Package com.irurueta.ar.epipolar.estimators

Class RANSACFundamentalMatrixRobustEstimator

java.lang.Object

com.irurueta.ar.epipolar.estimators.FundamentalMatrixRobustEstimator

com.irurueta.ar.epipolar.estimators.RANSACFundamentalMatrixRobustEstimator

public class RANSACFundamentalMatrixRobustEstimator
extends FundamentalMatrixRobustEstimator

Finds the best fundamental matrix for provided collections of matched 2D points using RANSAC algorithm.

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	computeAndKeepInliers	Indicates whether inliers must be computed and kept.
private boolean	computeAndKeepResiduals	Indicates whether residuals must be computed and kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_INLIERS	Indicates that by default inliers will only be computed but not kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_RESIDUALS	Indicates that by default residuals will only be computed but not kept.
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether points are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double	threshold	Threshold to determine whether pairs of matched points are inliers or not when testing possible estimation solutions.

Fields inherited from class com.irurueta.ar.epipolar.estimators.FundamentalMatrixRobustEstimator

confidence, DEFAULT_CONFIDENCE, DEFAULT_FUNDAMENTAL_MATRIX_ESTIMATOR_METHOD, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, inliersData, leftPoints, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, progressDelta, refineResult, rightPoints

Constructor Summary

Constructors

Constructor	Description
RANSACFundamentalMatrixRobustEstimator()	Constructor.
RANSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod)	Constructor.
RANSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod, FundamentalMatrixRobustEstimatorListener listener)	Constructor.
RANSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)	Constructor.
RANSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod, List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrixRobustEstimatorListener listener)	Constructor.
RANSACFundamentalMatrixRobustEstimator(FundamentalMatrixRobustEstimatorListener listener)	Constructor.
RANSACFundamentalMatrixRobustEstimator(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints)	Constructor.
RANSACFundamentalMatrixRobustEstimator(List<com.irurueta.geometry.Point2D> leftPoints, List<com.irurueta.geometry.Point2D> rightPoints, FundamentalMatrixRobustEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
FundamentalMatrix	estimate()	Estimates a radial distortion using a robust estimator and the best set of matched 2D points found using the robust estimator.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
protected double	getRefinementStandardDeviation()	Gets standard deviation used for Levenberg-Marquardt fitting during refinement.
double	getThreshold()	Returns threshold to determine whether matched pairs of points are inliers or not when testing possible estimation solutions.
boolean	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResidualsEnabled()	Indicates whether residuals must be computed and kept.
void	setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)	Specifies whether inliers must be computed and kept.
void	setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)	Specifies whether residuals must be computed and kept.
void	setThreshold(double threshold)	Sets threshold to determine whether matched pairs of points are inliers or not when testing possible estimation solutions.

Methods inherited from class com.irurueta.ar.epipolar.estimators.FundamentalMatrixRobustEstimator

attemptRefine, create, create, create, create, create, create, getConfidence, getCovariance, getInliersData, getLeftPoints, getListener, getMaxIterations, getMinRequiredPoints, getNonRobustFundamentalMatrixEstimatorMethod, getProgressDelta, getQualityScores, getRightPoints, isCovarianceKept, isListenerAvailable, isLocked, isReady, isResultRefined, nonRobustEstimate, residual, setConfidence, setCovarianceKept, setListener, setMaxIterations, setNonRobustFundamentalMatrixEstimatorMethod, setPoints, setProgressDelta, setQualityScores, setResultRefined

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 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:

• 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

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:

• Constant Field Values

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:

• Constant Field Values

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.

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

RANSACFundamentalMatrixRobustEstimator

public RANSACFundamentalMatrixRobustEstimator(FundamentalMatrixEstimatorMethod fundMatrixEstimatorMethod)

Constructor.

Parameters:

fundMatrixEstimatorMethod - method for non-robust fundamental matrix estimator.

RANSACFundamentalMatrixRobustEstimator

public RANSACFundamentalMatrixRobustEstimator(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.

RANSACFundamentalMatrixRobustEstimator

public RANSACFundamentalMatrixRobustEstimator(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.

RANSACFundamentalMatrixRobustEstimator

public RANSACFundamentalMatrixRobustEstimator(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.

RANSACFundamentalMatrixRobustEstimator

public RANSACFundamentalMatrixRobustEstimator()

Constructor.

RANSACFundamentalMatrixRobustEstimator

public RANSACFundamentalMatrixRobustEstimator(FundamentalMatrixRobustEstimatorListener listener)

Constructor.

Parameters:

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

RANSACFundamentalMatrixRobustEstimator

public RANSACFundamentalMatrixRobustEstimator(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.

RANSACFundamentalMatrixRobustEstimator

public RANSACFundamentalMatrixRobustEstimator(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.

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.