Package com.irurueta.geometry.estimators

Class DLTLinePlaneCorrespondencePinholeCameraEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraEstimator

com.irurueta.geometry.estimators.LinePlaneCorrespondencePinholeCameraEstimator

com.irurueta.geometry.estimators.DLTLinePlaneCorrespondencePinholeCameraEstimator

public class DLTLinePlaneCorrespondencePinholeCameraEstimator
extends LinePlaneCorrespondencePinholeCameraEstimator

This class implements an algorithm to estimate pinhole camera using the DLT algorithm and point correspondences.

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	allowLMSESolution	Indicates if an LMSE (Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided.
static final boolean	DEFAULT_ALLOW_LMSE_SOLUTION	Indicates if by default an LMSE (Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided.
static final double	EPS	Defines tiny value considered as machine precision.
static final int	MIN_NUMBER_OF_EQUATIONS	Minimum number of required equations to estimate a pinhole camera.

Fields inherited from class com.irurueta.geometry.estimators.LinePlaneCorrespondencePinholeCameraEstimator

lines2D, MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES, planes

Fields inherited from class com.irurueta.geometry.estimators.PinholeCameraEstimator

DEFAULT_ESTIMATOR_TYPE, DEFAULT_MAX_SUGGESTION_WEIGHT, DEFAULT_MIN_SUGGESTION_WEIGHT, DEFAULT_SUGGEST_ASPECT_RATIO_ENABLED, DEFAULT_SUGGEST_CENTER_ENABLED, DEFAULT_SUGGEST_HORIZONTAL_FOCAL_LENGTH_ENABLED, DEFAULT_SUGGEST_PRINCIPAL_POINT_ENABLED, DEFAULT_SUGGEST_ROTATION_ENABLED, DEFAULT_SUGGEST_SKEWNESS_VALUE_ENABLED, DEFAULT_SUGGEST_VERTICAL_FOCAL_LENGTH_ENABLED, DEFAULT_SUGGESTED_ASPECT_RATIO_VALUE, DEFAULT_SUGGESTED_SKEWNESS_VALUE, DEFAULT_SUGGESTION_WEIGHT_STEP, listener, locked, maxSuggestionWeight, minSuggestionWeight, suggestAspectRatioEnabled, suggestCenterEnabled, suggestedAspectRatioValue, suggestedCenterValue, suggestedHorizontalFocalLengthValue, suggestedPrincipalPointValue, suggestedRotationValue, suggestedSkewnessValue, suggestedVerticalFocalLengthValue, suggestHorizontalFocalLengthEnabled, suggestionWeightStep, suggestPrincipalPointEnabled, suggestRotationEnabled, suggestSkewnessValueEnabled, suggestVerticalFocalLengthEnabled

Constructor Summary

Constructors

Constructor	Description
DLTLinePlaneCorrespondencePinholeCameraEstimator()	Constructor.
DLTLinePlaneCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)	Constructor with listener.
DLTLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes, List<Line2D> lines2D)	Constructor.
DLTLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes, List<Line2D> lines2D, PinholeCameraEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
PinholeCamera	estimate()	Estimates a pinhole camera.
PinholeCameraEstimatorType	getType()	Returns type of pinhole camera estimator.
boolean	isLMSESolutionAllowed()	Indicates if an LMSE (Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided.
boolean	isReady()	Indicates if this estimator is ready to start the estimation.
void	setLMSESolutionAllowed(boolean allowed)	Specifies if an LMSE (Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided.

Methods inherited from class com.irurueta.geometry.estimators.LinePlaneCorrespondencePinholeCameraEstimator

areListsAvailable, areValidLists, attemptRefine, getLines2D, getPlanes, setLists

Methods inherited from class com.irurueta.geometry.estimators.PinholeCameraEstimator

create, create, getListener, getMaxSuggestionWeight, getMinSuggestionWeight, getSuggestedAspectRatioValue, getSuggestedCenterValue, getSuggestedHorizontalFocalLengthValue, getSuggestedPrincipalPointValue, getSuggestedRotationValue, getSuggestedSkewnessValue, getSuggestedVerticalFocalLengthValue, getSuggestionWeightStep, hasSuggestions, isLocked, isSuggestAspectRatioEnabled, isSuggestCenterEnabled, isSuggestHorizontalFocalLengthEnabled, isSuggestPrincipalPointEnabled, isSuggestRotationEnabled, isSuggestSkewnessValueEnabled, isSuggestVerticalFocalLengthEnabled, setListener, setMaxSuggestionWeight, setMinMaxSuggestionWeight, setMinSuggestionWeight, setSuggestAspectRatioEnabled, setSuggestCenterEnabled, setSuggestedAspectRatioValue, setSuggestedCenterValue, setSuggestedHorizontalFocalLengthValue, setSuggestedPrincipalPointValue, setSuggestedRotationValue, setSuggestedSkewnessValue, setSuggestedVerticalFocalLengthValue, setSuggestHorizontalFocalLengthEnabled, setSuggestionWeightStep, setSuggestPrincipalPointEnabled, setSuggestRotationEnabled, setSuggestSkewnessValueEnabled, setSuggestVerticalFocalLengthEnabled

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

MIN_NUMBER_OF_EQUATIONS

public static final int MIN_NUMBER_OF_EQUATIONS

Minimum number of required equations to estimate a pinhole camera.

See Also:

• Constant Field Values

DEFAULT_ALLOW_LMSE_SOLUTION

public static final boolean DEFAULT_ALLOW_LMSE_SOLUTION

Indicates if by default an LMSE (Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided.

See Also:

• Constant Field Values

EPS

public static final double EPS

Defines tiny value considered as machine precision.

See Also:

• Constant Field Values

allowLMSESolution

private boolean allowLMSESolution

Indicates if an LMSE (Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided. If false, the exceeding correspondences will be ignored and only the 6 first correspondences will be used.

Constructor Details

DLTLinePlaneCorrespondencePinholeCameraEstimator

public DLTLinePlaneCorrespondencePinholeCameraEstimator()

Constructor.

DLTLinePlaneCorrespondencePinholeCameraEstimator

public DLTLinePlaneCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)

Constructor with listener.

Parameters:

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

DLTLinePlaneCorrespondencePinholeCameraEstimator

public DLTLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes,
 List<Line2D> lines2D)
                                                 throws WrongListSizesException

Constructor.

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

Throws:

IllegalArgumentException - if any of the lists are null.

WrongListSizesException - if provided lists of correspondences don't have the same size and enough correspondences.

DLTLinePlaneCorrespondencePinholeCameraEstimator

public DLTLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes,
 List<Line2D> lines2D,
 PinholeCameraEstimatorListener listener)
                                                 throws WrongListSizesException

Constructor.

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

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

Throws:

IllegalArgumentException - if any of the lists are null.

WrongListSizesException - if provided lists of correspondences don't have the same size and enough correspondences.

Method Details

isLMSESolutionAllowed

public boolean isLMSESolutionAllowed()

Indicates if an LMSE (Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided. If false, the exceeding correspondences will be ignored and only the 6 first correspondences will be used.

Returns:

true if LMSE solution is allowed, false otherwise.

setLMSESolutionAllowed

public void setLMSESolutionAllowed(boolean allowed)
                            throws LockedException

Specifies if an LMSE (Least Mean Square Error) solution is allowed if more correspondences than the minimum are provided. If false, the exceeding correspondences will be ignored and only the 6 first correspondences will be used.

Parameters:

allowed - true if LMSE solution is allowed, false otherwise

Throws:

LockedException - if estimator is locked.

isReady

public boolean isReady()

Indicates if this estimator is ready to start the estimation.

Specified by:

isReady in class PinholeCameraEstimator

Returns:

true if estimator is ready, false otherwise.

estimate

public PinholeCamera estimate()
                       throws LockedException,
NotReadyException,
PinholeCameraEstimatorException

Estimates a pinhole camera.

Specified by:

estimate in class PinholeCameraEstimator

Returns:

estimated pinhole camera.

Throws:

LockedException - if estimator is locked.

NotReadyException - if input has not yet been provided.

PinholeCameraEstimatorException - if an error occurs during estimation, usually because input data is not valid.

getType

public PinholeCameraEstimatorType getType()

Returns type of pinhole camera estimator.

Specified by:

getType in class PinholeCameraEstimator

Returns:

type of pinhole camera estimator.