Package com.irurueta.ar.calibration.estimators

Class SingleHomographyPinholeCameraEstimator

java.lang.Object
com.irurueta.ar.calibration.estimators.SingleHomographyPinholeCameraEstimator
public class SingleHomographyPinholeCameraEstimator extends Object
This class estimate intrinsic and extrinsic (rotation and camera center) parameters of a camera by using provided homography. For intrinsic parameters estimation it is assumed that skewness and principal point are zero and that aspect ratio are known. This class can be used in planar scenes where projected points of two views are related by an homography.

  • Field Details

    • DEFAULT_ASPECT_RATIO

      public static final double DEFAULT_ASPECT_RATIO
      Default aspect ratio value.
      See Also:

    • focalDistanceAspectRatio

      private double focalDistanceAspectRatio
      Aspect ratio of intrinsic parameters.

    • homography

      private com.irurueta.geometry.Transformation2D homography
      Homography relating two views.

    • locked

      private boolean locked
      True when estimation is in progress.

    • listener

      private SingleHomographyPinholeCameraEstimatorListener listener
      Listener to be notified of events such as when estimation starts or ends.

  • Constructor Details

    • SingleHomographyPinholeCameraEstimator

      public SingleHomographyPinholeCameraEstimator()
      Constructor.

    • SingleHomographyPinholeCameraEstimator

      public SingleHomographyPinholeCameraEstimator(SingleHomographyPinholeCameraEstimatorListener listener)
      Constructor with listener.
      Parameters:
      listener - listener to be notified of events such as when estimation starts or ends.

    • SingleHomographyPinholeCameraEstimator

      public SingleHomographyPinholeCameraEstimator(com.irurueta.geometry.Transformation2D homography)
      Constructor with homography.
      Parameters:
      homography - homography to estimate camera and intrinsic parameters.
      Throws:
      NullPointerException - if provided homography is null.

    • SingleHomographyPinholeCameraEstimator

      public SingleHomographyPinholeCameraEstimator(com.irurueta.geometry.Transformation2D homography, SingleHomographyPinholeCameraEstimatorListener listener)
      Constructor with listener and homography.
      Parameters:
      homography - homography to estimate camera and intrinsic parameters.
      listener - listener to be notified of events such as when estimation starts or ends.

  • Method Details

    • getFocalDistanceAspectRatio

      public double getFocalDistanceAspectRatio()
      Gets aspect ratio of intrinsic parameters.
      Returns:
      aspect ratio of intrinsic parameters.

    • setFocalDistanceAspectRatio

      public void setFocalDistanceAspectRatio(double focalDistanceAspectRatio) throws com.irurueta.geometry.estimators.LockedException
      Sets aspect ratio of intrinsic parameters.
      Parameters:
      focalDistanceAspectRatio - aspect ratio of intrinsic parameters.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • getHomography

      public com.irurueta.geometry.Transformation2D getHomography()
      Gets homography relating two views.
      Returns:
      homography relating two views.

    • setHomography

      public void setHomography(com.irurueta.geometry.Transformation2D homography) throws com.irurueta.geometry.estimators.LockedException
      Sets homography relating two views.
      Parameters:
      homography - homography relating two views.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • isReady

      public boolean isReady()
      Indicates whether this instance is locked.
      Returns:
      true if this estimator is busy doing the estimation, false otherwise.

    • getListener

      public SingleHomographyPinholeCameraEstimatorListener getListener()
      Gets listener to be notified of events such as when estimation starts or ends.
      Returns:
      listener to be notified of events.

    • setListener

      public void setListener(SingleHomographyPinholeCameraEstimatorListener listener) throws com.irurueta.geometry.estimators.LockedException
      Sets listener to be notified of events such as when estimation starts or ends.
      Parameters:
      listener - listener to be notified of events.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • isLocked

      public boolean isLocked()
      Indicates whether this instance is locked or not.
      Returns:
      true if instance is locked, false otherwise.

    • estimate

      public com.irurueta.geometry.PinholeCamera estimate() throws com.irurueta.geometry.estimators.LockedException, com.irurueta.geometry.estimators.NotReadyException, SingleHomographyPinholeCameraEstimatorException
      Estimates a pinhole camera.
      Returns:
      estimated pinhole camera.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.
      com.irurueta.geometry.estimators.NotReadyException - if no homography has been provided yet.
      SingleHomographyPinholeCameraEstimatorException - if estimation fails.

    • estimate

      public void estimate(com.irurueta.geometry.PinholeCamera result) throws com.irurueta.geometry.estimators.LockedException, com.irurueta.geometry.estimators.NotReadyException, SingleHomographyPinholeCameraEstimatorException
      Estimates a pinhole camera.
      Parameters:
      result - instance where estimated camera will be stored.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.
      com.irurueta.geometry.estimators.NotReadyException - if no homography has been provided yet.
      SingleHomographyPinholeCameraEstimatorException - if estimation fails.

    • internalSetHomography

      private void internalSetHomography(com.irurueta.geometry.Transformation2D homography)
      Sets homography to estimate camera and intrinsic parameters.
      Parameters:
      homography - homography to be set.
      Throws:
      NullPointerException - if provided homography is null.