Package com.irurueta.ar.calibration.estimators

Class MSACRadialDistortionRobustEstimator

java.lang.Object

com.irurueta.ar.calibration.estimators.RadialDistortionRobustEstimator

com.irurueta.ar.calibration.estimators.MSACRadialDistortionRobustEstimator

public class MSACRadialDistortionRobustEstimator
extends RadialDistortionRobustEstimator

Finds the best radial distortion for provided collections of 2D points using MSAC algorithm.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether points are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double	threshold	Threshold to determine whether points are inliers or not when testing possible estimation solutions.

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

confidence, DEFAULT_CONFIDENCE, DEFAULT_FOCAL_LENGTH, DEFAULT_MAX_ITERATIONS, DEFAULT_NUM_K_PARAMS, DEFAULT_PROGRESS_DELTA, DEFAULT_ROBUST_METHOD, DEFAULT_SKEW, distortedPoints, distortionCenter, horizontalFocalLength, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_K_PARAMS, MIN_NUMBER_OF_POINTS, MIN_PROGRESS_DELTA, numKParams, progressDelta, skew, undistortedPoints, verticalFocalLength

Constructor Summary

Constructors

Constructor	Description
MSACRadialDistortionRobustEstimator()	Constructor.
MSACRadialDistortionRobustEstimator(RadialDistortionRobustEstimatorListener listener)	Constructor.
MSACRadialDistortionRobustEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints)	Constructor.
MSACRadialDistortionRobustEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints, RadialDistortionRobustEstimatorListener listener)	Constructor.
MSACRadialDistortionRobustEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints, com.irurueta.geometry.Point2D distortionCenter)	Constructor.
MSACRadialDistortionRobustEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints, com.irurueta.geometry.Point2D distortionCenter, RadialDistortionRobustEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
RadialDistortion	estimate()	Estimates a radial distortion using a robust estimator and the best set of matched 2D points found using the robust estimator.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation
double	getThreshold()	Returns threshold to determine whether points are inliers or not when testing possible estimation solutions.
void	setThreshold(double threshold)	Sets threshold to determine whether points are inliers or not when testing possible estimation solutions.

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

arePointsAvailable, areValidPoints, create, create, create, create, create, create, create, create, create, create, getConfidence, getDistortedPoints, getDistortionCenter, getHorizontalFocalLength, getIntrinsic, getListener, getMaxIterations, getNumKParams, getProgressDelta, getQualityScores, getSkew, getUndistortedPoints, getVerticalFocalLength, isListenerAvailable, isLocked, isReady, setConfidence, setDistortionCenter, setHorizontalFocalLength, setIntrinsic, setIntrinsic, setListener, setMaxIterations, setNumKParams, setPoints, setProgressDelta, setQualityScores, setSkew, setVerticalFocalLength

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_THRESHOLD

public static final double DEFAULT_THRESHOLD

Constant defining default threshold to determine whether points are inliers or not. By default, 1.0 is considered a good value for cases where measures are done on pixels, since typically the minimum resolution is 1 pixel.

See Also:

• Constant Field Values

MIN_THRESHOLD

public static final double MIN_THRESHOLD

Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.

See Also:

• Constant Field Values

threshold

private double threshold

Threshold to determine whether points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error (i.e. distance) a possible solution has on a matched pair of points.

Constructor Details

MSACRadialDistortionRobustEstimator

public MSACRadialDistortionRobustEstimator()

Constructor.

MSACRadialDistortionRobustEstimator

public MSACRadialDistortionRobustEstimator(RadialDistortionRobustEstimatorListener listener)

Constructor.

Parameters:

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

MSACRadialDistortionRobustEstimator

public MSACRadialDistortionRobustEstimator(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 or their size is smaller than MIN_NUMBER_OF_POINTS.

MSACRadialDistortionRobustEstimator

public MSACRadialDistortionRobustEstimator(List<com.irurueta.geometry.Point2D> distortedPoints,
 List<com.irurueta.geometry.Point2D> undistortedPoints,
 RadialDistortionRobustEstimatorListener 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 its progress significantly changes.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MIN_NUMBER_OF_POINTS.

MSACRadialDistortionRobustEstimator

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

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 - radial distortion center. If null it is assumed to be the origin of coordinates, otherwise this is typically equal to the camera principal point.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MIN_NUMBER_OF_POINTS.

MSACRadialDistortionRobustEstimator

public MSACRadialDistortionRobustEstimator(List<com.irurueta.geometry.Point2D> distortedPoints,
 List<com.irurueta.geometry.Point2D> undistortedPoints,
 com.irurueta.geometry.Point2D distortionCenter,
 RadialDistortionRobustEstimatorListener 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 - radial distortion center. If null it is assumed to be the origin of coordinates, otherwise this is typically equal to the camera principal point.

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

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MIN_NUMBER_OF_POINTS.

Method Details

getThreshold

public double getThreshold()

Returns threshold to determine whether points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error (i.e. Euclidean distance) a possible solution has on projected 2D points.

Returns:

threshold to determine whether points are inliers or not when testing possible estimation solutions.

setThreshold

public void setThreshold(double threshold)
                  throws com.irurueta.geometry.estimators.LockedException

Sets threshold to determine whether points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error (i.e. Euclidean distance) a possible solution has on projected 2D points.

Parameters:

threshold - threshold to be set.

Throws:

IllegalArgumentException - if provided value is equal or less than zero.

com.irurueta.geometry.estimators.LockedException - if robust estimator is locked because an estimation is already in progress.

estimate

public RadialDistortion estimate()
                          throws com.irurueta.geometry.estimators.LockedException,
com.irurueta.geometry.estimators.NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Estimates a radial distortion using a robust estimator and the best set of matched 2D points found using the robust estimator.

Specified by:

estimate in class RadialDistortionRobustEstimator

Returns:

a radial distortion.

Throws:

com.irurueta.geometry.estimators.LockedException - if robust estimator is locked because an estimation is already in progress.

com.irurueta.geometry.estimators.NotReadyException - if provided input data is not enough to start the estimation.

com.irurueta.numerical.robust.RobustEstimatorException - if estimation fails for any reason (i.e. numerical instability, no solution available, etc).

getMethod

public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()

Returns method being used for robust estimation

Specified by:

getMethod in class RadialDistortionRobustEstimator

Returns:

method being used for robust estimation