
    Marks which of the triangulated points are marked as valid (lie in front of both of the estimated cameras) and which ones aren't.
    private com.irurueta.geometry.PinholeCameraIntrinsicParameters
    rightIntrinsic
    Intrinsic parameters to be used for estimated right camera.
    private List<com.irurueta.geometry.Point2D>
    rightPoints
    Matched 2D points on right view.
    private List<com.irurueta.geometry.Point3D>
    triangulatedPoints
    Contains triangulated points.
    private boolean
    triangulatePoints
    Indicates whether matched 2D points need to be triangulated.
    private BitSet
    validTriangulatedPoints
    Contains booleans indicating whether triangulated points are valid (i.e.

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

    DEFAULT_METHOD, estimatedLeftCamera, estimatedRightCamera, fundamentalMatrix, listener, locked

  • Constructor Summary

    Constructors
    Constructor
    Description
    EssentialMatrixInitialCamerasEstimator()
    Constructor.
    EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, InitialCamerasEstimatorListener listener)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, InitialCamerasEstimatorListener listener)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, InitialCamerasEstimatorListener listener)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, InitialCamerasEstimatorListener listener)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(InitialCamerasEstimatorListener listener)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, InitialCamerasEstimatorListener listener)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, InitialCamerasEstimatorListener listener)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
    Constructor.
    EssentialMatrixInitialCamerasEstimator(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, InitialCamerasEstimatorListener listener)
    Constructor.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    arePointsTriangulated()
    Indicates whether matched 2D points need to be triangulated or not.
    boolean
    areValidTriangulatedPointsMarked()
    Indicates which triangulated points are marked as valid (lie in front of both of the estimated cameras) and which ones aren't.
    private static int
    computeCamerasAndTriangulation(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point2D translation, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, com.irurueta.geometry.PinholeCamera estimatedLeftCamera, com.irurueta.geometry.PinholeCamera estimatedRightCamera, List<com.irurueta.geometry.Point3D> triangulatedPoints, BitSet validTriangulatedPoints)
    Computes a pair of cameras for provided rotation and translation using provided intrinsic parameters.
    void
    estimate()
    Estimates cameras.
    static int
    generateInitialMetricCamerasFromEssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, CorrectorType correctorType, com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera)
    Generates a pair of metric cameras (up to an arbitrary space) by computing the essential matrix from provided fundamental matrix and intrinsic parameters of left and right cameras, and choosing the best pair of camera pose and translation that yields the largest number of triangulated points laying in front of both of the estimated cameras.
    static int
    generateInitialMetricCamerasFromEssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, CorrectorType correctorType, com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera, List<com.irurueta.geometry.Point3D> triangulatedPoints, BitSet validTriangulatedPoints)
    Generates a pair of metric cameras (up to an arbitrary space) by computing the essential matrix from provided fundamental matrix and intrinsic parameters of left and right cameras, and choosing the best pair of camera pose and translation that yields the largest number of triangulated points laying in front of both of the estimated cameras.
    static int
    generateInitialMetricCamerasFromEssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera)
    Generates a pair of metric cameras (up to an arbitrary space) by computing the essential matrix from provided fundamental matrix and intrinsic parameters of left and right cameras, and choosing the best pair of camera pose and translation that yields the largest number of triangulated points laying in front of both of the estimated cameras.
    static int
    generateInitialMetricCamerasFromEssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera, List<com.irurueta.geometry.Point3D> triangulatedPoints, BitSet validTriangulatedPoints)
    Generates a pair of metric cameras (up to an arbitrary space) by computing the essential matrix from provided fundamental matrix and intrinsic parameters of left and right cameras, and choosing the best pair of camera pose and translation that yields the largest number of triangulated points laying in front of both of the estimated cameras.
    CorrectorType
    getCorrectorType()
    Gets type of corrector to use to triangulate matched points or null if no corrector needs to be used.
    com.irurueta.geometry.PinholeCameraIntrinsicParameters
    getLeftIntrinsic()
    Gets intrinsic parameters to be used for estimated left camera.
    List<com.irurueta.geometry.Point2D>
    getLeftPoints()
    Gets matched 2D points on left view.
    InitialCamerasEstimatorMethod
    getMethod()
    Returns method used by this estimator.
    com.irurueta.geometry.PinholeCameraIntrinsicParameters
    getRightIntrinsic()
    Gets intrinsic parameters to be used for estimated right camera.
    List<com.irurueta.geometry.Point2D>
    getRightPoints()
    Gets matched 2D points on right view.
    List<com.irurueta.geometry.Point3D>
    getTriangulatedPoints()
    Gets triangulated points, if available.
    BitSet
    getValidTriangulatedPoints()
    Gets bitset indicating which of the triangulated points are valid and which ones aren't.
    private void
    internalSetLeftAndRightPoints(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
    Internal method to set matched 2D points on left and right views.
    boolean
    isReady()
    Indicates if estimator is ready.
    void
    setCorrectorType(CorrectorType correctorType)
    Sets type of corrector to use to triangulate matched points or null if no corrector needs to be used.
    void
    setIntrinsicsForBoth(com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsic)
    Sets the same intrinsic parameters to be used for both estimated left and right cameras.
    void
    setLeftAndRightIntrinsics(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic)
    Sets intrinsic parameters to be used for estimated left and right cameras.
    void
    setLeftAndRightPoints(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
    Sets matched 2D points on left and right views.
    void
    setLeftIntrinsic(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic)
    Sets intrinsic parameters to be used for estimated left camera.
    void
    setLeftPoints(List<com.irurueta.geometry.Point2D> leftPoints)
    Sets matched 2D points on left view.
    void
    setPointsTriangulated(boolean triangulatePoints)
    Specifies whether matched 2D points need to be triangulated or not.
    void
    setRightIntrinsic(com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic)
    Sets intrinsic parameters to be used for estimated right camera.
    void
    setRightPoints(List<com.irurueta.geometry.Point2D> rightPoints)
    Sets matched 2D points on right view.
    void
    setValidTriangulatedPointsMarked(boolean markValidTriangulatedPoints)
    Specifies whether triangulated points are marked as valid (lie in front of both of the estimated cameras) and which ones aren't.
    private static void
    updateBestSolutionData(com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera, List<com.irurueta.geometry.Point3D> triangulatedPoints, BitSet validTriangulatedPoints, com.irurueta.geometry.PinholeCamera attemptLeftCamera, com.irurueta.geometry.PinholeCamera attemptRightCamera, List<com.irurueta.geometry.Point3D> attemptTriangulatedPoints, BitSet attemptValidTriangulatedPoints)
    Updates data for best solution found so far.

    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

    • DEFAULT_TRIANGULATE_POINTS

      public static final boolean DEFAULT_TRIANGULATE_POINTS
      Indicates whether matched 2D points must be triangulated by default.
      See Also:

    • DEFAULT_MARK_VALID_TRIANGULATED_POINTS

      public static final boolean DEFAULT_MARK_VALID_TRIANGULATED_POINTS
      Indicates whether triangulated points must be marked as valid (i.e. when they lie in front of both of the estimated cameras) or not.
      See Also:

    • leftIntrinsic

      private com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic
      Intrinsic parameters to be used for estimated left camera.

    • rightIntrinsic

      private com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic
      Intrinsic parameters to be used for estimated right camera.

    • leftPoints

      private List<com.irurueta.geometry.Point2D> leftPoints
      Matched 2D points on left view.

    • rightPoints

      private List<com.irurueta.geometry.Point2D> rightPoints
      Matched 2D points on right view.

    • correctorType

      private CorrectorType correctorType
      Type of corrector to use to triangulate matched points or null if no corrector needs to be used.

    • triangulatePoints

      private boolean triangulatePoints
      Indicates whether matched 2D points need to be triangulated.

    • markValidTriangulatedPoints

      private boolean markValidTriangulatedPoints
      Marks which of the triangulated points are marked as valid (lie in front of both of the estimated cameras) and which ones aren't.

    • triangulatedPoints

      private List<com.irurueta.geometry.Point3D> triangulatedPoints
      Contains triangulated points.

    • validTriangulatedPoints

      private BitSet validTriangulatedPoints
      Contains booleans indicating whether triangulated points are valid (i.e. lie in front of both estimated cameras) or not.

  • Constructor Details

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator()
      Constructor.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix)
      Constructor.
      Parameters:
      fundamentalMatrix - fundamental matrix relating two views.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic)
      Constructor.
      Parameters:
      leftIntrinsic - intrinsic parameters to be used for estimated left camera.
      rightIntrinsic - intrinsic parameters to be used for estimated right camera.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic)
      Constructor.
      Parameters:
      fundamentalMatrix - fundamental matrix relating two views.
      leftIntrinsic - intrinsic parameters to be used for estimated left camera.
      rightIntrinsic - intrinsic parameters to be used for estimated right camera.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
      Constructor.
      Parameters:
      leftPoints - matched 2D points on left view.
      rightPoints - matched 2D points on right view.
      Throws:
      IllegalArgumentException - if provided lists don't have the same size.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
      Constructor.
      Parameters:
      fundamentalMatrix - fundamental matrix relating two views.
      leftPoints - matched 2D points on left view.
      rightPoints - matched 2D points on right view.
      Throws:
      IllegalArgumentException - if provided lists don't have the same size.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
      Constructor.
      Parameters:
      leftIntrinsic - intrinsic parameters to be used for estimated left camera.
      rightIntrinsic - intrinsic parameters to be used for estimated right camera.
      leftPoints - matched 2D points on left view.
      rightPoints - matched 2D points on right view.
      Throws:
      IllegalArgumentException - if provided lists don't have the same size.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
      Constructor.
      Parameters:
      fundamentalMatrix - fundamental matrix relating two views.
      leftIntrinsic - intrinsic parameters to be used for estimated left camera.
      rightIntrinsic - intrinsic parameters to be used for estimated right camera.
      leftPoints - matched 2D points on left view.
      rightPoints - matched 2D points on right view.
      Throws:
      IllegalArgumentException - if provided lists don't have the same size.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(InitialCamerasEstimatorListener listener)
      Constructor.
      Parameters:
      listener - listener to handle events raised by this instance.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, InitialCamerasEstimatorListener listener)
      Constructor.
      Parameters:
      fundamentalMatrix - fundamental matrix relating two views.
      listener - listener to handle events raised by this instance.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, InitialCamerasEstimatorListener listener)
      Constructor.
      Parameters:
      leftIntrinsic - intrinsic parameters to be used for estimated left camera.
      rightIntrinsic - intrinsic parameters to be used for estimated right camera.
      listener - listener to handle events raised by this instance.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, InitialCamerasEstimatorListener listener)
      Constructor.
      Parameters:
      fundamentalMatrix - fundamental matrix relating two views.
      leftIntrinsic - intrinsic parameters to be used for estimated left camera.
      rightIntrinsic - intrinsic parameters to be used for estimated right camera.
      listener - listener to handle events raised by this instance.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, InitialCamerasEstimatorListener listener)
      Constructor.
      Parameters:
      leftPoints - matched 2D points on left view.
      rightPoints - matched 2D points on right view.
      listener - listener to handle events raised by this instance.
      Throws:
      IllegalArgumentException - if provided lists don't have the same size.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, InitialCamerasEstimatorListener listener)
      Constructor.
      Parameters:
      fundamentalMatrix - fundamental matrix relating two views.
      leftPoints - matched 2D points on left view.
      rightPoints - matched 2D points on right view.
      listener - listener to handle events raised by this instance.
      Throws:
      IllegalArgumentException - if provided lists don't have the same size.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, InitialCamerasEstimatorListener listener)
      Constructor.
      Parameters:
      leftIntrinsic - intrinsic parameters to be used for estimated left camera.
      rightIntrinsic - intrinsic parameters to be used for estimated right camera.
      leftPoints - matched 2D points on left view.
      rightPoints - matched 2D points on right view.
      listener - listener to handle events raised by this instance.
      Throws:
      IllegalArgumentException - if provided lists don't have the same size.

    • EssentialMatrixInitialCamerasEstimator

      public EssentialMatrixInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, InitialCamerasEstimatorListener listener)
      Constructor.
      Parameters:
      fundamentalMatrix - fundamental matrix relating two views.
      leftIntrinsic - intrinsic parameters to be used for estimated left camera.
      rightIntrinsic - intrinsic parameters to be used for estimated right camera.
      leftPoints - matched 2D points on left view.
      rightPoints - matched 2D points on right view.
      listener - listener to handle events raised by this instance.
      Throws:
      IllegalArgumentException - if provided lists don't have the same size.

  • 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.

    • getLeftIntrinsic

      public com.irurueta.geometry.PinholeCameraIntrinsicParameters getLeftIntrinsic()
      Gets intrinsic parameters to be used for estimated left camera.
      Returns:
      intrinsic parameters to be used for estimated left camera.

    • setLeftIntrinsic

      public void setLeftIntrinsic(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic) throws com.irurueta.geometry.estimators.LockedException
      Sets intrinsic parameters to be used for estimated left camera.
      Parameters:
      leftIntrinsic - intrinsic parameters to be used for estimated left camera.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • getRightIntrinsic

      public com.irurueta.geometry.PinholeCameraIntrinsicParameters getRightIntrinsic()
      Gets intrinsic parameters to be used for estimated right camera.
      Returns:
      intrinsic parameters to be used for estimated right camera.

    • setRightIntrinsic

      public void setRightIntrinsic(com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic) throws com.irurueta.geometry.estimators.LockedException
      Sets intrinsic parameters to be used for estimated right camera.
      Parameters:
      rightIntrinsic - intrinsic parameters to be used for estimated right camera.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • setLeftAndRightIntrinsics

      public void setLeftAndRightIntrinsics(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic) throws com.irurueta.geometry.estimators.LockedException
      Sets intrinsic parameters to be used for estimated left and right cameras.
      Parameters:
      leftIntrinsic - intrinsic parameters to be used for estimated left camera.
      rightIntrinsic - intrinsic parameters to be used for estimated right camera.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • setIntrinsicsForBoth

      public void setIntrinsicsForBoth(com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsic) throws com.irurueta.geometry.estimators.LockedException
      Sets the same intrinsic parameters to be used for both estimated left and right cameras.
      Parameters:
      intrinsic - intrinsic parameters to be used for both cameras.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • getLeftPoints

      public List<com.irurueta.geometry.Point2D> getLeftPoints()
      Gets matched 2D points on left view.
      Returns:
      matched 2D points on left view.

    • setLeftPoints

      public void setLeftPoints(List<com.irurueta.geometry.Point2D> leftPoints) throws com.irurueta.geometry.estimators.LockedException
      Sets matched 2D points on left view.
      Parameters:
      leftPoints - matched 2D points on left view.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • getRightPoints

      public List<com.irurueta.geometry.Point2D> getRightPoints()
      Gets matched 2D points on right view.
      Returns:
      matched 2D points on right view.

    • setRightPoints

      public void setRightPoints(List<com.irurueta.geometry.Point2D> rightPoints) throws com.irurueta.geometry.estimators.LockedException
      Sets matched 2D points on right view.
      Parameters:
      rightPoints - matched 2D points on right view.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • setLeftAndRightPoints

      public void setLeftAndRightPoints(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints) throws com.irurueta.geometry.estimators.LockedException
      Sets matched 2D points on left and right views.
      Parameters:
      leftPoints - matched 2D points on left view.
      rightPoints - matched 2D points on right view.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.
      IllegalArgumentException - if provided lists don't have the same size.

    • getCorrectorType

      public CorrectorType getCorrectorType()
      Gets type of corrector to use to triangulate matched points or null if no corrector needs to be used.
      Returns:
      type of corrector to use.

    • setCorrectorType

      public void setCorrectorType(CorrectorType correctorType) throws com.irurueta.geometry.estimators.LockedException
      Sets type of corrector to use to triangulate matched points or null if no corrector needs to be used.
      Parameters:
      correctorType - type of corrector to use.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • arePointsTriangulated

      public boolean arePointsTriangulated()
      Indicates whether matched 2D points need to be triangulated or not.
      Returns:
      true if 2D points need to be triangulated, false otherwise.

    • setPointsTriangulated

      public void setPointsTriangulated(boolean triangulatePoints) throws com.irurueta.geometry.estimators.LockedException
      Specifies whether matched 2D points need to be triangulated or not.
      Parameters:
      triangulatePoints - true if 2D points need to be triangulated, false otherwise.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • areValidTriangulatedPointsMarked

      public boolean areValidTriangulatedPointsMarked()
      Indicates which triangulated points are marked as valid (lie in front of both of the estimated cameras) and which ones aren't.
      Returns:
      true to mark valid and invalid triangulated points, false otherwise.

    • setValidTriangulatedPointsMarked

      public void setValidTriangulatedPointsMarked(boolean markValidTriangulatedPoints) throws com.irurueta.geometry.estimators.LockedException
      Specifies whether triangulated points are marked as valid (lie in front of both of the estimated cameras) and which ones aren't.
      Parameters:
      markValidTriangulatedPoints - true to mark valid and invalid triangulated points, false otherwise.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • getTriangulatedPoints

      public List<com.irurueta.geometry.Point3D> getTriangulatedPoints()
      Gets triangulated points, if available.
      Returns:
      triangulated points or null.

    • getValidTriangulatedPoints

      public BitSet getValidTriangulatedPoints()
      Gets bitset indicating which of the triangulated points are valid and which ones aren't.
      Returns:
      bitset indicating validity of triangulated points or null if not available.

    • generateInitialMetricCamerasFromEssentialMatrix

      public static int generateInitialMetricCamerasFromEssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera) throws InitialCamerasEstimationFailedException
      Generates a pair of metric cameras (up to an arbitrary space) by computing the essential matrix from provided fundamental matrix and intrinsic parameters of left and right cameras, and choosing the best pair of camera pose and translation that yields the largest number of triangulated points laying in front of both of the estimated cameras. This method uses default corrector type and does not keep triangulated points or valid triangulated points.
      Parameters:
      fundamentalMatrix - fundamental matrix relating both left and right views.
      leftIntrinsic - intrinsic parameters to be set on left view. This can be used when cameras have been previously calibrated.
      rightIntrinsic - intrinsic parameters to be set on right view. This can be used when cameras have been previously calibrated.
      leftPoints - points on left view matched with points on right view, so they can be triangulated using estimated cameras. Both lists of points must have the same size.
      rightPoints - points on right view matched with points on left view, so they can be triangulated using estimated cameras. Both lists of points must have the same size.
      leftCamera - instance where estimated left camera will be stored.
      rightCamera - instance where estimated right camera will be stored.
      Returns:
      number of valid triangulated points which lie in front of the two estimated cameras.
      Throws:
      InitialCamerasEstimationFailedException - if estimation of cameras fails for some reason, typically due to numerical instabilities.
      IllegalArgumentException - if provided lists of left and right points don't have the same size.

    • generateInitialMetricCamerasFromEssentialMatrix

      public static int generateInitialMetricCamerasFromEssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, CorrectorType correctorType, com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera) throws InitialCamerasEstimationFailedException
      Generates a pair of metric cameras (up to an arbitrary space) by computing the essential matrix from provided fundamental matrix and intrinsic parameters of left and right cameras, and choosing the best pair of camera pose and translation that yields the largest number of triangulated points laying in front of both of the estimated cameras. This method does not keep triangulated points or valid triangulated points.
      Parameters:
      fundamentalMatrix - fundamental matrix relating both left and right views.
      leftIntrinsic - intrinsic parameters to be set on left view. This can be used when cameras have been previously calibrated.
      rightIntrinsic - intrinsic parameters to be set on right view. This can be used when cameras have been previously calibrated.
      leftPoints - points on left view matched with points on right view, so they can be triangulated using estimated cameras. Both lists of points must have the same size.
      rightPoints - points on right view matched with points on left view, so they can be triangulated using estimated cameras. Both lists of points must have the same size.
      correctorType - corrector type to be used to correct 2D points, so they follow the epipolar geometry defined by provided fundamental matrix so that error on triangulated points is reduced. If null, no corrector will be used.
      leftCamera - instance where estimated left camera will be stored.
      rightCamera - instance where estimated right camera will be stored.
      Returns:
      number of valid triangulated points which lie in front of the two estimated cameras.
      Throws:
      InitialCamerasEstimationFailedException - if estimation of cameras fails for some reason, typically due to numerical instabilities.
      IllegalArgumentException - if provided lists of left and right points don't have the same size.

    • generateInitialMetricCamerasFromEssentialMatrix

      public static int generateInitialMetricCamerasFromEssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera, List<com.irurueta.geometry.Point3D> triangulatedPoints, BitSet validTriangulatedPoints) throws InitialCamerasEstimationFailedException
      Generates a pair of metric cameras (up to an arbitrary space) by computing the essential matrix from provided fundamental matrix and intrinsic parameters of left and right cameras, and choosing the best pair of camera pose and translation that yields the largest number of triangulated points laying in front of both of the estimated cameras. This method uses default corrector type.
      Parameters:
      fundamentalMatrix - fundamental matrix relating both left and right views.
      leftIntrinsic - intrinsic parameters to be set on left view. This can be used when cameras have been previously calibrated.
      rightIntrinsic - intrinsic parameters to be set on right view. This can be used when cameras have been previously calibrated.
      leftPoints - points on left view matched with points on right view, so they can be triangulated using estimated cameras. Both lists of points must have the same size.
      rightPoints - points on right view matched with points on left view, so they can be triangulated using estimated cameras. Both lists of points must have the same size.
      leftCamera - instance where estimated left camera will be stored.
      rightCamera - instance where estimated right camera will be stored.
      triangulatedPoints - instance where triangulated 3D points will be stored or null if triangulated points don't need to be kept.
      validTriangulatedPoints - instance which indicates which triangulated 3D points are considered valid because they lie in front of both cameras or null if such data doesn't need to be kept.
      Returns:
      number of valid triangulated points which lie in front of the two estimated cameras.
      Throws:
      InitialCamerasEstimationFailedException - if estimation of cameras fails for some reason, typically due to numerical instabilities.
      IllegalArgumentException - if provided lists of left and right points don't have the same size.

    • generateInitialMetricCamerasFromEssentialMatrix

      public static int generateInitialMetricCamerasFromEssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, CorrectorType correctorType, com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera, List<com.irurueta.geometry.Point3D> triangulatedPoints, BitSet validTriangulatedPoints) throws InitialCamerasEstimationFailedException
      Generates a pair of metric cameras (up to an arbitrary space) by computing the essential matrix from provided fundamental matrix and intrinsic parameters of left and right cameras, and choosing the best pair of camera pose and translation that yields the largest number of triangulated points laying in front of both of the estimated cameras.
      Parameters:
      fundamentalMatrix - fundamental matrix relating both left and right views.
      leftIntrinsic - intrinsic parameters to be set on left view. This can be used when cameras have been previously calibrated.
      rightIntrinsic - intrinsic parameters to be set on right view. This can be used when cameras have been previously calibrated.
      leftPoints - points on left view matched with points on right view, so they can be triangulated using estimated cameras. Both lists of points must have the same size.
      rightPoints - points on right view matched with points on left view, so they can be triangulated using estimated cameras. Both lists of points must have the same size.
      correctorType - corrector type to be used to correct 2D points, so they follow the epipolar geometry defined by provided fundamental matrix so that error on triangulated points is reduced. If null, no corrector will be used.
      leftCamera - instance where estimated left camera will be stored.
      rightCamera - instance where estimated right camera will be stored.
      triangulatedPoints - instance where triangulated 3D points will be stored or null if triangulated points don't need to be kept.
      validTriangulatedPoints - instance which indicates which triangulated 3D points are considered valid because they lie in front of both cameras or null if such data doesn't need to be kept.
      Returns:
      number of valid triangulated points which lie in front of the two estimated cameras.
      Throws:
      InitialCamerasEstimationFailedException - if estimation of cameras fails for some reason, typically due to numerical instabilities.
      IllegalArgumentException - if provided lists of left and right points don't have the same size.

    • internalSetLeftAndRightPoints

      private void internalSetLeftAndRightPoints(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
      Internal method to set matched 2D points on left and right views. This method does not check whether the estimator is locked or not, only ensures that provided lists have the same size.
      Parameters:
      leftPoints - matched 2D points on left view.
      rightPoints - matched 2D points on right view.
      Throws:
      IllegalArgumentException - if provided lists don't have the same size.

    • updateBestSolutionData

      private static void updateBestSolutionData(com.irurueta.geometry.PinholeCamera leftCamera, com.irurueta.geometry.PinholeCamera rightCamera, List<com.irurueta.geometry.Point3D> triangulatedPoints, BitSet validTriangulatedPoints, com.irurueta.geometry.PinholeCamera attemptLeftCamera, com.irurueta.geometry.PinholeCamera attemptRightCamera, List<com.irurueta.geometry.Point3D> attemptTriangulatedPoints, BitSet attemptValidTriangulatedPoints) throws InitialCamerasEstimationFailedException
      Updates data for best solution found so far.
      Parameters:
      leftCamera - instance where best found left camera will be stored.
      rightCamera - instance where best found right camera will be stored.
      triangulatedPoints - instance where triangulated points for best found solution will be stored or null if points don't need to be kept.
      validTriangulatedPoints - instance where valid triangulated points for best found solution will be stored or null if such data doesn't need to be kept.
      attemptLeftCamera - estimated left camera to be copied into the best solution.
      attemptRightCamera - estimated right camera to be copied into the best solution.
      attemptTriangulatedPoints - triangulated points to be copied into the best solution, or null if nothing needs to be copied.
      attemptValidTriangulatedPoints - valid triangulated points to be copied into the best solution, or null if nothing needs to be copied.
      Throws:
      InitialCamerasEstimationFailedException - if something fails.

    • computeCamerasAndTriangulation

      private static int computeCamerasAndTriangulation(com.irurueta.geometry.Rotation3D rotation, com.irurueta.geometry.Point2D translation, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsic, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsic, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, com.irurueta.geometry.PinholeCamera estimatedLeftCamera, com.irurueta.geometry.PinholeCamera estimatedRightCamera, List<com.irurueta.geometry.Point3D> triangulatedPoints, BitSet validTriangulatedPoints) throws com.irurueta.algebra.WrongSizeException, com.irurueta.geometry.CameraException, com.irurueta.geometry.estimators.LockedException, com.irurueta.geometry.estimators.NotReadyException, Point3DTriangulationException
      Computes a pair of cameras for provided rotation and translation using provided intrinsic parameters. This method also triangulates proved matched 2D points and determines how many of them lie in front of both estimated cameras.
      Parameters:
      rotation - rotation between estimated left and right cameras.
      translation - translation between estimated left and right cameras.
      leftIntrinsic - intrinsic parameters to set on estimated left camera.
      rightIntrinsic - intrinsic parameters to set on estimated right camera.
      leftPoints - points on left view matched with points on right view, so they can be triangulated using estimated cameras. Both lists of points must have the same size.
      rightPoints - points on right view matched with points on left view, so they can be triangulated using estimated cameras. Both lists of points must have the same size.
      estimatedLeftCamera - instance where estimated left camera will be stored.
      estimatedRightCamera - instance where estimated right camera will be stored.
      triangulatedPoints - instance where triangulated 3D points will be stored or null if triangulated points don't need to be kept.
      validTriangulatedPoints - instance which indicates which triangulated 3D points are considered valid because they lie in front of both cameras or null if such data doesn't need to be kept.
      Returns:
      number of valid triangulated points which lie in front of the two estimated cameras.
      Throws:
      com.irurueta.algebra.WrongSizeException - never occurs.
      com.irurueta.geometry.CameraException - if any of the estimated cameras become numerically unstable.
      com.irurueta.geometry.estimators.LockedException - never occurs.
      com.irurueta.geometry.estimators.NotReadyException - never occurs.
      Point3DTriangulationException - if points cannot be triangulated because of numerical instabilities.