Package com.irurueta.ar.calibration.estimators

Class PROSACRadialDistortionRobustEstimator

java.lang.Object
com.irurueta.ar.calibration.estimators.RadialDistortionRobustEstimator
com.irurueta.ar.calibration.estimators.PROSACRadialDistortionRobustEstimator
public class PROSACRadialDistortionRobustEstimator extends RadialDistortionRobustEstimator
Finds the best radial distortion for provided collections of 2D points using PROSAC algorithm.

  • 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:

    • 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:

    • 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.

    • qualityScores

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

  • Constructor Details

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator()
      Constructor.

    • PROSACRadialDistortionRobustEstimator

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

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator(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.

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator(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.

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator(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.

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator(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.

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator(double[] qualityScores)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided point.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than required size (i.e. 2 points).

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator(double[] qualityScores, RadialDistortionRobustEstimatorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided point.
      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 size (i.e. 2 points).

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints, double[] qualityScores)
      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.
      qualityScores - quality scores corresponding to each provided point.
      Throws:
      IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than MIN_NUMBER_OF_POINTS (i.e. 2 points).

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints, double[] qualityScores, 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.
      qualityScores - quality scores corresponding to each provided 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 or quality scores don't have the same size or their size is smaller than MIN_NUMBER_OF_POINTS (i.e. 2 points).

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints, double[] qualityScores, 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.
      qualityScores - quality scores corresponding to each provided point.
      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 or quality scores don't have the same size or their size is smaller than MIN_NUMBER_OF_POINTS (i.e. 2 points).

    • PROSACRadialDistortionRobustEstimator

      public PROSACRadialDistortionRobustEstimator(List<com.irurueta.geometry.Point2D> distortedPoints, List<com.irurueta.geometry.Point2D> undistortedPoints, double[] qualityScores, 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.
      qualityScores - quality scores corresponding to each provided point.
      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 or quality scores don't have the same size or their size is smaller than MIN_NUMBER_OF_POINTS (i.e. 2 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.

    • getQualityScores

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

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws com.irurueta.geometry.estimators.LockedException
      Sets quality scores corresponding to each provided point. The larger the score value the better the quality of the sampled point.
      Overrides:
      setQualityScores in class RadialDistortionRobustEstimator
      Parameters:
      qualityScores - quality scores corresponding to each point.
      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_SIZE (i.e. 2 samples).

    • isReady

      public boolean isReady()
      Indicates if estimator is ready to start the radial distortion estimation. This is true when input data (i.e. 2D points and quality scores) are provided and a minimum of 2 points are available.
      Overrides:
      isReady in class RadialDistortionRobustEstimator
      Returns:
      true if estimator is ready, false otherwise.

    • 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

    • internalSetQualityScores

      private void internalSetQualityScores(double[] qualityScores)
      Sets quality scores corresponding to each provided point. 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 MINIMUM_SIZE