Package com.irurueta.ar.calibration.estimators

Class LMSERadialDistortionEstimator

java.lang.Object

com.irurueta.ar.calibration.estimators.RadialDistortionEstimator

com.irurueta.ar.calibration.estimators.LMSERadialDistortionEstimator

public class LMSERadialDistortionEstimator
extends RadialDistortionEstimator

This class defines an LMSE (the Least Mean Square Error) estimator of radial distortion. Equations to determine a RadialDistortion instance for a single point are linear dependent, for that reason, at least 2 points are required for the estimation. Even though x and y equations are linear dependent, both equations are taken into account in case that sampled data contains errors, so that an LMSE error can be obtained.

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	allowLMSESolution	Indicates if an LMSE (the Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided.
static final boolean	DEFAULT_ALLOW_LMSE_SOLUTION	Indicates if by default an LMSE (the Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided.

Fields inherited from class com.irurueta.ar.calibration.estimators.RadialDistortionEstimator

DEFAULT_ESTIMATOR_TYPE, DEFAULT_FOCAL_LENGTH, DEFAULT_NUM_K_PARAMS, DEFAULT_SKEW, distortedPoints, distortionCenter, horizontalFocalLength, kInv, listener, locked, MIN_K_PARAMS, numKParams, skew, undistortedPoints, verticalFocalLength

Constructor Summary

Constructors

Constructor	Description
LMSERadialDistortionEstimator()	Constructor.
LMSERadialDistortionEstimator(RadialDistortionEstimatorListener listener)	Constructor with listener.
LMSERadialDistortionEstimator(com.irurueta.geometry.Point2D distortionCenter)	Constructor with distortion center.
LMSERadialDistortionEstimator(com.irurueta.geometry.Point2D distortionCenter, RadialDistortionEstimatorListener listener)	Constructor with listener and distortion center.
LMSERadialDistortionEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints)	Constructor.
LMSERadialDistortionEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints, RadialDistortionEstimatorListener listener)	Constructor.
LMSERadialDistortionEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints, com.irurueta.geometry.Point2D distortionCenter)	Constructor with points and distortion center.
LMSERadialDistortionEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints, com.irurueta.geometry.Point2D distortionCenter, RadialDistortionEstimatorListener listener)	Constructor

Method Summary

Modifier and Type	Method	Description
RadialDistortion	estimate()	Estimates a radial distortion.
RadialDistortionEstimatorType	getType()	Returns type of radial distortion estimator.
boolean	isLMSESolutionAllowed()	Indicates if an LMSE (the Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided.
void	setLMSESolutionAllowed(boolean allowed)	Specifies if an LMSE (the Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided.

Methods inherited from class com.irurueta.ar.calibration.estimators.RadialDistortionEstimator

arePointsAvailable, areValidPoints, create, create, getDistortedPoints, getDistortionCenter, getHorizontalFocalLength, getIntrinsic, getListener, getMinNumberOfMatchedPoints, getNumKParams, getSkew, getUndistortedPoints, getVerticalFocalLength, isLocked, isReady, setDistortionCenter, setHorizontalFocalLength, setIntrinsic, setIntrinsic, setListener, setNumKParams, setPoints, setSkew, setVerticalFocalLength

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_ALLOW_LMSE_SOLUTION

public static final boolean DEFAULT_ALLOW_LMSE_SOLUTION

Indicates if by default an LMSE (the Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided.

See Also:

• Constant Field Values

allowLMSESolution

private boolean allowLMSESolution

Indicates if an LMSE (the Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided. If false, the exceeding correspondences will be ignored and only the 6 first correspondences will be used.

Constructor Details

LMSERadialDistortionEstimator

public LMSERadialDistortionEstimator()

Constructor.

LMSERadialDistortionEstimator

public LMSERadialDistortionEstimator(RadialDistortionEstimatorListener listener)

Constructor with listener.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or estimation progress changes.

LMSERadialDistortionEstimator

public LMSERadialDistortionEstimator(List<com.irurueta.geometry.Point2D> distortedPoints,
 List<com.irurueta.geometry.Point2D> undistortedPoints)

Constructor.

Parameters:

distortedPoints - list of distorted points. Distorted points are obtained after radial distortion is applied to an undistorted point.

undistortedPoints - list of undistorted points.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size.

LMSERadialDistortionEstimator

public LMSERadialDistortionEstimator(List<com.irurueta.geometry.Point2D> distortedPoints,
 List<com.irurueta.geometry.Point2D> undistortedPoints,
 RadialDistortionEstimatorListener listener)

Constructor.

Parameters:

distortedPoints - list of distorted points. Distorted points are obtained after radial distortion is applied to an undistorted point.

undistortedPoints - list of undistorted points.

listener - listener to be notified of events such as when estimation starts, ends or estimation progress changes.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size.

LMSERadialDistortionEstimator

public LMSERadialDistortionEstimator(com.irurueta.geometry.Point2D distortionCenter)

Constructor with distortion center.

Parameters:

distortionCenter - Distortion center. This is usually equal to the principal point of an estimated camera. If not set it is assumed to be at the origin of coordinates (0,0).

LMSERadialDistortionEstimator

public LMSERadialDistortionEstimator(com.irurueta.geometry.Point2D distortionCenter,
 RadialDistortionEstimatorListener listener)

Constructor with listener and distortion center.

Parameters:

distortionCenter - Distortion center. This is usually equal to the principal point of an estimated camera. If not set it is assumed to be at the origin of coordinates (0,0).

listener - listener to be notified of events such as when estimation starts, ends or estimation progress changes.

LMSERadialDistortionEstimator

public LMSERadialDistortionEstimator(List<com.irurueta.geometry.Point2D> distortedPoints,
 List<com.irurueta.geometry.Point2D> undistortedPoints,
 com.irurueta.geometry.Point2D distortionCenter)

Constructor with points and distortion center.

Parameters:

distortedPoints - list of distorted points. Distorted points are obtained after radial distortion is applied to an undistorted point.

undistortedPoints - list of undistorted points.

distortionCenter - Distortion center. This is usually equal to the principal point of an estimated camera. If not set it is assumed to be at the origin of coordinates (0,0).

Throws:

IllegalArgumentException - if provided lists of points don't have the same size.

LMSERadialDistortionEstimator

public LMSERadialDistortionEstimator(List<com.irurueta.geometry.Point2D> distortedPoints,
 List<com.irurueta.geometry.Point2D> undistortedPoints,
 com.irurueta.geometry.Point2D distortionCenter,
 RadialDistortionEstimatorListener listener)

Constructor

Parameters:

distortedPoints - list of distorted points. Distorted points are obtained after radial distortion is applied to an undistorted point.

undistortedPoints - list of undistorted points.

distortionCenter - Distortion center. This is usually equal to the principal point of an estimated camera. If not set it is assumed to be at the origin of coordinates (0,0).

listener - listener to be notified of events such as when estimation starts, ends or estimation progress changes.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size.

Method Details

isLMSESolutionAllowed

public boolean isLMSESolutionAllowed()

Indicates if an LMSE (the Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided. If false, the exceeding correspondences will be ignored and only the 6 first correspondences will be used.

Returns:

true if LMSE solution is allowed, false otherwise.

setLMSESolutionAllowed

public void setLMSESolutionAllowed(boolean allowed)
                            throws com.irurueta.geometry.estimators.LockedException

Specifies if an LMSE (the Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided. If false, the exceeding correspondences will be ignored and only the 6 first correspondences will be used.

Parameters:

allowed - true if LMSE solution is allowed, false otherwise.

Throws:

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

estimate

public RadialDistortion estimate()
                          throws com.irurueta.geometry.estimators.LockedException,
com.irurueta.geometry.estimators.NotReadyException,
RadialDistortionEstimatorException

Estimates a radial distortion.

Specified by:

estimate in class RadialDistortionEstimator

Returns:

estimated radial distortion.

Throws:

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

com.irurueta.geometry.estimators.NotReadyException - if input has not yet been provided.

RadialDistortionEstimatorException - if an error occurs during estimation, usually because input data is not valid.

getType

public RadialDistortionEstimatorType getType()

Returns type of radial distortion estimator.

Specified by:

getType in class RadialDistortionEstimator

Returns:

type of radial distortion estimator.