Uses of Class
com.irurueta.ar.epipolar.FundamentalMatrix

Packages that use FundamentalMatrix

Package	Description
com.irurueta.ar.calibration.estimators	This package contains classes needed to estimate structures needed for camera calibration
com.irurueta.ar.epipolar	This package contains classes related to epipolar geometry, such as Fundamental or Essential matrices and matched points correctors.
com.irurueta.ar.epipolar.estimators	This package contains classes to estimate fundamental matrices
com.irurueta.ar.epipolar.refiners
com.irurueta.ar.sfm	This package contains classes related to Structure From Motion techniques in order to obtain 3D reconstructed data from matched points obtained when a camera moves

Uses of FundamentalMatrix in com.irurueta.ar.calibration.estimators

Fields in com.irurueta.ar.calibration.estimators declared as FundamentalMatrix

Modifier and Type	Field	Description
private FundamentalMatrix	KruppaDualImageOfAbsoluteConicEstimator.fundamentalMatrix	Fundamental matrix to estimate DIAC from.

Methods in com.irurueta.ar.calibration.estimators that return FundamentalMatrix

Modifier and Type	Method	Description
FundamentalMatrix	KruppaDualImageOfAbsoluteConicEstimator.getFundamentalMatrix()	Gets fundamental matrix to estimate DIAC from.

Methods in com.irurueta.ar.calibration.estimators with parameters of type FundamentalMatrix

Modifier and Type	Method	Description
void	KruppaDualImageOfAbsoluteConicEstimator.setFundamentalMatrix(FundamentalMatrix fundamentalMatrix)	Sets fundamental matrix to estimate DIAC from.

Constructors in com.irurueta.ar.calibration.estimators with parameters of type FundamentalMatrix

Modifier	Constructor	Description
	KruppaDualImageOfAbsoluteConicEstimator(FundamentalMatrix fundamentalMatrix)	Constructor.
	KruppaDualImageOfAbsoluteConicEstimator(FundamentalMatrix fundamentalMatrix, KruppaDualImageOfAbsoluteConicEstimatorListener listener)	Constructor.

Uses of FundamentalMatrix in com.irurueta.ar.epipolar

Subclasses of FundamentalMatrix in com.irurueta.ar.epipolar

Modifier and Type	Class	Description
class	EssentialMatrix	The essential matrix defines the relation between two views in a similar way that the fundamental matrix does, but taking into account the intrinsic parameters of the cameras associated to both views.

Fields in com.irurueta.ar.epipolar declared as FundamentalMatrix

Modifier and Type	Field	Description
protected FundamentalMatrix	Corrector.fundamentalMatrix	A fundamental matrix defining an epipolar geometry.
protected FundamentalMatrix	SingleCorrector.fundamentalMatrix	A fundamental matrix defining an epipolar geometry.
protected FundamentalMatrix	FundamentalMatrixComparator.groundTruthFundamentalMatrix	Fundamental matrix to be considered as ground truth to compare against.
protected FundamentalMatrix	FundamentalMatrixComparator.otherFundamentalMatrix	Other fundamental matrix being compared.

Methods in com.irurueta.ar.epipolar that return FundamentalMatrix

Modifier and Type	Method	Description
FundamentalMatrix	Corrector.getFundamentalMatrix()	Returns fundamental matrix defining epipolar geometry.
FundamentalMatrix	SingleCorrector.getFundamentalMatrix()	Returns fundamental matrix defining epipolar geometry.
FundamentalMatrix	FundamentalMatrixComparator.getGroundTruthFundamentalMatrix()	Obtains fundamental matrix to be considered as ground truth to compare against.
FundamentalMatrix	FundamentalMatrixComparator.getOtherFundamentalMatrix()	Obtains other fundamental matrix being compared.
FundamentalMatrix	EssentialMatrix.toFundamentalMatrix(com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsicParameters, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsicParameters)	Converts this essential matrix into a fundamental matrix by applying provided intrinsic parameters on left and right views.

Methods in com.irurueta.ar.epipolar with parameters of type FundamentalMatrix

Modifier and Type	Method	Description
static void	GoldStandardSingleCorrector.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.
static void	SampsonSingleCorrector.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	SampsonSingleCorrector.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.
static Corrector	Corrector.create(FundamentalMatrix fundamentalMatrix)	Creates an instance of a corrector using provided fundamental matrix and default type.
static Corrector	Corrector.create(FundamentalMatrix fundamentalMatrix, CorrectorListener listener)	Creates an instance of a corrector using provided fundamental matrix and default type.
static Corrector	Corrector.create(FundamentalMatrix fundamentalMatrix, CorrectorListener listener, CorrectorType type)	Creates an instance of a corrector using provided fundamental matrix and provided type.
static Corrector	Corrector.create(FundamentalMatrix fundamentalMatrix, CorrectorType type)	Creates an instance of a corrector using provided fundamental matrix and provided type.
static Corrector	Corrector.create(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix)	Creates an instance of a corrector using provided left and right points to be corrected, provided fundamental matrix and default type.
static Corrector	Corrector.create(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix, CorrectorListener listener)	Creates an instance of a corrector using provided left and right points to be corrected, provided fundamental matrix and provided type.
static Corrector	Corrector.create(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix, CorrectorListener listener, CorrectorType type)	Creates an instance of a corrector using provided left and right points to be corrected, provided fundamental matrix and provided type.
static Corrector	Corrector.create(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix, CorrectorType type)	Creates an instance of a corrector using provided left and right points to be corrected, provided fundamental matrix and provided type.
static SingleCorrector	SingleCorrector.create(FundamentalMatrix fundamentalMatrix)	Creates an instance of a single corrector using provided fundamental matrix and default type.
static SingleCorrector	SingleCorrector.create(FundamentalMatrix fundamentalMatrix, CorrectorType type)	Creates an instance of a single corrector using provided fundamental matrix and provided type.
static SingleCorrector	SingleCorrector.create(com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint, FundamentalMatrix fundamentalMatrix)	Creates an instance of a single corrector using provided left and right points to be corrected, provided fundamental matrix and default type.
static SingleCorrector	SingleCorrector.create(com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint, FundamentalMatrix fundamentalMatrix, CorrectorType type)	Creates an instance of a single corrector using provided left and right points to be corrected, fundamental matrix and provided type.
private void	Corrector.internalSetFundamentalMatrix(FundamentalMatrix fundamentalMatrix)	Internal method to set fundamental matrix defining the epipolar geometry.
final void	EssentialMatrix.setFromFundamentalMatrixAndIntrinsics(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsicParameters, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsicParameters)	Sets essential matrix from provided fundamental matrix and intrinsic camera parameters.
final void	Corrector.setFundamentalMatrix(FundamentalMatrix fundamentalMatrix)	Sets the fundamental matrix defining the epipolar geometry.
final void	SingleCorrector.setFundamentalMatrix(FundamentalMatrix fundamentalMatrix)	Sets the fundamental matrix defining the epipolar geometry.
void	FundamentalMatrixComparator.setGroundTruthFundamentalMatrix(FundamentalMatrix groundTruthFundamentalMatrix)	Sets fundamental matrix to be considered as ground truth to compare against.
void	FundamentalMatrixComparator.setOtherFundamentalMatrix(FundamentalMatrix otherFundamentalMatrix)	Sets other fundamental matrix being compared.
void	Corrector.setPointsAndFundamentalMatrix(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix)	Sets lists of points to be corrected on left and right views and fundamental matrix defining epipolar geometry.
final void	SingleCorrector.setPointsAndFundamentalMatrix(com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint, FundamentalMatrix fundamentalMatrix)	Sets a matched pair of points to be corrected and a fundamental matrix defining the epipolar geometry.

Constructors in com.irurueta.ar.epipolar with parameters of type FundamentalMatrix

Modifier	Constructor	Description
	AlgebraicFundamentalMatrixComparator(FundamentalMatrix groundTruthFundamentalMatrix, FundamentalMatrix otherFundamentalMatrix)	Constructor.
	AlgebraicFundamentalMatrixComparator(FundamentalMatrix groundTruthFundamentalMatrix, FundamentalMatrix otherFundamentalMatrix, FundamentalMatrixComparatorListener listener)	Constructor.
protected	Corrector(FundamentalMatrix fundamentalMatrix)	Constructor.
protected	Corrector(FundamentalMatrix fundamentalMatrix, CorrectorListener listener)	Constructor.
protected	Corrector(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix)	Constructor.
protected	Corrector(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix, CorrectorListener listener)	Constructor.
	EpipolarDistanceFundamentalMatrixComparator(FundamentalMatrix groundTruthFundamentalMatrix, FundamentalMatrix otherFundamentalMatrix)	Constructor.
	EpipolarDistanceFundamentalMatrixComparator(FundamentalMatrix groundTruthFundamentalMatrix, FundamentalMatrix otherFundamentalMatrix, FundamentalMatrixComparatorListener listener)	Constructor.
	EssentialMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters leftIntrinsicParameters, com.irurueta.geometry.PinholeCameraIntrinsicParameters rightIntrinsicParameters)	Constructor from fundamental matrix and intrinsic camera parameters.
protected	FundamentalMatrixComparator(FundamentalMatrix groundTruthFundamentalMatrix, FundamentalMatrix otherFundamentalMatrix)	Constructor.
protected	FundamentalMatrixComparator(FundamentalMatrix groundTruthFundamentalMatrix, FundamentalMatrix otherFundamentalMatrix, FundamentalMatrixComparatorListener listener)	Constructor.
	GoldStandardCorrector(FundamentalMatrix fundamentalMatrix)	Constructor.
	GoldStandardCorrector(FundamentalMatrix fundamentalMatrix, CorrectorListener listener)	Constructor.
	GoldStandardCorrector(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix)	Constructor.
	GoldStandardCorrector(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix, CorrectorListener listener)	Constructor.
	GoldStandardSingleCorrector(FundamentalMatrix fundamentalMatrix)	Constructor.
	GoldStandardSingleCorrector(com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint, FundamentalMatrix fundamentalMatrix)	Constructor.
	SampsonCorrector(FundamentalMatrix fundamentalMatrix)	Constructor.
	SampsonCorrector(FundamentalMatrix fundamentalMatrix, CorrectorListener listener)	Constructor.
	SampsonCorrector(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix)	Constructor.
	SampsonCorrector(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrix fundamentalMatrix, CorrectorListener listener)	Constructor.
	SampsonSingleCorrector(FundamentalMatrix fundamentalMatrix)	Constructor.
	SampsonSingleCorrector(com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint, FundamentalMatrix fundamentalMatrix)	Constructor.
protected	SingleCorrector(FundamentalMatrix fundamentalMatrix)	Constructor.
protected	SingleCorrector(com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint, FundamentalMatrix fundamentalMatrix)	Constructor.

Uses of FundamentalMatrix in com.irurueta.ar.epipolar.estimators

Methods in com.irurueta.ar.epipolar.estimators that return FundamentalMatrix

Modifier and Type	Method	Description
protected FundamentalMatrix	FundamentalMatrixRobustEstimator.attemptRefine(FundamentalMatrix fundamentalMatrix)	Attempts to refine provided solution if refinement is requested.
FundamentalMatrix	AffineFundamentalMatrixEstimator.estimate()	Estimates a fundamental matrix using provided lists of matched points on left and right views.
FundamentalMatrix	EightPointsFundamentalMatrixEstimator.estimate()	Estimates a fundamental matrix using provided lists of matched points on left and right views.
abstract FundamentalMatrix	FundamentalMatrixEstimator.estimate()	Estimates a fundamental matrix using provided lists of matched points on left and right views.
abstract FundamentalMatrix	FundamentalMatrixRobustEstimator.estimate()	Estimates fundamental matrix.
FundamentalMatrix	LMedSFundamentalMatrixRobustEstimator.estimate()	Estimates a radial distortion using a robust estimator and the best set of matched 2D points found using the robust estimator.
FundamentalMatrix	MSACFundamentalMatrixRobustEstimator.estimate()	Estimates a radial distortion using a robust estimator and the best set of matched 2D points found using the robust estimator.
FundamentalMatrix	PROMedSFundamentalMatrixRobustEstimator.estimate()	Estimates a radial distortion using a robust estimator and the best set of matched 2D points found using the robust estimator.
FundamentalMatrix	PROSACFundamentalMatrixRobustEstimator.estimate()	Estimates a radial distortion using a robust estimator and the best set of matched 2D points found using the robust estimator.
FundamentalMatrix	RANSACFundamentalMatrixRobustEstimator.estimate()	Estimates a radial distortion using a robust estimator and the best set of matched 2D points found using the robust estimator.
FundamentalMatrix	SevenPointsFundamentalMatrixEstimator.estimate()	Estimates a fundamental matrix using provided lists of matched points on left and right views.

Methods in com.irurueta.ar.epipolar.estimators that return types with arguments of type FundamentalMatrix

Modifier and Type	Method	Description
List<FundamentalMatrix>	PlanarFundamentalMatrixEstimator.estimate()	Estimates fundamental matrices and returns the estimated result.
List<FundamentalMatrix>	SevenPointsFundamentalMatrixEstimator.estimateAll()	Estimates all possible fundamental matrices found using provided points.

Methods in com.irurueta.ar.epipolar.estimators with parameters of type FundamentalMatrix

Modifier and Type	Method	Description
protected FundamentalMatrix	FundamentalMatrixRobustEstimator.attemptRefine(FundamentalMatrix fundamentalMatrix)	Attempts to refine provided solution if refinement is requested.
void	FundamentalMatrixEstimatorListener.onEstimateEnd(FundamentalMatrixEstimator estimator, FundamentalMatrix fundamentalMatrix)	Called when fundamental matrix estimation ends.
protected double	FundamentalMatrixRobustEstimator.residual(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint)	Computes the residual between a fundamental matrix and a pair of matched points.

Method parameters in com.irurueta.ar.epipolar.estimators with type arguments of type FundamentalMatrix

Modifier and Type	Method	Description
void	PlanarFundamentalMatrixEstimator.estimate(List<FundamentalMatrix> result)	Estimates fundamental matrices and stores result into provided instance.
void	SevenPointsFundamentalMatrixEstimator.estimateAll(List<FundamentalMatrix> result)	Estimates all possible fundamental matrices found using provided points and adds the result to provided result list.
protected void	FundamentalMatrixRobustEstimator.nonRobustEstimate(List<FundamentalMatrix> solutions, List<com.irurueta.geometry.Point2D> subsetLeftPoints, List<com.irurueta.geometry.Point2D> subsetRightPoints)	Estimates a fundamental matrix using a non-robust method and provided subset of matched points and stores the solution in provided array of solutions.
void	PlanarFundamentalMatrixEstimatorListener.onEstimateEnd(PlanarFundamentalMatrixEstimator estimator, List<FundamentalMatrix> fundamentalMatrices)	Called when fundamental matrix estimation ends.

Uses of FundamentalMatrix in com.irurueta.ar.epipolar.refiners

Methods in com.irurueta.ar.epipolar.refiners that return FundamentalMatrix

Modifier and Type	Method	Description
FundamentalMatrix	FundamentalMatrixRefiner.refine()	Refines provided initial estimation.

Methods in com.irurueta.ar.epipolar.refiners with parameters of type FundamentalMatrix

Modifier and Type	Method	Description
static void	RightEpipoleRefiner.computeFundamentalMatrix(com.irurueta.geometry.Transformation2D homography, com.irurueta.geometry.Point2D rightEpipole, FundamentalMatrix result)	Computes a fundamental matrix from a 2D homography and provided epipole on right view.
boolean	FundamentalMatrixRefiner.refine(FundamentalMatrix result)	Refines provided initial estimation.
private double	FundamentalMatrixRefiner.residual(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint)	Computes the residual between a fundamental matrix and a pair of matched points.
protected double	RightEpipoleRefiner.residual(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.Point2D leftPoint, com.irurueta.geometry.Point2D rightPoint)	Computes the residual between a fundamental matrix and a pair of matched points.
private double	FundamentalMatrixRefiner.totalResidual(FundamentalMatrix fundamentalMatrix)	Computes total residual among all provided inlier samples.
protected double	RightEpipoleRefiner.totalResidual(FundamentalMatrix fundamentalMatrix)	Computes total residual among all provided inlier samples.

Constructors in com.irurueta.ar.epipolar.refiners with parameters of type FundamentalMatrix

Modifier	Constructor	Description
	FundamentalMatrixRefiner(FundamentalMatrix initialEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<com.irurueta.geometry.Point2D> samples1, List<com.irurueta.geometry.Point2D> samples2, double refinementStandardDeviation)	Constructor.
	FundamentalMatrixRefiner(FundamentalMatrix initialEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<com.irurueta.geometry.Point2D> samples1, List<com.irurueta.geometry.Point2D> samples2, double refinementStandardDeviation)	Constructor.

Uses of FundamentalMatrix in com.irurueta.ar.sfm

Fields in com.irurueta.ar.sfm declared as FundamentalMatrix

Modifier and Type	Field	Description
private FundamentalMatrix	EstimatedFundamentalMatrix.fundamentalMatrix	Estimated fundamental matrix.
protected FundamentalMatrix	InitialCamerasEstimator.fundamentalMatrix	Fundamental matrix relating two views whose cameras need to be estimated.
private FundamentalMatrix	PlanarBestFundamentalMatrixEstimatorAndReconstructor.fundamentalMatrix	Best estimated fundamental matrix.

Methods in com.irurueta.ar.sfm that return FundamentalMatrix

Modifier and Type	Method	Description
FundamentalMatrix	EstimatedFundamentalMatrix.getFundamentalMatrix()	Gets estimated fundamental matrix.
FundamentalMatrix	InitialCamerasEstimator.getFundamentalMatrix()	Gets fundamental matrix relating two views whose cameras need to be estimated.
FundamentalMatrix	PlanarBestFundamentalMatrixEstimatorAndReconstructor.getFundamentalMatrix()	Gets best estimated fundamental matrix.

Methods in com.irurueta.ar.sfm with parameters of type FundamentalMatrix

Modifier and Type	Method	Description
static InitialCamerasEstimator	InitialCamerasEstimator.create(FundamentalMatrix fundamentalMatrix)	Creates an instance of an initial cameras estimator using provided fundamental matrix and provided method.
static InitialCamerasEstimator	InitialCamerasEstimator.create(FundamentalMatrix fundamentalMatrix, InitialCamerasEstimatorListener listener)	Creates an instance of an initial cameras estimator using provided fundamental matrix, listener and method.
static InitialCamerasEstimator	InitialCamerasEstimator.create(FundamentalMatrix fundamentalMatrix, InitialCamerasEstimatorListener listener, InitialCamerasEstimatorMethod method)	Creates an instance of an initial cameras estimator using provided fundamental matrix, listener and method.
static InitialCamerasEstimator	InitialCamerasEstimator.create(FundamentalMatrix fundamentalMatrix, InitialCamerasEstimatorMethod method)	Creates an instance of an initial cameras estimator using provided fundamental matrix and provided method.
private void	BasePairedViewsSparseReconstructor.fixFundamentalMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicZeroPrincipalPoint1, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicZeroPrincipalPoint2, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicPrincipalPoint1, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicPrincipalPoint2)	Fixes fundamental matrix to account for principal point different from zero when using DAQ estimation.
private void	BaseSparseReconstructor.fixFundamentalMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicZeroPrincipalPoint1, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicZeroPrincipalPoint2, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicPrincipalPoint1, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicPrincipalPoint2)	Fixes fundamental matrix to account for principal point different from zero when using DAQ estimation.
private void	BaseTwoViewsSparseReconstructor.fixFundamentalMatrix(FundamentalMatrix fundamentalMatrix, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicZeroPrincipalPoint1, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicZeroPrincipalPoint2, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicPrincipalPoint1, com.irurueta.geometry.PinholeCameraIntrinsicParameters intrinsicPrincipalPoint2)	Fixes fundamental matrix to account for principal point different from zero when using DAQ estimation.
static int	EssentialMatrixInitialCamerasEstimator.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	EssentialMatrixInitialCamerasEstimator.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	EssentialMatrixInitialCamerasEstimator.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	EssentialMatrixInitialCamerasEstimator.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.
static void	DualAbsoluteQuadricInitialCamerasEstimator.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	DualAbsoluteQuadricInitialCamerasEstimator.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.
static int	DualImageOfAbsoluteConicInitialCamerasEstimator.generateInitialMetricCamerasUsingDIAC(FundamentalMatrix fundamentalMatrix, double principalPointX, double principalPointY, double aspectRatio, 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 estimating the intrinsic parameters of the views by solving the Kruppa equations to obtain the Dual Image of Absolute Conic (DIAC).
static int	DualImageOfAbsoluteConicInitialCamerasEstimator.generateInitialMetricCamerasUsingDIAC(FundamentalMatrix fundamentalMatrix, double principalPointX, double principalPointY, double aspectRatio, 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 estimating the intrinsic parameters of the views by solving the Kruppa equations to obtain the Dual Image of Absolute Conic (DIAC).
static int	DualImageOfAbsoluteConicInitialCamerasEstimator.generateInitialMetricCamerasUsingDIAC(FundamentalMatrix fundamentalMatrix, double principalPointX, double principalPointY, double aspectRatio, 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 estimating the intrinsic parameters of the views by solving the Kruppa equations to obtain the Dual Image of Absolute Conic (DIAC).
static int	DualImageOfAbsoluteConicInitialCamerasEstimator.generateInitialMetricCamerasUsingDIAC(FundamentalMatrix fundamentalMatrix, double principalPointX, double principalPointY, double aspectRatio, 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 estimating the intrinsic parameters of the views by solving the Kruppa equations to obtain the Dual Image of Absolute Conic (DIAC).
static int	DualImageOfAbsoluteConicInitialCamerasEstimator.generateInitialMetricCamerasUsingDIAC(FundamentalMatrix fundamentalMatrix, double principalPointX, double principalPointY, 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 estimating the intrinsic parameters of the views by solving the Kruppa equations to obtain the Dual Image of Absolute Conic (DIAC).
static int	DualImageOfAbsoluteConicInitialCamerasEstimator.generateInitialMetricCamerasUsingDIAC(FundamentalMatrix fundamentalMatrix, double principalPointX, double principalPointY, 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 estimating the intrinsic parameters of the views by solving the Kruppa equations to obtain the Dual Image of Absolute Conic (DIAC).
static int	DualImageOfAbsoluteConicInitialCamerasEstimator.generateInitialMetricCamerasUsingDIAC(FundamentalMatrix fundamentalMatrix, double principalPointX, double principalPointY, 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 estimating the intrinsic parameters of the views by solving the Kruppa equations to obtain the Dual Image of Absolute Conic (DIAC).
static int	DualImageOfAbsoluteConicInitialCamerasEstimator.generateInitialMetricCamerasUsingDIAC(FundamentalMatrix fundamentalMatrix, double principalPointX, double principalPointY, 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 estimating the intrinsic parameters of the views by solving the Kruppa equations to obtain the Dual Image of Absolute Conic (DIAC).
void	EstimatedFundamentalMatrix.setFundamentalMatrix(FundamentalMatrix fundamentalMatrix)	Sets estimated fundamental matrix.
void	InitialCamerasEstimator.setFundamentalMatrix(FundamentalMatrix fundamentalMatrix)	Sets fundamental matrix relating two views whose cameras need to be estimated.

Constructors in com.irurueta.ar.sfm with parameters of type FundamentalMatrix

Modifier	Constructor	Description
	DualAbsoluteQuadricInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix)	Constructor.
	DualAbsoluteQuadricInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, InitialCamerasEstimatorListener listener)	Constructor.
	DualImageOfAbsoluteConicInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix)	Constructor.
	DualImageOfAbsoluteConicInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, InitialCamerasEstimatorListener listener)	Constructor.
	DualImageOfAbsoluteConicInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)	Constructor.
	DualImageOfAbsoluteConicInitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, InitialCamerasEstimatorListener listener)	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.
protected	InitialCamerasEstimator(FundamentalMatrix fundamentalMatrix)	Constructor.
protected	InitialCamerasEstimator(FundamentalMatrix fundamentalMatrix, InitialCamerasEstimatorListener listener)	Constructor.