Package com.irurueta.ar.epipolar.refiners

Class RightEpipoleRefiner

java.lang.Object
com.irurueta.geometry.refiners.Refiner<com.irurueta.geometry.Point2D>
com.irurueta.geometry.refiners.InliersDataRefiner<com.irurueta.geometry.Point2D>
com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner<com.irurueta.geometry.Point2D,com.irurueta.geometry.Point2D,com.irurueta.geometry.Point2D>
com.irurueta.ar.epipolar.refiners.RightEpipoleRefiner
Direct Known Subclasses:
HomogeneousRightEpipoleRefiner, InhomogeneousRightEpipoleRefiner
public abstract class RightEpipoleRefiner extends com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner<com.irurueta.geometry.Point2D,com.irurueta.geometry.Point2D,com.irurueta.geometry.Point2D>
Base class to refine the epipole of a fundamental matrix formed by an initial epipole estimation and an estimated homography. Any fundamental matrix can be expressed as F = [e']x*H, where e' is the epipole on the right view and H is a non-degenerate homography. This class refines an initial epipole so that residuals from provided point correspondences generating fundamental matrix F are reduced. This class is especially useful in cases where geometry of the scene is degenerate (e.g. planar scene) and provided point correspondences would generate an inaccurate fundamental matrix.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected com.irurueta.geometry.Transformation2D
    homography
    Homography relating two views through a given planar scene.
    private double
    refinementStandardDeviation
    Standard deviation used for Levenberg-Marquardt fitting during refinement.
    protected final com.irurueta.geometry.Line2D
    testLine
    Test line to compute epipolar residuals.

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

    samples1, samples2

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

    inliers, numInliers, residuals

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

    covariance, DEFAULT_KEEP_COVARIANCE, initialEstimation, keepCovariance, listener, locked

  • Constructor Summary

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

  • Method Summary

    Modifier and Type
    Method
    Description
    static void
    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.
    com.irurueta.geometry.Transformation2D
    getHomography()
    Gets homography relating samples in two views, which is used to generate a fundamental matrix and its corresponding epipolar geometry.
    double
    getRefinementStandardDeviation()
    Gets standard deviation used for Levenberg-Marquardt fitting during refinement.
    boolean
    isReady()
    Indicates whether this refiner is ready to start refinement computation.
    com.irurueta.geometry.Point2D
    refine()
    Refines provided initial right epipole estimation.
    protected double
    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.
    void
    setHomography(com.irurueta.geometry.Transformation2D homography)
    Sets homography relating samples in two views, which is used to generate a fundamental matrix and its corresponding epipolar geometry.
    void
    setRefinementStandardDeviation(double refinementStandardDeviation)
    Sets standard deviation used for Levenberg-Marquardt fitting during refinement.
    protected double
    totalResidual(FundamentalMatrix fundamentalMatrix)
    Computes total residual among all provided inlier samples.

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

    getSamples1, getSamples2, setSamples1, setSamples2

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

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

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

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

    Methods inherited from class java.lang.Object

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

  • Field Details

    • testLine

      protected final com.irurueta.geometry.Line2D testLine
      Test line to compute epipolar residuals.

    • homography

      protected com.irurueta.geometry.Transformation2D homography
      Homography relating two views through a given planar scene.

    • refinementStandardDeviation

      private double refinementStandardDeviation
      Standard deviation used for Levenberg-Marquardt fitting during refinement. Returned value gives an indication of how much variance each residual has. Typically, this value is related to the threshold used on each robust estimation, since residuals of found inliers are within the range of such threshold.

  • Constructor Details

    • RightEpipoleRefiner

      protected RightEpipoleRefiner()
      Constructor.

    • RightEpipoleRefiner

      protected RightEpipoleRefiner(com.irurueta.geometry.Point2D initialEpipoleEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<com.irurueta.geometry.Point2D> samples1, List<com.irurueta.geometry.Point2D> samples2, double refinementStandardDeviation, com.irurueta.geometry.Transformation2D homography)
      Constructor.
      Parameters:
      initialEpipoleEstimation - initial right epipole estimation to be set and refined.
      keepCovariance - true if covariance of estimation must be kept after refinement, false otherwise.
      inliers - set indicating which of the provided matches are inliers.
      residuals - residuals for matched samples.
      numInliers - number of inliers on initial estimation.
      samples1 - 1st set of paired samples.
      samples2 - 2nd set of paired samples.
      refinementStandardDeviation - standard deviation used for Levenberg-Marquardt fitting.
      homography - homography relating samples in two views, which is used to generate a fundamental matrix and its corresponding epipolar geometry.

    • RightEpipoleRefiner

      protected RightEpipoleRefiner(com.irurueta.geometry.Point2D initialEpipoleEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<com.irurueta.geometry.Point2D> samples1, List<com.irurueta.geometry.Point2D> samples2, double refinementStandardDeviation, com.irurueta.geometry.Transformation2D homography)
      Constructor.
      Parameters:
      initialEpipoleEstimation - initial right epipole estimation to be set and refined.
      keepCovariance - true if covariance of estimation must be kept after refinement, false otherwise.
      inliersData - inlier data, typically obtained from a robust estimator.
      samples1 - 1st set of paired samples.
      samples2 - 2nd set of paired samples.
      refinementStandardDeviation - standard deviation used for Levenberg-Marquardt fitting.
      homography - homography relating samples in two views, which is used to generate a fundamental matrix and its corresponding epipolar geometry.

  • Method Details

    • getRefinementStandardDeviation

      public double getRefinementStandardDeviation()
      Gets standard deviation used for Levenberg-Marquardt fitting during refinement. Returned value gives an indication of how much variance each residual has. Typically, this value is related to the threshold used on each robust estimation, since residuals of found inliers are within the range of such threshold.
      Returns:
      standard deviation used for refinement.

    • setRefinementStandardDeviation

      public void setRefinementStandardDeviation(double refinementStandardDeviation) throws com.irurueta.geometry.estimators.LockedException
      Sets standard deviation used for Levenberg-Marquardt fitting during refinement. Returned value gives an indication of how much variance each residual has. Typically, this value is related to the threshold used on each robust estimation, since residuals of found inliers are within the range of such threshold.
      Parameters:
      refinementStandardDeviation - standard deviation used for refinement.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • getHomography

      public com.irurueta.geometry.Transformation2D getHomography()
      Gets homography relating samples in two views, which is used to generate a fundamental matrix and its corresponding epipolar geometry.
      Returns:
      homography relating samples in two views.

    • setHomography

      public void setHomography(com.irurueta.geometry.Transformation2D homography) throws com.irurueta.geometry.estimators.LockedException
      Sets homography relating samples in two views, which is used to generate a fundamental matrix and its corresponding epipolar geometry.
      Parameters:
      homography - homography relating samples in two views.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • isReady

      public boolean isReady()
      Indicates whether this refiner is ready to start refinement computation.
      Overrides:
      isReady in class com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner<com.irurueta.geometry.Point2D,com.irurueta.geometry.Point2D,com.irurueta.geometry.Point2D>
      Returns:
      true if refiner is ready, false otherwise.

    • refine

      public com.irurueta.geometry.Point2D refine() throws com.irurueta.geometry.estimators.NotReadyException, com.irurueta.geometry.estimators.LockedException, com.irurueta.geometry.refiners.RefinerException
      Refines provided initial right epipole estimation.
      Specified by:
      refine in class com.irurueta.geometry.refiners.Refiner<com.irurueta.geometry.Point2D>
      Returns:
      refined estimation.
      Throws:
      com.irurueta.geometry.estimators.NotReadyException - if not enough input data has been provided.
      com.irurueta.geometry.estimators.LockedException - if estimator is locked because refinement is already in progress.
      com.irurueta.geometry.refiners.RefinerException - if refinement fails for some reason (e.g. unable to converge to a result).

    • computeFundamentalMatrix

      public static void computeFundamentalMatrix(com.irurueta.geometry.Transformation2D homography, com.irurueta.geometry.Point2D rightEpipole, FundamentalMatrix result) throws InvalidFundamentalMatrixException
      Computes a fundamental matrix from a 2D homography and provided epipole on right view.
      Parameters:
      homography - a 2D homography. Must be invertible.
      rightEpipole - epipole on right view.
      result - instance where computed fundamental matrix will be stored.
      Throws:
      InvalidFundamentalMatrixException - if provided homography is not invertible, which would generate a degenerate fundamental matrix.

    • residual

      protected double 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.
      Parameters:
      fundamentalMatrix - a fundamental matrix.
      leftPoint - left 2D point.
      rightPoint - right 2D point.
      Returns:
      residual (distance of point to epipolar line).

    • totalResidual

      protected double totalResidual(FundamentalMatrix fundamentalMatrix)
      Computes total residual among all provided inlier samples.
      Parameters:
      fundamentalMatrix - a fundamental matrix.
      Returns:
      total residual.