Package com.irurueta.ar.epipolar.estimators

Class MSACFundamentalMatrixRobustEstimator

java.lang.Object
com.irurueta.ar.epipolar.estimators.FundamentalMatrixRobustEstimator
com.irurueta.ar.epipolar.estimators.MSACFundamentalMatrixRobustEstimator
public class MSACFundamentalMatrixRobustEstimator extends FundamentalMatrixRobustEstimator
Finds the best fundamental matrix for provided collections of matched 2D points using RANSAC 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 in 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 pairs of matched points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error (i.e. distance) a given point has respect to the epipolar line generated by its matched point.

  • Constructor Details

    • MSACFundamentalMatrixRobustEstimator

      public MSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod)
      Constructor.
      Parameters:
      fundMatrixEstimatorMethod - method for non-robust fundamental matrix estimator.

    • MSACFundamentalMatrixRobustEstimator

      public MSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod, FundamentalMatrixRobustEstimatorListener listener)
      Constructor.
      Parameters:
      fundMatrixEstimatorMethod - method for non-robust fundamental matrix estimator.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • MSACFundamentalMatrixRobustEstimator

      public MSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
      Constructor.
      Parameters:
      fundMatrixEstimatorMethod - method for non-robust fundamental matrix estimator.
      leftPoints - 2D points on left view.
      rightPoints - 2D points on right view.
      Throws:
      IllegalArgumentException - if provided list of points do not have the same length or their length is less than 7 points.

    • MSACFundamentalMatrixRobustEstimator

      public MSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrixRobustEstimatorListener listener)
      Constructor.
      Parameters:
      fundMatrixEstimatorMethod - method for non-robust fundamental matrix estimator.
      leftPoints - 2D points on left view.
      rightPoints - 2D points on right view.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided list of points do not have the same length or their length is less than 7 points.

    • MSACFundamentalMatrixRobustEstimator

      public MSACFundamentalMatrixRobustEstimator()
      Constructor.

    • MSACFundamentalMatrixRobustEstimator

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

    • MSACFundamentalMatrixRobustEstimator

      public MSACFundamentalMatrixRobustEstimator(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
      Constructor.
      Parameters:
      leftPoints - 2D points on left view.
      rightPoints - 2D points on right view.
      Throws:
      IllegalArgumentException - if provided list of points do not have the same length or their length is less than 7 points.

    • MSACFundamentalMatrixRobustEstimator

      public MSACFundamentalMatrixRobustEstimator(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrixRobustEstimatorListener listener)
      Constructor.
      Parameters:
      leftPoints - 2D points on left view.
      rightPoints - 2D points on right view.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided list of points do not have the same length or their length is less than 7 points.

  • Method Details

    • getThreshold

      public double getThreshold()
      Returns threshold to determine whether matched pairs of points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error (i.e. distance) a given point has respect to the epipolar line generated by its matched point.
      Returns:
      threshold to determine whether matched pairs of points are inliers or not.

    • setThreshold

      public void setThreshold(double threshold) throws com.irurueta.geometry.estimators.LockedException
      Sets threshold to determine whether matched pairs of points are inliers or not when testing possible estimation solutions.
      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.

    • estimate

      public FundamentalMatrix 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 FundamentalMatrixRobustEstimator
      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 FundamentalMatrixRobustEstimator
      Returns:
      method being used for robust estimation.

    • getRefinementStandardDeviation

      protected double getRefinementStandardDeviation()
      Gets standard deviation used for Levenberg-Marquardt fitting during refinement. Returned value gives an indication of how much variance each residual has. Typically, this value is related to the threshold used on each robust estimation, since residuals of found inliers are within the range of such threshold.
      Specified by:
      getRefinementStandardDeviation in class FundamentalMatrixRobustEstimator
      Returns:
      standard deviation used for refinement.