Package com.irurueta.ar.calibration.estimators

Class RANSACDualAbsoluteQuadricRobustEstimator

java.lang.Object

com.irurueta.ar.calibration.estimators.DualAbsoluteQuadricRobustEstimator

com.irurueta.ar.calibration.estimators.RANSACDualAbsoluteQuadricRobustEstimator

public class RANSACDualAbsoluteQuadricRobustEstimator
extends DualAbsoluteQuadricRobustEstimator

Finds the best dual absolute quadric (DAQ) using RANSAC 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	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
RANSACDualAbsoluteQuadricRobustEstimator()	Constructor.
RANSACDualAbsoluteQuadricRobustEstimator(DualAbsoluteQuadricRobustEstimatorListener listener)	Constructor.
RANSACDualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras)	Constructor.
RANSACDualAbsoluteQuadricRobustEstimator(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	getThreshold()	Returns threshold to determine whether cameras are inliers or not when testing possible estimation solutions.
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, getQualityScores, isEnforcedSingularityValidated, isFocalDistanceAspectRatioKnown, isListenerAvailable, isLocked, isPrincipalPointAtOrigin, isReady, isSingularityEnforced, isZeroSkewness, residual, setCameras, setConfidence, setDeterminantThreshold, setEnforcedSingularityValidated, setFocalDistanceAspectRatio, setFocalDistanceAspectRatioKnown, setListener, setMaxIterations, setPrincipalPointAtOrigin, setProgressDelta, setQualityScores, 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.

Constructor Details

RANSACDualAbsoluteQuadricRobustEstimator

public RANSACDualAbsoluteQuadricRobustEstimator()

Constructor.

RANSACDualAbsoluteQuadricRobustEstimator

public RANSACDualAbsoluteQuadricRobustEstimator(DualAbsoluteQuadricRobustEstimatorListener listener)

Constructor.

Parameters:

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

RANSACDualAbsoluteQuadricRobustEstimator

public RANSACDualAbsoluteQuadricRobustEstimator(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.

RANSACDualAbsoluteQuadricRobustEstimator

public RANSACDualAbsoluteQuadricRobustEstimator(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.

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.

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.

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.