Package com.irurueta.ar.calibration.estimators

Class PROMedSDualAbsoluteQuadricRobustEstimator

java.lang.Object
com.irurueta.ar.calibration.estimators.DualAbsoluteQuadricRobustEstimator
com.irurueta.ar.calibration.estimators.PROMedSDualAbsoluteQuadricRobustEstimator
public class PROMedSDualAbsoluteQuadricRobustEstimator extends DualAbsoluteQuadricRobustEstimator
Finds the best dual absolute quadric (DAQ) for provided collection of cameras using PROMedS algorithm.

  • Field Details

    • DEFAULT_STOP_THRESHOLD

      public static final double DEFAULT_STOP_THRESHOLD
      Default value to be used for stop threshold. Stop threshold can be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. Threshold is defined by the equations used to estimate the DAQ depending on the required settings (zero skewness, principal point at origin, and known aspect ratio).
      See Also:

    • MIN_STOP_THRESHOLD

      public static final double MIN_STOP_THRESHOLD
      Minimum value that can be set as stop threshold. Threshold must be strictly greater than 0.0.
      See Also:

    • stopThreshold

      private double stopThreshold
      Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the PROMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of inliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

    • qualityScores

      private double[] qualityScores
      Quality scores corresponding to each provided camera. The larger the score value the better the quality of the sample.

  • Constructor Details

    • PROMedSDualAbsoluteQuadricRobustEstimator

      public PROMedSDualAbsoluteQuadricRobustEstimator()
      Constructor.

    • PROMedSDualAbsoluteQuadricRobustEstimator

      public PROMedSDualAbsoluteQuadricRobustEstimator(DualAbsoluteQuadricRobustEstimatorListener listener)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • PROMedSDualAbsoluteQuadricRobustEstimator

      public PROMedSDualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras)
      Constructor.
      Parameters:
      cameras - list of cameras used to estimate the dual absolute quadric (DAC), which can be used to obtain pinhole camera intrinsic parameters.
      Throws:
      IllegalArgumentException - if not enough cameras are provided for default settings. Hence, at least 2 cameras must be provided.

    • PROMedSDualAbsoluteQuadricRobustEstimator

      public PROMedSDualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras, DualAbsoluteQuadricRobustEstimatorListener listener)
      Constructor.
      Parameters:
      cameras - list of cameras used to estimate the dual absolute quadric (DAQ), which can be used to obtain pinhole camera intrinsic parameters.
      listener - listener to be notified of events such as when estimation starts, ends or estimation progress changes.
      Throws:
      IllegalArgumentException - if not enough cameras are provided for default settings. Hence, at least 2 cameras must be provided.

    • PROMedSDualAbsoluteQuadricRobustEstimator

      public PROMedSDualAbsoluteQuadricRobustEstimator(double[] qualityScores)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided camera.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than required number of homographies for default settings (i.e. 2 cameras).

    • PROMedSDualAbsoluteQuadricRobustEstimator

      public PROMedSDualAbsoluteQuadricRobustEstimator(double[] qualityScores, DualAbsoluteQuadricRobustEstimatorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided camera.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than required number of cameras for default settings (i.e. 2 cameras).

    • PROMedSDualAbsoluteQuadricRobustEstimator

      public PROMedSDualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores)
      Constructor.
      Parameters:
      cameras - list of cameras used to estimate the dual absolute quadric (DAQ), which can be used to obtain pinhole camera intrinsic parameters.
      qualityScores - quality scores corresponding to each provided camera.
      Throws:
      IllegalArgumentException - if not enough cameras are provided for default settings (i.e. 2 cameras) or quality scores and cameras don't have the same size.

    • PROMedSDualAbsoluteQuadricRobustEstimator

      public PROMedSDualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores, DualAbsoluteQuadricRobustEstimatorListener listener)
      Constructor.
      Parameters:
      cameras - list of cameras used to estimate the dual absolute quadric (DAQ), which can be used to obtain pinhole camera intrinsic parameters.
      qualityScores - quality scores corresponding to each provided camera.
      listener - listener to be notified of events such as when estimation starts, ends or estimation progress changes.
      Throws:
      IllegalArgumentException - if not enough cameras are provided for default settings (i.e. 2 cameras) or quality scores and cameras don't have the same size.

  • Method Details

    • getStopThreshold

      public double getStopThreshold()
      Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the PROMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.
      Returns:
      stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

    • setStopThreshold

      public void setStopThreshold(double stopThreshold) throws com.irurueta.geometry.estimators.LockedException
      Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the PROMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.
      Parameters:
      stopThreshold - stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.
      Throws:
      IllegalArgumentException - if provided value is zero or negative.
      com.irurueta.geometry.estimators.LockedException - if robust estimator is locked because an estimation is already in progress.

    • getQualityScores

      public double[] getQualityScores()
      Returns quality scores corresponding to each provided camera. The larger the score value the better the quality of the sampled camera.
      Overrides:
      getQualityScores in class DualAbsoluteQuadricRobustEstimator
      Returns:
      quality scores corresponding to each camera.

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws com.irurueta.geometry.estimators.LockedException
      Sets quality scores corresponding to each provided camera. The larger the score value the better the quality of the sampled camera.
      Overrides:
      setQualityScores in class DualAbsoluteQuadricRobustEstimator
      Parameters:
      qualityScores - quality scores corresponding to each camera.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if robust estimator is locked because an estimation is already in progress.
      IllegalArgumentException - if provided quality scores length is smaller than minimum required number of cameras (i.e. 2 cameras).

    • isReady

      public boolean isReady()
      Indicates if estimator is ready to start the DAQ estimation. This is true when input data (i.e. cameras) is provided and list contains at least the minimum number of required cameras, and also quality scores are provided.
      Overrides:
      isReady in class DualAbsoluteQuadricRobustEstimator
      Returns:
      true if estimator is ready, false otherwise.

    • estimate

      public DualAbsoluteQuadric estimate() throws com.irurueta.geometry.estimators.LockedException, com.irurueta.geometry.estimators.NotReadyException, com.irurueta.numerical.robust.RobustEstimatorException
      Estimates the Dual Absolute Quadric using provided cameras.
      Specified by:
      estimate in class DualAbsoluteQuadricRobustEstimator
      Returns:
      estimated Dual Absolute Quadric (DAQ).
      Throws:
      com.irurueta.geometry.estimators.LockedException - if robust estimator is locked.
      com.irurueta.geometry.estimators.NotReadyException - if no valid input data has already been provided.
      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 DualAbsoluteQuadricRobustEstimator
      Returns:
      method being used for robust estimation.

    • internalSetQualityScores

      private void internalSetQualityScores(double[] qualityScores)
      Sets quality scores corresponding to each camera. This method is used internally and does not check whether instance is locked or not.
      Parameters:
      qualityScores - quality scores to be set.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than the minimum number of required homographies for current settings.