Package com.irurueta.ar.calibration.estimators

Class PROSACImageOfAbsoluteConicRobustEstimator

java.lang.Object

com.irurueta.ar.calibration.estimators.ImageOfAbsoluteConicRobustEstimator

com.irurueta.ar.calibration.estimators.PROSACImageOfAbsoluteConicRobustEstimator

public class PROSACImageOfAbsoluteConicRobustEstimator
extends ImageOfAbsoluteConicRobustEstimator

Finds the best image of absolute conic (IAC) for provided collection of homographies (2D transformations) using PROSAC algorithm.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether homographies 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 homographies are inliers or not when testing possible estimation solutions.

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

confidence, DEFAULT_CONFIDENCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_ROBUST_METHOD, homographies, iacEstimator, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, progressDelta

Constructor Summary

Constructors

Constructor	Description
PROSACImageOfAbsoluteConicRobustEstimator()	Constructor.
PROSACImageOfAbsoluteConicRobustEstimator(double[] qualityScores)	Constructor.
PROSACImageOfAbsoluteConicRobustEstimator(double[] qualityScores, ImageOfAbsoluteConicRobustEstimatorListener listener)	Constructor.
PROSACImageOfAbsoluteConicRobustEstimator(ImageOfAbsoluteConicRobustEstimatorListener listener)	Constructor.
PROSACImageOfAbsoluteConicRobustEstimator(List<com.irurueta.geometry.Transformation2D> homographies)	Constructor.
PROSACImageOfAbsoluteConicRobustEstimator(List<com.irurueta.geometry.Transformation2D> homographies, double[] qualityScores)	Constructor.
PROSACImageOfAbsoluteConicRobustEstimator(List<com.irurueta.geometry.Transformation2D> homographies, double[] qualityScores, ImageOfAbsoluteConicRobustEstimatorListener listener)	Constructor.
PROSACImageOfAbsoluteConicRobustEstimator(List<com.irurueta.geometry.Transformation2D> homographies, ImageOfAbsoluteConicRobustEstimatorListener listener)	Constructor.

Method Summary

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

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

create, create, create, create, create, create, getConfidence, getFocalDistanceAspectRatio, getHomographies, getListener, getMaxIterations, getMinNumberOfRequiredHomographies, getProgressDelta, isFocalDistanceAspectRatioKnown, isListenerAvailable, isLocked, isPrincipalPointAtOrigin, isZeroSkewness, residual, setConfidence, setFocalDistanceAspectRatio, setFocalDistanceAspectRatioKnown, setHomographies, setListener, setMaxIterations, setPrincipalPointAtOrigin, setProgressDelta, 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 homographies are inliers or not. Threshold is defined by equations h1'*IAC*h2 = 0 and h1'*IAC*h1 = h2'*IAC*h2 --< h1'*IAC*h1 - h2'*IAC*h2 = 0, where h1 and h2 are the 1st and 2nd columns of an homography (2D transformation). These equations are derived from the fact that rotation matrices are orthonormal.

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 homographies are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has on the ortho-normality assumption of rotation matrices.

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

PROSACImageOfAbsoluteConicRobustEstimator

public PROSACImageOfAbsoluteConicRobustEstimator()

Constructor.

PROSACImageOfAbsoluteConicRobustEstimator

public PROSACImageOfAbsoluteConicRobustEstimator(ImageOfAbsoluteConicRobustEstimatorListener listener)

Constructor.

Parameters:

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

PROSACImageOfAbsoluteConicRobustEstimator

public PROSACImageOfAbsoluteConicRobustEstimator(List<com.irurueta.geometry.Transformation2D> homographies)

Constructor.

Parameters:

homographies - list of homographies (2D transformations) used to estimate the image of absolute conic (IAC), which can be used to obtain pinhole camera intrinsic parameters.

Throws:

IllegalArgumentException - if not enough homographies are provided for default settings. Hence, at least 1 homography must be provided.

PROSACImageOfAbsoluteConicRobustEstimator

public PROSACImageOfAbsoluteConicRobustEstimator(List<com.irurueta.geometry.Transformation2D> homographies,
 ImageOfAbsoluteConicRobustEstimatorListener listener)

Constructor.

Parameters:

homographies - list of homographies (2D transformations) used to estimate the image of absolute conic (IAC), 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 homographies are provided for default settings. Hence, at least 1 homography must be provided.

PROSACImageOfAbsoluteConicRobustEstimator

public PROSACImageOfAbsoluteConicRobustEstimator(double[] qualityScores)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided homography.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required number of homographies for default settings (i.e. 1 homography).

PROSACImageOfAbsoluteConicRobustEstimator

public PROSACImageOfAbsoluteConicRobustEstimator(double[] qualityScores,
 ImageOfAbsoluteConicRobustEstimatorListener listener)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided homography.

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 homographies for default settings (i.e. 1 homography).

PROSACImageOfAbsoluteConicRobustEstimator

public PROSACImageOfAbsoluteConicRobustEstimator(List<com.irurueta.geometry.Transformation2D> homographies,
 double[] qualityScores)

Constructor.

Parameters:

homographies - list of homographies (2D transformations) used to estimate the image of absolute conic (IAC), which can be used to obtain pinhole camera intrinsic parameters.

qualityScores - quality scores corresponding to each provided homography.

Throws:

IllegalArgumentException - if not enough homographies are provided for default settings (i.e. 1 homography) or quality scores and homographies don't have the same size.

PROSACImageOfAbsoluteConicRobustEstimator

public PROSACImageOfAbsoluteConicRobustEstimator(List<com.irurueta.geometry.Transformation2D> homographies,
 double[] qualityScores,
 ImageOfAbsoluteConicRobustEstimatorListener listener)

Constructor.

Parameters:

homographies - list of homographies (2D transformations) used to estimate the image of absolute conic (IAC), which can be used to obtain pinhole camera intrinsic parameters.

qualityScores - quality scores corresponding to each provided homography.

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

Throws:

IllegalArgumentException - if not enough homographies are provided for default settings (i.e. 1 homography) or quality scores and homographies don't have the same size.

Method Details

getThreshold

public double getThreshold()

Returns threshold to determine whether homographies are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has on the ortho-normality assumption of rotation matrices.

Returns:

threshold to determine whether homographies 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 homographies are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has on the ortho-normality assumption of rotation matrices.

Parameters:

threshold - threshold to determine whether homographies 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 homography. The larger the score value the better the quality of the sampled homography

Overrides:

getQualityScores in class ImageOfAbsoluteConicRobustEstimator

Returns:

quality scores corresponding to each homography.

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws com.irurueta.geometry.estimators.LockedException

Sets quality scores corresponding to each provided homography. The larger the score value the better the quality of the sampled homography

Overrides:

setQualityScores in class ImageOfAbsoluteConicRobustEstimator

Parameters:

qualityScores - quality scores corresponding to each homography

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 homographies (i.e. 1 homography)

isReady

public boolean isReady()

Indicates if estimator is ready to start the IAC estimation. This is true when input data (i.e. homographies) is provided and list contains at least the minimum number of required homographies, and also quality scores are provided.

Overrides:

isReady in class ImageOfAbsoluteConicRobustEstimator

Returns:

true if estimator is ready, false otherwise.

estimate

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

Estimates Image of Absolute Conic (IAC).

Specified by:

estimate in class ImageOfAbsoluteConicRobustEstimator

Returns:

estimated IAC.

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 ImageOfAbsoluteConicRobustEstimator

Returns:

method being used for robust estimation

internalSetQualityScores

private void internalSetQualityScores(double[] qualityScores)

Sets quality scores corresponding to each homography. 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.