Package com.irurueta.ar.epipolar.estimators

Class PROSACFundamentalMatrixRobustEstimator

java.lang.Object
com.irurueta.ar.epipolar.estimators.FundamentalMatrixRobustEstimator
com.irurueta.ar.epipolar.estimators.PROSACFundamentalMatrixRobustEstimator
public class PROSACFundamentalMatrixRobustEstimator extends FundamentalMatrixRobustEstimator
Finds the best fundamental matrix for provided collections of matched 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 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:

    • DEFAULT_COMPUTE_AND_KEEP_INLIERS

      public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS
      Indicates that by default inliers will only be computed but not kept.
      See Also:

    • DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

      public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS
      Indicates that by default residuals will only be computed but not kept.
      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.

    • qualityScores

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

    • computeAndKeepInliers

      private boolean computeAndKeepInliers
      Indicates whether inliers must be computed and kept.

    • computeAndKeepResiduals

      private boolean computeAndKeepResiduals
      Indicates whether residuals must be computed and kept.

  • Constructor Details

    • PROSACFundamentalMatrixRobustEstimator

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

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(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.

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(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.

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(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.

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod, double[] qualityScores)
      Constructor.
      Parameters:
      fundMatrixEstimatorMethod - method for non-robust fundamental matrix estimator.
      qualityScores - quality scores corresponding to each provided pair of matched points.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than required size (i.e. 7 matched pair of points).

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod, double[] qualityScores, FundamentalMatrixRobustEstimatorListener listener)
      Constructor.
      Parameters:
      fundMatrixEstimatorMethod - method for non-robust fundamental matrix estimator.
      qualityScores - quality scores corresponding to each provided pair of matched points.
      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. 7 matched pair of points).

    • PROSACFundamentalMatrixRobustEstimator

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

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod, double[] qualityScores, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrixRobustEstimatorListener listener)
      Constructor.
      Parameters:
      fundMatrixEstimatorMethod - method for non-robust fundamental matrix estimator.
      qualityScores - quality scores corresponding to each provided pair of matched points.
      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 or quality scores do not have the same length or their length is less than 7 points.

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator()
      Constructor.

    • PROSACFundamentalMatrixRobustEstimator

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

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(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.

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(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.

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(double[] qualityScores)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided pair of matched points.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than required size (i.e. 7 matched pair of points).

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(double[] qualityScores, FundamentalMatrixRobustEstimatorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided pair of matched points.
      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. 7 matched pair of points).

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(double[] qualityScores, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided pair of matched points.
      leftPoints - 2D points on left view.
      rightPoints - 2D points on right view.
      Throws:
      IllegalArgumentException - if provided list of points or quality scores do not have the same length or their length is less than 7 points.

    • PROSACFundamentalMatrixRobustEstimator

      public PROSACFundamentalMatrixRobustEstimator(double[] qualityScores, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrixRobustEstimatorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided pair of matched points.
      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 or quality scores 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.

    • getQualityScores

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

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws com.irurueta.geometry.estimators.LockedException
      Sets quality scores corresponding to each provided pair of points. The larger the score value the better the quality of the sampled matched pair of points.
      Overrides:
      setQualityScores in class FundamentalMatrixRobustEstimator
      Parameters:
      qualityScores - quality scores corresponding to each pair of points.
      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. 3 samples).

    • isReady

      public boolean isReady()
      Returns value indicating whether required data has been provided so that fundamental matrix estimation can start. This is true when input data (i.e. 7 pairs of matched 2D points and their quality scores) are provided. If true, estimator is ready to compute a fundamental matrix, otherwise more data needs to be provided.
      Overrides:
      isReady in class FundamentalMatrixRobustEstimator
      Returns:
      true if estimator is ready, false otherwise.

    • isComputeAndKeepInliersEnabled

      public boolean isComputeAndKeepInliersEnabled()
      Indicates whether inliers must be computed and kept.
      Returns:
      true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

    • setComputeAndKeepInliersEnabled

      public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers) throws com.irurueta.geometry.estimators.LockedException
      Specifies whether inliers must be computed and kept.
      Parameters:
      computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • isComputeAndKeepResidualsEnabled

      public boolean isComputeAndKeepResidualsEnabled()
      Indicates whether residuals must be computed and kept.
      Returns:
      true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

    • setComputeAndKeepResidualsEnabled

      public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals) throws com.irurueta.geometry.estimators.LockedException
      Specifies whether residuals must be computed and kept.
      Parameters:
      computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.
      Throws:
      com.irurueta.geometry.estimators.LockedException - if estimator is locked.

    • 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.

    • internalSetQualityScores

      private void internalSetQualityScores(double[] qualityScores)
      Sets quality scores corresponding to each provided pair of matched points. 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 7 points.