com.irurueta.ar.calibration.estimators.DualAbsoluteQuadricRobustEstimator

Direct Known Subclasses:: LMedSDualAbsoluteQuadricRobustEstimator, MSACDualAbsoluteQuadricRobustEstimator, PROMedSDualAbsoluteQuadricRobustEstimator, PROSACDualAbsoluteQuadricRobustEstimator, RANSACDualAbsoluteQuadricRobustEstimator

public abstract class DualAbsoluteQuadricRobustEstimator extends Object

This is an abstract class for algorithms to robustly find the best DualAbsoluteQuadric (DAQ) for provided collection of cameras. Implementations of this class should be able to detect and discard outliers in order to find the best solution.

Field Summary

Fields

Modifier and Type

Field

Description

protected List<com.irurueta.geometry.PinholeCamera>

cameras

Cameras to estimate dual absolute quadric (DAQ).

protected double

confidence

Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

protected final LMSEDualAbsoluteQuadricEstimator

daqEstimator

Internal non-robust estimator of DAQ.

static final double

DEFAULT_CONFIDENCE

Constant defining default confidence of the estimated result, which is 99%.

static final int

DEFAULT_MAX_ITERATIONS

Default maximum allowed number of iterations.

static final float

DEFAULT_PROGRESS_DELTA

Default amount of progress variation before notifying a change in estimation progress.

static final com.irurueta.numerical.robust.RobustEstimatorMethod

DEFAULT_ROBUST_METHOD

Default robust estimator method when none is provided.

protected DualAbsoluteQuadricRobustEstimatorListener

listener

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

protected boolean

locked

Indicates if this estimator is locked because an estimation is being computed.

static final double

MAX_CONFIDENCE

Maximum allowed confidence value.

static final float

MAX_PROGRESS_DELTA

Maximum allowed value for progress delta.

protected int

maxIterations

Maximum allowed number of iterations.

static final double

MIN_CONFIDENCE

Minimum allowed confidence value.

static final int

MIN_ITERATIONS

Minimum allowed number of iterations.

static final float

MIN_PROGRESS_DELTA

Minimum allowed value for progress delta.

protected float

progressDelta

Amount of progress variation before notifying a progress change during estimation.
Constructor Summary

Constructors

Modifier

Constructor

Description

protected

DualAbsoluteQuadricRobustEstimator()

Constructor.

protected

DualAbsoluteQuadricRobustEstimator(DualAbsoluteQuadricRobustEstimatorListener listener)

Constructor.

protected

DualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras)

Constructor.

protected

DualAbsoluteQuadricRobustEstimator(List<com.irurueta.geometry.PinholeCamera> cameras, DualAbsoluteQuadricRobustEstimatorListener listener)

Constructor.
Method Summary

Modifier and Type

Method

Description

boolean

areValidConstraints()

Indicates whether current constraints are enough to start the estimation.

static DualAbsoluteQuadricRobustEstimator

create()

Creates a dual absolute quadric robust estimator using default method.

static DualAbsoluteQuadricRobustEstimator

create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a dual absolute quadric robust estimator using provided method.

static DualAbsoluteQuadricRobustEstimator

create(List<com.irurueta.geometry.PinholeCamera> cameras)

Creates a dual absolute quadric robust estimator using provided cameras.

static DualAbsoluteQuadricRobustEstimator

create(List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores)

Creates a dual absolute quadric robust estimator using provided cameras.

static DualAbsoluteQuadricRobustEstimator

create(List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a dual absolute quadric robust estimator using provided cameras.

static DualAbsoluteQuadricRobustEstimator

create(List<com.irurueta.geometry.PinholeCamera> cameras, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a dual absolute quadric robust estimator using provided cameras.

abstract DualAbsoluteQuadric

estimate()

Estimates the Dual Absolute Quadric using provided cameras.

List<com.irurueta.geometry.PinholeCamera>

getCameras()

Obtains the list of cameras used to estimate the Dual Absolute Quadric (DAQ).

double

getConfidence()

Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

double

getDeterminantThreshold()

Returns threshold to determine whether estimated Dual Absolute Quadric (DAQ) has rank 3 or not when validation is enabled.

double

getFocalDistanceAspectRatio()

Returns aspect ratio of focal distances (i.e. vertical focal distance divided by horizontal focal distance).

DualAbsoluteQuadricRobustEstimatorListener

getListener()

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

int

getMaxIterations()

Returns maximum allowed number of iterations.

abstract com.irurueta.numerical.robust.RobustEstimatorMethod

getMethod()

Returns method being used for robust estimation.

int

getMinNumberOfRequiredCameras()

Returns minimum number of required cameras needed to estimate the Dual Absolute Quadric (DAQ).

float

getProgressDelta()

Returns amount of progress variation before notifying a progress change during estimation.

double[]

getQualityScores()

Returns quality scores corresponding to each camera.

private void

internalSetCameras(List<com.irurueta.geometry.PinholeCamera> cameras)

Sets list of cameras.

boolean

isEnforcedSingularityValidated()

Indicates whether enforced singularity will be validated by checking that determinant of estimated Dual Absolute Quadric (DAQ) is below a certain threshold.

boolean

isFocalDistanceAspectRatioKnown()

Returns boolean indicating whether aspect ratio of focal distances (i.e.

boolean

isListenerAvailable()

Indicates whether listener has been provided and is available for retrieval.

boolean

isLocked()

Indicates whether this instance is locked.

boolean

isPrincipalPointAtOrigin()

Returns boolean indicating whether principal point is assumed to be at origin of coordinates or not.

boolean

isReady()

Returns value indicating whether required data has been provided so that DAQ estimation can start.

boolean

isSingularityEnforced()

Indicates whether a singular DAQ is enforced or not.

boolean

isZeroSkewness()

Returns boolean indicating whether camera skewness is assumed to be zero or not.

protected double

residual(DualAbsoluteQuadric daq, com.irurueta.geometry.PinholeCamera camera)

Computes the residual between a dual absolute quadric (DAQ) and a pinhole camera.

private double

residual1stRowEqualTo2ndRow(DualAbsoluteQuadric daq, double p11, double p21, double p12, double p22, double p13, double p23, double p14, double p24)

Computes residual for the equation p1T*daq*p1 = r^2*p2T*daq*p2.

private double

residual2ndRowAnd1stRow(DualAbsoluteQuadric daq, double p11, double p21, double p12, double p22, double p13, double p23, double p14, double p24)

Computes residual for the equation p2T*daq*p1.

private double

residual3rdRowAnd1stRow(DualAbsoluteQuadric daq, double p11, double p31, double p12, double p32, double p13, double p33, double p14, double p34)

Computes residual for the equation p3T*daq*p1.

private double

residual3rdRowAnd2ndRow(DualAbsoluteQuadric daq, double p21, double p31, double p22, double p32, double p23, double p33, double p24, double p34)

Computes residual for the equation p3T*daq*p2.

final void

setCameras(List<com.irurueta.geometry.PinholeCamera> cameras)

Sets the list of cameras used to estimate the Dual Absolute Quadric (DAQ).

void

setConfidence(double confidence)

Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

void

setDeterminantThreshold(double determinantThreshold)

Sets threshold to determine whether estimated Dual Absolute Quadric (DAQ) has rank 3 or not when validation is enabled.

void

setEnforcedSingularityValidated(boolean validateEnforcedSingularity)

Specifies whether enforced singularity will be validated by checking that determinant of estimated Dual Absolute Quadric (DAQ) is below a certain threshold.

void

setFocalDistanceAspectRatio(double focalDistanceAspectRatio)

Sets aspect ratio of focal distances (i.e. vertical focal distance divided by horizontal focal distance).

void

setFocalDistanceAspectRatioKnown(boolean focalDistanceAspectRatioKnown)

Sets value indicating whether aspect ratio of focal distances (i.e.

void

setListener(DualAbsoluteQuadricRobustEstimatorListener listener)

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

void

setMaxIterations(int maxIterations)

Sets maximum allowed number of iterations.

void

setPrincipalPointAtOrigin(boolean principalPointAtOrigin)

Sets boolean indicating whether principal point is assumed to be at origin of coordinates or not.

void

setProgressDelta(float progressDelta)

Sets amount of progress variation before notifying a progress change during estimation.

void

setQualityScores(double[] qualityScores)

Sets quality scores corresponding to each camera.

void

setSingularityEnforced(boolean singularityEnforced)

Specifies whether a singular DAQ is enforced or not.

void

setZeroSkewness(boolean zeroSkewness)

Sets boolean indicating whether camera skewness is assumed to be zero or not.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details
- DEFAULT_ROBUST_METHOD
  
  public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD
  
  Default robust estimator method when none is provided.
- DEFAULT_PROGRESS_DELTA
  
  public static final float DEFAULT_PROGRESS_DELTA
  
  Default amount of progress variation before notifying a change in estimation progress. By default, this is set to 5%.
  See Also:
  
  Constant Field Values
- MIN_PROGRESS_DELTA
  
  public static final float MIN_PROGRESS_DELTA
  
  Minimum allowed value for progress delta.
  See Also:
  
  Constant Field Values
- MAX_PROGRESS_DELTA
  
  public static final float MAX_PROGRESS_DELTA
  
  Maximum allowed value for progress delta.
  See Also:
  
  Constant Field Values
- DEFAULT_CONFIDENCE
  
  public static final double DEFAULT_CONFIDENCE
  
  Constant defining default confidence of the estimated result, which is 99%. This means that with a probability of 99% estimation will be accurate because chosen sub-samples will be inliers.
  See Also:
  
  Constant Field Values
- DEFAULT_MAX_ITERATIONS
  
  public static final int DEFAULT_MAX_ITERATIONS
  
  Default maximum allowed number of iterations.
  See Also:
  
  Constant Field Values
- MIN_CONFIDENCE
  
  public static final double MIN_CONFIDENCE
  
  Minimum allowed confidence value.
  See Also:
  
  Constant Field Values
- MAX_CONFIDENCE
  
  public static final double MAX_CONFIDENCE
  
  Maximum allowed confidence value.
  See Also:
  
  Constant Field Values
- MIN_ITERATIONS
  
  public static final int MIN_ITERATIONS
  
  Minimum allowed number of iterations.
  See Also:
  
  Constant Field Values
- cameras
  
  protected List<com.irurueta.geometry.PinholeCamera> cameras
  
  Cameras to estimate dual absolute quadric (DAQ).
- daqEstimator
  
  protected final LMSEDualAbsoluteQuadricEstimator daqEstimator
  
  Internal non-robust estimator of DAQ.
- listener
  
  protected DualAbsoluteQuadricRobustEstimatorListener listener
  
  Listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
- locked
  
  protected boolean locked
  
  Indicates if this estimator is locked because an estimation is being computed.
- progressDelta
  
  protected float progressDelta
  
  Amount of progress variation before notifying a progress change during estimation.
- confidence
  
  protected double confidence
  
  Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
- maxIterations
  
  protected int maxIterations
  
  Maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
Constructor Details
- DualAbsoluteQuadricRobustEstimator
  
  protected DualAbsoluteQuadricRobustEstimator()
  
  Constructor.
- DualAbsoluteQuadricRobustEstimator
  
  protected DualAbsoluteQuadricRobustEstimator(DualAbsoluteQuadricRobustEstimatorListener listener)
  
  Constructor.
  
  Parameters:
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
- DualAbsoluteQuadricRobustEstimator
  
  protected DualAbsoluteQuadricRobustEstimator(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.
- DualAbsoluteQuadricRobustEstimator
  
  protected DualAbsoluteQuadricRobustEstimator(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 its progress significantly changes.
  
  Throws:
  
  IllegalArgumentException - if not enough cameras are provided for default settings. Hence, at least 2 cameras must be provided.
Method Details
- isZeroSkewness
  
  public boolean isZeroSkewness()
  
  Returns boolean indicating whether camera skewness is assumed to be zero or not. Skewness determines whether LCD sensor cells are properly aligned or not, where zero indicates perfect alignment. Typically, skewness is a value equal or very close to zero.
  
  Returns:
  
  true if camera skewness is assumed to be zero, otherwise camera skewness is estimated.
- setZeroSkewness
  
  public void setZeroSkewness(boolean zeroSkewness) throws com.irurueta.geometry.estimators.LockedException
  
  Sets boolean indicating whether camera skewness is assumed to be zero or not. Skewness determines whether LCD sensor cells are properly aligned or not, where zero indicates perfect alignment. Typically, skewness is a value equal or very close to zero.
  
  Parameters:
  
  zeroSkewness - true if camera skewness is assumed to be zero, otherwise camera skewness is estimated.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if estimator is locked.
- isPrincipalPointAtOrigin
  
  public boolean isPrincipalPointAtOrigin()
  
  Returns boolean indicating whether principal point is assumed to be at origin of coordinates or not. Typically principal point is located at image center (origin of coordinates), and usually matches the center of radial distortion if it is taken into account.
  
  Returns:
  
  true if principal point is assumed to be at origin of coordinates, false if principal point must be estimated
- setPrincipalPointAtOrigin
  
  public void setPrincipalPointAtOrigin(boolean principalPointAtOrigin) throws com.irurueta.geometry.estimators.LockedException
  
  Sets boolean indicating whether principal point is assumed to be at origin of coordinates or not. Typically principal point is located at image center (origin of coordinates), and usually matches the center of radial distortion if it is taken into account.
  
  Parameters:
  
  principalPointAtOrigin - true if principal point is assumed to be at origin of coordinates, false if principal point must be estimated.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if estimator is locked.
- isFocalDistanceAspectRatioKnown
  
  public boolean isFocalDistanceAspectRatioKnown()
  
  Returns boolean indicating whether aspect ratio of focal distances (i.e. vertical focal distance divided by horizontal focal distance) is known or not. Notice that focal distance aspect ratio is not related to image size aspect ratio. Typically, LCD sensor cells are square and hence aspect ratio of focal distances is known and equal to 1. This value is only taken into account if skewness is assumed to be zero, otherwise it is ignored.
  
  Returns:
  
  true if focal distance aspect ratio is known, false otherwise.
- setFocalDistanceAspectRatioKnown
  
  public void setFocalDistanceAspectRatioKnown(boolean focalDistanceAspectRatioKnown) throws com.irurueta.geometry.estimators.LockedException
  
  Sets value indicating whether aspect ratio of focal distances (i.e. vertical focal distance divided by horizontal focal distance) is known or not. Notice that focal distance aspect ratio is not related to image size aspect ratio. Typically, LCD sensor cells are square and hence aspect ratio of focal distances is known and equal to 1. This value is only taken into account if skewness is assumed to be zero, otherwise it is ignored.
  
  Parameters:
  
  focalDistanceAspectRatioKnown - true if focal distance aspect ratio is known, false otherwise.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if estimator is locked.
- getFocalDistanceAspectRatio
  
  public double getFocalDistanceAspectRatio()
  
  Returns aspect ratio of focal distances (i.e. vertical focal distance divided by horizontal focal distance). This value is only taken into account if skewness is assumed to be zero and focal distance aspect ratio is marked as known, otherwise it is ignored. By default, this is 1.0, since it is taken into account that typically LCD sensor cells are square and hence aspect ratio focal distances is known and equal to 1. Notice that focal distance aspect ratio is not related to image size aspect ratio. Notice that a negative aspect ratio indicates that vertical axis is reversed. This can be useful in some situations where image vertical coordinates are reversed respect to the physical world (i.e. in computer graphics typically image vertical coordinates go downwards, while in physical world they go upwards).
  
  Returns:
  
  aspect ratio of focal distances.
- setFocalDistanceAspectRatio
  
  public void setFocalDistanceAspectRatio(double focalDistanceAspectRatio) throws com.irurueta.geometry.estimators.LockedException
  
  Sets aspect ratio of focal distances (i.e. vertical focal distance divided by horizontal focal distance). This value is only taken into account if skewness is assumed to be zero and focal distance aspect ratio is marked as known, otherwise it is ignored. By default, this is 1.0, since it is taken into account that typically LCD sensor cells are square and hence aspect ratio focal distances is known and equal to 1. Notice that focal distance aspect ratio is not related to image size aspect ratio Notice that a negative aspect ratio indicates that vertical axis is reversed. This can be useful in some situations where image vertical coordinates are reversed respect to the physical world (i.e. in computer graphics typically image vertical coordinates go downwards, while in physical world they go upwards).
  
  Parameters:
  
  focalDistanceAspectRatio - aspect ratio of focal distances to be set.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if estimator is locked.
  
  IllegalArgumentException - if focal distance aspect ratio is too close to zero, as it might produce numerical instabilities.
- isSingularityEnforced
  
  public boolean isSingularityEnforced()
  
  Indicates whether a singular DAQ is enforced or not. Dual Absolute Quadric is singular (has rank 3) in any projective space, however, due to noise in samples, estimated DAQ might not be fully singular.
  
  Returns:
  
  true when singular DAQ is enforced, false otherwise.
- setSingularityEnforced
  
  public void setSingularityEnforced(boolean singularityEnforced) throws com.irurueta.geometry.estimators.LockedException
  
  Specifies whether a singular DAQ is enforced or not. Dual Absolute Quadric is singular (has rank 3) in any projective space, however, due to noise in samples, estimated DAQ might not be fully singular.
  
  Parameters:
  
  singularityEnforced - true when singular DAQ is enforced, false otherwise.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if estimator is locked.
- isEnforcedSingularityValidated
  
  public boolean isEnforcedSingularityValidated()
  
  Indicates whether enforced singularity will be validated by checking that determinant of estimated Dual Absolute Quadric (DAQ) is below a certain threshold.
  
  Returns:
  
  true if enforced singularity is validated, false otherwise.
- setEnforcedSingularityValidated
  
  public void setEnforcedSingularityValidated(boolean validateEnforcedSingularity) throws com.irurueta.geometry.estimators.LockedException
  
  Specifies whether enforced singularity will be validated by checking that determinant of estimated Dual Absolute Quadric (DAQ) is below a certain threshold.
  
  Parameters:
  
  validateEnforcedSingularity - true if enforced singularity is validated, false otherwise.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if estimator is locked.
- getDeterminantThreshold
  
  public double getDeterminantThreshold()
  
  Returns threshold to determine whether estimated Dual Absolute Quadric (DAQ) has rank 3 or not when validation is enabled.
  
  Returns:
  
  threshold to determine whether estimated DAQ has rank 3 or not.
- setDeterminantThreshold
  
  public void setDeterminantThreshold(double determinantThreshold) throws com.irurueta.geometry.estimators.LockedException
  
  Sets threshold to determine whether estimated Dual Absolute Quadric (DAQ) has rank 3 or not when validation is enabled.
  
  Parameters:
  
  determinantThreshold - threshold to determine whether estimated DAQ has rank 3 or not.
  
  Throws:
  
  IllegalArgumentException - if provided value is zero or negative.
  
  com.irurueta.geometry.estimators.LockedException - if estimator is locked.
- getListener
  
  public DualAbsoluteQuadricRobustEstimatorListener getListener()
  
  Returns reference to listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  Returns:
  
  listener to be notified of events.
- setListener
  
  public void setListener(DualAbsoluteQuadricRobustEstimatorListener listener) throws com.irurueta.geometry.estimators.LockedException
  
  Sets listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  Parameters:
  
  listener - listener to be notified of events.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if robust estimator is locked.
- isListenerAvailable
  
  public boolean isListenerAvailable()
  
  Indicates whether listener has been provided and is available for retrieval.
  
  Returns:
  
  true if available, false otherwise.
- isLocked
  
  public boolean isLocked()
  
  Indicates whether this instance is locked.
  
  Returns:
  
  true if this estimator is busy estimating the Dual Absolute Quadric, false otherwise.
- getProgressDelta
  
  public float getProgressDelta()
  
  Returns amount of progress variation before notifying a progress change during estimation.
  
  Returns:
  
  amount of progress variation before notifying a progress change during estimation.
- setProgressDelta
  
  public void setProgressDelta(float progressDelta) throws com.irurueta.geometry.estimators.LockedException
  
  Sets amount of progress variation before notifying a progress change during estimation.
  
  Parameters:
  
  progressDelta - amount of progress variation before notifying a progress change during estimation.
  
  Throws:
  
  IllegalArgumentException - if progress delta is less than zero or greater than 1.
  
  com.irurueta.geometry.estimators.LockedException - if this estimator is locked because an estimation is being computed.
- getConfidence
  
  public double getConfidence()
  
  Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
  
  Returns:
  
  amount of confidence as a value between 0.0 and 1.0.
- setConfidence
  
  public void setConfidence(double confidence) throws com.irurueta.geometry.estimators.LockedException
  
  Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
  
  Parameters:
  
  confidence - confidence to be set as a value between 0.0 and 1.0.
  
  Throws:
  
  IllegalArgumentException - if provided value is not between 0.0 and 1.0.
  
  com.irurueta.geometry.estimators.LockedException - if this estimator is locked because an estimator is being computed.
- getMaxIterations
  
  public int getMaxIterations()
  
  Returns maximum allowed number of iterations. If maximum allowed number of iterations is achieved without converging to a result when calling estimate(), a RobustEstimatorException will be raised.
  
  Returns:
  
  maximum allowed number of iterations.
- setMaxIterations
  
  public void setMaxIterations(int maxIterations) throws com.irurueta.geometry.estimators.LockedException
  
  Sets maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
  
  Parameters:
  
  maxIterations - maximum allowed number of iterations to be set.
  
  Throws:
  
  IllegalArgumentException - if provided value is less than 1.
  
  com.irurueta.geometry.estimators.LockedException - if this estimator is locked because an estimation is being computed.
- getCameras
  
  public List<com.irurueta.geometry.PinholeCamera> getCameras()
  
  Obtains the list of cameras used to estimate the Dual Absolute Quadric (DAQ).
  
  Returns:
  
  list of cameras to estimate the DAQ.
- setCameras
  
  public final void setCameras(List<com.irurueta.geometry.PinholeCamera> cameras) throws com.irurueta.geometry.estimators.LockedException
  
  Sets the list of cameras used to estimate the Dual Absolute Quadric (DAQ).
  
  Parameters:
  
  cameras - list of cameras used to estimate the DAQ.
  
  Throws:
  
  IllegalArgumentException - if list is null.
  
  com.irurueta.geometry.estimators.LockedException - if estimator is locked.
- getMinNumberOfRequiredCameras
  
  public int getMinNumberOfRequiredCameras()
  
  Returns minimum number of required cameras needed to estimate the Dual Absolute Quadric (DAQ). At least 8 equations are needed to solve the DAQ For each imposed constraint, one less equation is required. Depending on the number of constraints more or less cameras will be required. If zero skewness is enforced, a solution is available with 8 cameras. If zero skewness and focal distance aspect ratio is known, then a solution is available with 4 cameras. If principal point is located at origin, then a solution is available with 4 cameras. If zero skewness and principal point at origin are enforced, then a solution is available with 3 cameras If zero skewness is enforced, focal distance aspect ratio is known and principal point is at origin, then a solution is available with 2 cameras. NOTE: minimum number of cameras considers only the cameras providing additional information. If a camera is equivalent to another one or does not provide additional information (such as a camera at the origin with no rotation), then more cameras will be needed.
  
  Returns:
  
  minimum number of required cameras needed to estimate the Dual Absolute Quadric (DAQ) or -1 if constraints configurations is not valid.
- areValidConstraints
  
  public boolean areValidConstraints()
  
  Indicates whether current constraints are enough to start the estimation. In order to obtain a linear solution for the DAQ estimation, we need at least the principal point at origin constraint.
  
  Returns:
  
  true if constraints are valid, false otherwise.
- isReady
  
  public boolean isReady()
  
  Returns value indicating whether required data has been provided so that DAQ estimation can start. If true, estimator is ready to compute the DAQ, otherwise more data needs to be provided.
  
  Returns:
  
  true if estimator is ready, false otherwise.
- getQualityScores
  
  public double[] getQualityScores()
  
  Returns quality scores corresponding to each camera. The larger the score value the better the quality of the camera. This implementation always returns null. Subclasses using quality scores must implement proper behaviour.
  
  Returns:
  
  quality scores corresponding to each camera.
- setQualityScores
  
  public void setQualityScores(double[] qualityScores) throws com.irurueta.geometry.estimators.LockedException
  
  Sets quality scores corresponding to each camera. The larger the score value the better the quality of the camera. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each camera.
  
  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 required number of cameras.
- estimate
  
  public abstract 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.
  
  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 abstract com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
  
  Returns method being used for robust estimation.
  
  Returns:
  
  method being used for robust estimation.
- create
  
  public static DualAbsoluteQuadricRobustEstimator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a dual absolute quadric robust estimator using provided method.
  
  Parameters:
  
  method - method of a robust estimator algorithm to estimate best DAQ.
  
  Returns:
  
  an instance of a dual absolute quadric robust estimator.
- create
  
  public static DualAbsoluteQuadricRobustEstimator create(List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a dual absolute quadric robust estimator using provided cameras.
  
  Parameters:
  
  cameras - list of cameras.
  
  qualityScores - quality scores corresponding to each camera.
  
  method - method of a robust estimator algorithm to estimate best DAQ.
  
  Returns:
  
  an instance of a dual absolute quadric robust estimator.
  
  Throws:
  
  IllegalArgumentException - if provided list of cameras and quality scores don't have the same size or size is too short.
- create
  
  public static DualAbsoluteQuadricRobustEstimator create(List<com.irurueta.geometry.PinholeCamera> cameras, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a dual absolute quadric robust estimator using provided cameras.
  
  Parameters:
  
  cameras - list of cameras.
  
  method - method of a robust estimator algorithm to estimate best DAQ.
  
  Returns:
  
  an instance of a dual absolute quadric robust estimator.
  
  Throws:
  
  IllegalArgumentException - if provided list of cameras is too short.
- create
  
  public static DualAbsoluteQuadricRobustEstimator create()
  
  Creates a dual absolute quadric robust estimator using default method.
  
  Returns:
  
  an instance of a dual absolute quadric robust estimator.
- create
  
  public static DualAbsoluteQuadricRobustEstimator create(List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores)
  
  Creates a dual absolute quadric robust estimator using provided cameras.
  
  Parameters:
  
  cameras - list of cameras.
  
  qualityScores - quality scores corresponding to each camera.
  
  Returns:
  
  an instance of a dual absolute quadric robust estimator.
  
  Throws:
  
  IllegalArgumentException - if provided list of cameras and quality scores don't have the same size or size is too short.
- create
  
  public static DualAbsoluteQuadricRobustEstimator create(List<com.irurueta.geometry.PinholeCamera> cameras)
  
  Creates a dual absolute quadric robust estimator using provided cameras.
  
  Parameters:
  
  cameras - list of cameras.
  
  Returns:
  
  an instance of a dual absolute quadric robust estimator.
  
  Throws:
  
  IllegalArgumentException - if provided list of cameras is too short.
- residual
  
  protected double residual(DualAbsoluteQuadric daq, com.irurueta.geometry.PinholeCamera camera)
  
  Computes the residual between a dual absolute quadric (DAQ) and a pinhole camera.
  
  Parameters:
  
  daq - a dual absolute quadric (DAQ).
  
  camera - a camera.
  
  Returns:
  
  residual.
- residual2ndRowAnd1stRow
  
  private double residual2ndRowAnd1stRow(DualAbsoluteQuadric daq, double p11, double p21, double p12, double p22, double p13, double p23, double p14, double p24)
  
  Computes residual for the equation p2T*daq*p1.
  
  Parameters:
  
  daq - estimated DAQ.
  
  p11 - element (1,1) of camera matrix.
  
  p21 - element (2,1) of camera matrix.
  
  p12 - element (1,2) of camera matrix.
  
  p22 - element (2,2) of camera matrix.
  
  p13 - element (1,3) of camera matrix.
  
  p23 - element (2,3) of camera matrix.
  
  p14 - element (1,4) of camera matrix.
  
  p24 - element (2,4) of camera matrix.
  
  Returns:
  
  obtained residual (ideally should be zero).
- residual3rdRowAnd1stRow
  
  private double residual3rdRowAnd1stRow(DualAbsoluteQuadric daq, double p11, double p31, double p12, double p32, double p13, double p33, double p14, double p34)
  
  Computes residual for the equation p3T*daq*p1.
  
  Parameters:
  
  daq - estimated DAQ.
  
  p11 - element (1,1) of camera matrix.
  
  p31 - element (3,1) of camera matrix.
  
  p12 - element (1,2) of camera matrix.
  
  p32 - element (3,2) of camera matrix.
  
  p13 - element (1,3) of camera matrix.
  
  p33 - element (3,3) of camera matrix.
  
  p14 - element (1,4) of camera matrix.
  
  p34 - element (3,4) of camera matrix.
  
  Returns:
  
  obtained residual (ideally should be zero).
- residual3rdRowAnd2ndRow
  
  private double residual3rdRowAnd2ndRow(DualAbsoluteQuadric daq, double p21, double p31, double p22, double p32, double p23, double p33, double p24, double p34)
  
  Computes residual for the equation p3T*daq*p2.
  
  Parameters:
  
  daq - estimated DAQ.
  
  p21 - element (2,1) of camera matrix.
  
  p31 - element (3,1) of camera matrix.
  
  p22 - element (2,2) of camera matrix.
  
  p32 - element (3,2) of camera matrix.
  
  p23 - element (2,3) of camera matrix.
  
  p33 - element (3,3) of camera matrix.
  
  p24 - element (2,4) of camera matrix.
  
  p34 - element (3,4) of camera matrix.
  
  Returns:
  
  obtained residual (ideally should be zero).
- residual1stRowEqualTo2ndRow
  
  private double residual1stRowEqualTo2ndRow(DualAbsoluteQuadric daq, double p11, double p21, double p12, double p22, double p13, double p23, double p14, double p24)
  
  Computes residual for the equation p1T*daq*p1 = r^2*p2T*daq*p2.
  
  Parameters:
  
  daq - estimated DAQ.
  
  p11 - element (1,1) of camera matrix.
  
  p21 - element (2,1) of camera matrix.
  
  p12 - element (1,2) of camera matrix.
  
  p22 - element (2,2) of camera matrix.
  
  p13 - element (1,3) of camera matrix.
  
  p23 - element (2,3) of camera matrix.
  
  p14 - element (1,4) of camera matrix.
  
  p24 - element (2,4) of camera matrix.
  
  Returns:
  
  obtained residual (ideally should be zero).
- internalSetCameras
  
  private void internalSetCameras(List<com.irurueta.geometry.PinholeCamera> cameras)
  
  Sets list of cameras. This method does not check whether estimator is locked.
  
  Parameters:
  
  cameras - list of cameras to estimate DAQ.
  
  Throws:
  
  IllegalArgumentException - if provided list of cameras is null or too small.

Class DualAbsoluteQuadricRobustEstimator

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

DEFAULT_ROBUST_METHOD

DEFAULT_PROGRESS_DELTA

MIN_PROGRESS_DELTA

MAX_PROGRESS_DELTA

DEFAULT_CONFIDENCE

DEFAULT_MAX_ITERATIONS

MIN_CONFIDENCE

MAX_CONFIDENCE

MIN_ITERATIONS

cameras

daqEstimator

listener

locked

progressDelta

confidence

maxIterations

Constructor Details

DualAbsoluteQuadricRobustEstimator

DualAbsoluteQuadricRobustEstimator

DualAbsoluteQuadricRobustEstimator

DualAbsoluteQuadricRobustEstimator

Method Details

isZeroSkewness

setZeroSkewness

isPrincipalPointAtOrigin

setPrincipalPointAtOrigin

isFocalDistanceAspectRatioKnown

setFocalDistanceAspectRatioKnown

getFocalDistanceAspectRatio

setFocalDistanceAspectRatio

isSingularityEnforced

setSingularityEnforced

isEnforcedSingularityValidated

setEnforcedSingularityValidated

getDeterminantThreshold

setDeterminantThreshold

getListener

setListener

isListenerAvailable

isLocked

getProgressDelta

setProgressDelta

getConfidence

setConfidence

getMaxIterations

setMaxIterations

getCameras

setCameras

getMinNumberOfRequiredCameras

areValidConstraints

isReady

getQualityScores

setQualityScores

estimate

getMethod

create

create

create

create

create

create

residual

residual2ndRowAnd1stRow

residual3rdRowAnd1stRow

residual3rdRowAnd2ndRow

residual1stRowEqualTo2ndRow

internalSetCameras