Package com.irurueta.ar.calibration.estimators

Class PROSACDualAbsoluteQuadricRobustEstimator

java.lang.Object

com.irurueta.ar.calibration.estimators.DualAbsoluteQuadricRobustEstimator

com.irurueta.ar.calibration.estimators.PROSACDualAbsoluteQuadricRobustEstimator

public class PROSACDualAbsoluteQuadricRobustEstimator
extends DualAbsoluteQuadricRobustEstimator

Finds the best dual absolute quadric (DAQ) for provided collection of cameras using PROSAC algorithm.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether cameras are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double[]	qualityScores	Quality scores corresponding to each provided homography.
private double	threshold	Threshold to determine whether cameras are inliers or not when testing possible estimation solutions.

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

cameras, confidence, daqEstimator, DEFAULT_CONFIDENCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_ROBUST_METHOD, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, progressDelta

Constructor Summary

Constructors

Constructor	Description
PROSACDualAbsoluteQuadricRobustEstimator()	Constructor.
PROSACDualAbsoluteQuadricRobustEstimator(double[] qualityScores)	Constructor.
PROSACDualAbsoluteQuadricRobustEstimator(double[] qualityScores, DualAbsoluteQuadricRobustEstimatorListener listener)	Constructor.
PROSACDualAbsoluteQuadricRobustEstimator(DualAbsoluteQuadricRobustEstimatorListener listener)	Constructor.
PROSACDualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras)	Constructor.
PROSACDualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores)	Constructor.
PROSACDualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores, DualAbsoluteQuadricRobustEstimatorListener listener)	Constructor.
PROSACDualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras, DualAbsoluteQuadricRobustEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
DualAbsoluteQuadric	estimate()	Estimates the Dual Absolute Quadric using provided cameras.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double[]	getQualityScores()	Returns quality scores corresponding to each provided camera.
double	getThreshold()	Returns threshold to determine whether cameras are inliers or not when testing possible estimation solutions.
private void	internalSetQualityScores(double[] qualityScores)	Sets quality scores corresponding to each camera.
boolean	isReady()	Indicates if estimator is ready to start the DAQ estimation.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided camera.
void	setThreshold(double threshold)	Sets threshold to determine whether cameras are inliers or not when testing possible estimation solutions.

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

areValidConstraints, create, create, create, create, create, create, getCameras, getConfidence, getDeterminantThreshold, getFocalDistanceAspectRatio, getListener, getMaxIterations, getMinNumberOfRequiredCameras, getProgressDelta, isEnforcedSingularityValidated, isFocalDistanceAspectRatioKnown, isListenerAvailable, isLocked, isPrincipalPointAtOrigin, isSingularityEnforced, isZeroSkewness, residual, setCameras, setConfidence, setDeterminantThreshold, setEnforcedSingularityValidated, setFocalDistanceAspectRatio, setFocalDistanceAspectRatioKnown, setListener, setMaxIterations, setPrincipalPointAtOrigin, setProgressDelta, setSingularityEnforced, setZeroSkewness

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 cameras are inliers or not. 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:

• 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 cameras are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has.

qualityScores

private double[] qualityScores

Quality scores corresponding to each provided homography. The larger the score value the better the quality of the sample.

Constructor Details

PROSACDualAbsoluteQuadricRobustEstimator

public PROSACDualAbsoluteQuadricRobustEstimator()

Constructor.

PROSACDualAbsoluteQuadricRobustEstimator

public PROSACDualAbsoluteQuadricRobustEstimator(DualAbsoluteQuadricRobustEstimatorListener listener)

Constructor.

Parameters:

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

PROSACDualAbsoluteQuadricRobustEstimator

public PROSACDualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras)

Constructor.

Parameters:

cameras - list of cameras used to estimate the Dual Absolute Quadric (DAQ), 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.

PROSACDualAbsoluteQuadricRobustEstimator

public PROSACDualAbsoluteQuadricRobustEstimator(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 its progress significantly changes.

Throws:

IllegalArgumentException - if not enough cameras are provided for default settings. Hence, at least 2 cameras must be provided.

PROSACDualAbsoluteQuadricRobustEstimator

public PROSACDualAbsoluteQuadricRobustEstimator(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 cameras for default settings (i.e. 2 cameras).

PROSACDualAbsoluteQuadricRobustEstimator

public PROSACDualAbsoluteQuadricRobustEstimator(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).

PROSACDualAbsoluteQuadricRobustEstimator

public PROSACDualAbsoluteQuadricRobustEstimator(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.

PROSACDualAbsoluteQuadricRobustEstimator

public PROSACDualAbsoluteQuadricRobustEstimator(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 its progress significantly 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

getThreshold

public double getThreshold()

Returns threshold to determine whether cameras are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has.

Returns:

threshold to determine whether cameras 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 cameras are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has.

Parameters:

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

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.

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 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 cameras for current settings.