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Augmented Reality and 3D reconstruction library
/*
* Copyright (C) 2015 Alberto Irurueta Carro ([email protected])
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.ar.epipolar.estimators;
import com.irurueta.ar.epipolar.FundamentalMatrix;
import com.irurueta.geometry.Point2D;
import com.irurueta.geometry.estimators.LockedException;
import com.irurueta.geometry.estimators.NotReadyException;
import java.util.List;
/**
* Base class for a non-robust fundamental matrix estimator.
*/
public abstract class FundamentalMatrixEstimator {
/**
* Default method for non-robust fundamental matrix estimation.
*/
public static final FundamentalMatrixEstimatorMethod DEFAULT_METHOD =
FundamentalMatrixEstimatorMethod.SEVEN_POINTS_ALGORITHM;
/**
* Listener to be notified of events generated by this fundamental matrix
* estimator.
*/
protected FundamentalMatrixEstimatorListener mListener;
/**
* List of 2D points corresponding to left view.
*/
protected List mLeftPoints;
/**
* List of 2D points corresponding to right view.
*/
protected List mRightPoints;
/**
* Indicates whether this instance is locked because estimation is being
* computed.
*/
protected boolean mLocked;
/**
* Constructor.
*/
protected FundamentalMatrixEstimator() {
}
/**
* Constructor with matched 2D points.
*
* @param leftPoints 2D points on left view.
* @param rightPoints 2D points on right view.
* @throws IllegalArgumentException if provided list of points do not
* have the same length.
*/
protected FundamentalMatrixEstimator(final List leftPoints,
final List rightPoints) {
internalSetPoints(leftPoints, rightPoints);
}
/**
* Returns matched 2D points on left view.
*
* @return 2D points on left view.
*/
public List getLeftPoints() {
return mLeftPoints;
}
/**
* Returns matched 2D points on right view.
*
* @return 2D points on right view.
*/
public List getRightPoints() {
return mRightPoints;
}
/**
* Sets matched 2D points on both left and right views.
*
* @param leftPoints matched 2D points on left view.
* @param rightPoints matched 2D points on right view.
* @throws LockedException if this fundamental matrix estimator is locked.
* @throws IllegalArgumentException if provided matched points on left and
* right views do not have the same length.
*/
public void setPoints(final List leftPoints, final List rightPoints)
throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetPoints(leftPoints, rightPoints);
}
/**
* Returns listener to be notified of events generated by this fundamental
* matrix estimator.
*
* @return listener to be notified of events generated by this fundamental
* matrix estimator.
*/
public FundamentalMatrixEstimatorListener getListener() {
return mListener;
}
/**
* Sets listener to be notified of events generated by this fundamental
* matrix estimator.
*
* @param listener listener to be notified of events generated by this
* fundamental matrix estimator.
* @throws LockedException if this estimator is locked.
*/
public void setListener(final FundamentalMatrixEstimatorListener listener)
throws LockedException {
if (isLocked()) {
throw new LockedException();
}
mListener = listener;
}
/**
* Returns boolean indicating if estimator is locked because estimation is
* under progress.
*
* @return true if estimator is locked, false otherwise.
*/
public boolean isLocked() {
return mLocked;
}
/**
* Returns boolean indicating whether estimator is ready to start the
* fundamental matrix estimation.
* This is true when the required number of matched points is provided to
* obtain a solution.
*
* @return true if estimator is ready to start the fundamental matrix
* estimation, false otherwise.
*/
public abstract boolean isReady();
/**
* Estimates a fundamental matrix using provided lists of matched points on
* left and right views.
*
* @return a fundamental matrix.
* @throws LockedException if estimator is locked doing an estimation.
* @throws NotReadyException if estimator is not ready because required
* input points have not already been provided.
* @throws FundamentalMatrixEstimatorException if configuration of provided
* 2D points is degenerate and fundamental matrix estimation fails.
*/
public abstract FundamentalMatrix estimate() throws LockedException,
NotReadyException, FundamentalMatrixEstimatorException;
/**
* Returns method of non-robust fundamental matrix estimator.
*
* @return method of fundamental matrix estimator.
*/
public abstract FundamentalMatrixEstimatorMethod getMethod();
/**
* Returns minimum number of matched pair of points required to start
* the estimation.
*
* @return minimum number of matched pair of points required to start
* the estimation.
*/
public abstract int getMinRequiredPoints();
/**
* Creates an instance of a fundamental matrix estimator using provided
* method.
*
* @param method a fundamental matrix estimator method.
* @return an instance of a fundamental matrix estimator.
*/
public static FundamentalMatrixEstimator create(
final FundamentalMatrixEstimatorMethod method) {
switch (method) {
case AFFINE_ALGORITHM:
return new AffineFundamentalMatrixEstimator();
case EIGHT_POINTS_ALGORITHM:
return new EightPointsFundamentalMatrixEstimator();
case SEVEN_POINTS_ALGORITHM:
default:
return new SevenPointsFundamentalMatrixEstimator();
}
}
/**
* Creates an instance of a fundamental matrix estimator using provided
* matched 2D points on left and right views and provided method.
*
* @param leftPoints matched 2D points on left view.
* @param rightPoints matched 2D points on right view.
* @param method a fundamental matrix estimator method.
* @return an instance of a fundamental matrix estimator.
* @throws IllegalArgumentException if provided list of points do not
* have the same length.
*/
public static FundamentalMatrixEstimator create(
final List leftPoints,
final List rightPoints,
final FundamentalMatrixEstimatorMethod method) {
switch (method) {
case AFFINE_ALGORITHM:
return new AffineFundamentalMatrixEstimator(leftPoints,
rightPoints);
case EIGHT_POINTS_ALGORITHM:
return new EightPointsFundamentalMatrixEstimator(leftPoints,
rightPoints);
case SEVEN_POINTS_ALGORITHM:
default:
return new SevenPointsFundamentalMatrixEstimator(leftPoints,
rightPoints);
}
}
/**
* Creates an instance of a fundamental matrix estimator using default
* method.
*
* @return an instance of a fundamental matrix estimator.
*/
public static FundamentalMatrixEstimator create() {
return create(DEFAULT_METHOD);
}
/**
* Creates an instance of a fundamental matrix estimator using provided
* matched 2D points on left and right views and default method.
*
* @param leftPoints matched 2D points on left view.
* @param rightPoints matched 2D points on right view.
* @return an instance of a fundamental matrix estimator.
* @throws IllegalArgumentException if provided list of points do not
* have the same length.
*/
public static FundamentalMatrixEstimator create(final List leftPoints,
final List rightPoints) {
return create(leftPoints, rightPoints, DEFAULT_METHOD);
}
/**
* Sets matched 2D points on left and right views.
* This method does not check whether instance is locked or not.
*
* @param leftPoints matched 2D points on left view.
* @param rightPoints matched 2D points on right view.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
private void internalSetPoints(final List leftPoints,
final List rightPoints) {
if (leftPoints.size() != rightPoints.size()) {
throw new IllegalArgumentException();
}
mLeftPoints = leftPoints;
mRightPoints = rightPoints;
}
}
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