Package com.irurueta.ar.sfm

Class MSACRobustSinglePoint3DTriangulator

java.lang.Object

com.irurueta.ar.sfm.RobustSinglePoint3DTriangulator

com.irurueta.ar.sfm.MSACRobustSinglePoint3DTriangulator

public class MSACRobustSinglePoint3DTriangulator
extends RobustSinglePoint3DTriangulator

Robustly triangulates 3D points from matched 2D points and their corresponding cameras on several views using MSAC algorithm.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether samples are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double	threshold	Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

Fields inherited from class com.irurueta.ar.sfm.RobustSinglePoint3DTriangulator

cameras, confidence, DEFAULT_CONFIDENCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_ROBUST_METHOD, DEFAULT_USE_HOMOGENEOUS_SOLUTION, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, MIN_REQUIRED_VIEWS, points2D, progressDelta, useHomogeneousSolution

Constructor Summary

Constructors

Constructor	Description
MSACRobustSinglePoint3DTriangulator()	Constructor.
MSACRobustSinglePoint3DTriangulator(RobustSinglePoint3DTriangulatorListener listener)	Constructor.
MSACRobustSinglePoint3DTriangulator(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras)	Constructor.
MSACRobustSinglePoint3DTriangulator(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras, RobustSinglePoint3DTriangulatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double	getThreshold()	Returns threshold to determine whether points are inliers or not when testing possible estimation solutions.
void	setThreshold(double threshold)	Sets threshold to determine whether points are inliers or not when testing possible estimation solutions.
com.irurueta.geometry.Point3D	triangulate()	Triangulates provided matched 2D points being projected by each corresponding camera into a single 3D point.

Methods inherited from class com.irurueta.ar.sfm.RobustSinglePoint3DTriangulator

create, create, create, create, create, create, getCameras, getConfidence, getListener, getMaxIterations, getPoints2D, getProgressDelta, getQualityScores, isListenerAvailable, isLocked, isReady, isUseHomogeneousSolution, setConfidence, setListener, setMaxIterations, setPointsAndCameras, setProgressDelta, setQualityScores, setUseHomogeneousSolution

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 samples are inliers or not. By default, 1.0 is considered a good value for cases where 2D point measures are done on pixels, since typically the minimum resolution is 1 pixel.

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 samples are inliers or not when testing possible estimation solutions. The threshold refers to the amount of projection error (i.e. distance of projected solution using each camera).

Constructor Details

MSACRobustSinglePoint3DTriangulator

public MSACRobustSinglePoint3DTriangulator()

Constructor.

MSACRobustSinglePoint3DTriangulator

public MSACRobustSinglePoint3DTriangulator(RobustSinglePoint3DTriangulatorListener listener)

Constructor.

Parameters:

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

MSACRobustSinglePoint3DTriangulator

public MSACRobustSinglePoint3DTriangulator(List<com.irurueta.geometry.Point2D> points,
 List<com.irurueta.geometry.PinholeCamera> cameras)

Constructor.

Parameters:

points - Matched 2D points. Each point in the list is assumed to be projected by the corresponding camera in the list.

cameras - List of cameras associated to the matched 2D point on the same position as the camera on the list.

Throws:

IllegalArgumentException - if provided lists don't have the same length or their length is less than 2 views, which is the minimum required to compute triangulation.

MSACRobustSinglePoint3DTriangulator

public MSACRobustSinglePoint3DTriangulator(List<com.irurueta.geometry.Point2D> points,
 List<com.irurueta.geometry.PinholeCamera> cameras,
 RobustSinglePoint3DTriangulatorListener listener)

Constructor.

Parameters:

points - Matched 2D points. Each point in the list is assumed to be projected by the corresponding camera in the list.

cameras - List of cameras associated to the matched 2D point on the same position as the camera on the list.

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

Throws:

IllegalArgumentException - if provided lists don't have the same length or their length is less than 2 views, which is the minimum required to compute triangulation.

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.

triangulate

public com.irurueta.geometry.Point3D triangulate()
                                          throws com.irurueta.geometry.estimators.LockedException,
com.irurueta.geometry.estimators.NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Triangulates provided matched 2D points being projected by each corresponding camera into a single 3D point. At least 2 matched 2D points and their corresponding 2 cameras are required to compute triangulation. If more views are provided, an averaged solution can be found.

Specified by:

triangulate in class RobustSinglePoint3DTriangulator

Returns:

computed triangulated 3D point.

Throws:

com.irurueta.geometry.estimators.LockedException - if this instance is locked.

com.irurueta.geometry.estimators.NotReadyException - if lists of points and cameras don't have the same length or less than 2 views are 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 RobustSinglePoint3DTriangulator

Returns:

method being used for robust estimation.