Package com.irurueta.geometry.estimators

Class DLTLinePlaneCorrespondencePinholeCameraRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraRobustEstimator

com.irurueta.geometry.estimators.LinePlaneCorrespondencePinholeCameraRobustEstimator

com.irurueta.geometry.estimators.DLTLinePlaneCorrespondencePinholeCameraRobustEstimator

Direct Known Subclasses:

LMedSDLTLinePlaneCorrespondencePinholeCameraRobustEstimator, MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator, PROMedSDLTLinePlaneCorrespondencePinholeCameraRobustEstimator, PROSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator, RANSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator

public abstract class DLTLinePlaneCorrespondencePinholeCameraRobustEstimator
extends LinePlaneCorrespondencePinholeCameraRobustEstimator

Base abstract class for algorithms to robustly find the best pinhole camera for collections of matched planes and lines using DLT algorithm. Implementations of this class should be able to detect and discard outliers in order to find the best solution.

Field Summary

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

DEFAULT_ROBUST_METHOD, lines, MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES, planes

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

confidence, covariance, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_RESULT, 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_USE_FAST_REFINEMENT, inliersData, keepCovariance, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, progressDelta, refineResult, suggestAspectRatioEnabled, suggestCenterEnabled, suggestedAspectRatioValue, suggestedCenterValue, suggestedHorizontalFocalLengthValue, suggestedPrincipalPointValue, suggestedRotationValue, suggestedSkewnessValue, suggestedVerticalFocalLengthValue, suggestHorizontalFocalLengthEnabled, suggestPrincipalPointEnabled, suggestRotationEnabled, suggestSkewnessValueEnabled, suggestVerticalFocalLengthEnabled, useFastRefinement

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	DLTLinePlaneCorrespondencePinholeCameraRobustEstimator()	Constructor.
protected	DLTLinePlaneCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)	Constructor with listener.
protected	DLTLinePlaneCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, List<Plane> planes, List<Line2D> lines)	Constructor with listener and lists of matched planes and 2D lines to estimate a pinhole camera.
protected	DLTLinePlaneCorrespondencePinholeCameraRobustEstimator(List<Plane> planes, List<Line2D> lines)	Constructor with lists of matched planes and 2D lines to estimate a pinhole camera.

Method Summary

Modifier and Type	Method	Description
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create()	Creates a pinhole camera robust estimator based on plane/line correspondences and using default robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(double[] qualityScores)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided quality scores and default robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided quality scores and robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener and default estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double[] qualityScores)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, quality scores and default robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on plane/list correspondences and using provided listener, quality scores and robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener and robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Plane> planes, List<Line2D> lines)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, planes and lines, and default robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Plane> planes, List<Line2D> lines, double[] qualityScores)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, planes and lines, and default robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Plane> planes, List<Line2D> lines, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, planes and lines, and robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Plane> planes, List<Line2D> lines, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, planes and lines, and robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(List<Plane> planes, List<Line2D> lines)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided planes and lines and default robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(List<Plane> planes, List<Line2D> lines, double[] qualityScores)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided planes and lines, quality scores and default robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(List<Plane> planes, List<Line2D> lines, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided planes and lines, quality scores and provided robust estimator method.
static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator	create(List<Plane> planes, List<Line2D> lines, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided planes and lines and provided robust estimator method.

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

attemptRefine, getLines, getPlanes, getQualityScores, isReady, setLinesAndPlanes, setQualityScores, singleBackprojectionResidual

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

createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, estimate, getConfidence, getCovariance, getInliersData, getListener, getMaxIterations, getMethod, getProgressDelta, getRefinementStandardDeviation, getSuggestedAspectRatioValue, getSuggestedCenterValue, getSuggestedHorizontalFocalLengthValue, getSuggestedPrincipalPointValue, getSuggestedRotationValue, getSuggestedSkewnessValue, getSuggestedVerticalFocalLengthValue, hasSuggestions, isCovarianceKept, isFastRefinementUsed, isListenerAvailable, isLocked, isResultRefined, isSuggestAspectRatioEnabled, isSuggestCenterEnabled, isSuggestHorizontalFocalLengthEnabled, isSuggestPrincipalPointEnabled, isSuggestRotationEnabled, isSuggestSkewnessValueEnabled, isSuggestVerticalFocalLengthEnabled, setConfidence, setCovarianceKept, setFastRefinementUsed, setListener, setMaxIterations, setProgressDelta, setResultRefined, setSuggestAspectRatioEnabled, setSuggestCenterEnabled, setSuggestedAspectRatioValue, setSuggestedCenterValue, setSuggestedHorizontalFocalLengthValue, setSuggestedPrincipalPointValue, setSuggestedRotationValue, setSuggestedSkewnessValue, setSuggestedVerticalFocalLengthValue, setSuggestHorizontalFocalLengthEnabled, setSuggestPrincipalPointEnabled, setSuggestRotationEnabled, setSuggestSkewnessValueEnabled, setSuggestVerticalFocalLengthEnabled

Methods inherited from class java.lang.Object

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

Constructor Details

DLTLinePlaneCorrespondencePinholeCameraRobustEstimator

protected DLTLinePlaneCorrespondencePinholeCameraRobustEstimator()

Constructor.

DLTLinePlaneCorrespondencePinholeCameraRobustEstimator

protected DLTLinePlaneCorrespondencePinholeCameraRobustEstimator(List<Plane> planes,
 List<Line2D> lines)

Constructor with lists of matched planes and 2D lines to estimate a pinhole camera. Points and lines in the lists located at the same position are considered to be matched. Hence, both lists must have the same size, and their size must be greater or equal than MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES (4 matches).

Parameters:

planes - list of planes used to estimate a pinhole camera.

lines - list of corresponding projected 2D lines used to estimate a pinhole camera.

Throws:

IllegalArgumentException - if provided lists don't have the same size or their size is smaller than required minimum size (4 matches).

DLTLinePlaneCorrespondencePinholeCameraRobustEstimator

protected DLTLinePlaneCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)

Constructor with listener.

Parameters:

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

DLTLinePlaneCorrespondencePinholeCameraRobustEstimator

protected DLTLinePlaneCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener,
 List<Plane> planes,
 List<Line2D> lines)

Constructor with listener and lists of matched planes and 2D lines to estimate a pinhole camera. Points and lines in the lists located at the same position are considered to be matched. Hence, both lists must have the same size, and their size must be greater or equal than MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES (4 matches).

Parameters:

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

planes - list of planes used to estimate a pinhole camera.

lines - list of corresponding projected 2D lines used to estimate a pinhole camera.

Throws:

IllegalArgumentException - if provided lists don't have the same size or their size is smaller than required minimum size (4 matches).

Method Details

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided robust estimator method.

Parameters:

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(List<Plane> planes,
 List<Line2D> lines,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided planes and lines and provided robust estimator method.

Parameters:

planes - list of 3D planes to estimate a pinhole camera.

lines - list of corresponding projected 2D lines used to estimate a pinhole camera.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of planes and lines don't have the same size or their size is smaller than required minimum size (4 correspondences).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener and robust estimator method.

Parameters:

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

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Plane> planes,
 List<Line2D> lines,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, planes and lines, and robust estimator method.

Parameters:

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

planes - list of 3D planes to estimate a pinhole camera.

lines - list of corresponding projected 2D lines used to estimate a pinhole camera.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of planes and lines don't have the same size or their size is smaller than required minimum size (4 correspondences).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided quality scores and robust estimator method.

Parameters:

qualityScores - quality scores corresponding to each pair of matched planes/lines.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size (4 samples).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(List<Plane> planes,
 List<Line2D> lines,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided planes and lines, quality scores and provided robust estimator method.

Parameters:

planes - list of 3D planes to estimate a pinhole camera.

lines - list of corresponding projected 2D lines used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched planes/lines.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of planes and lines or quality scores don't have the same size of their size is smaller than required minimum size ($ correspondences).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on plane/list correspondences and using provided listener, quality scores and robust estimator method.

Parameters:

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

qualityScores - quality scores corresponding to each pair of matched planes/lines.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores don't have the required minimum size (4 samples).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Plane> planes,
 List<Line2D> lines,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, planes and lines, and robust estimator method.

Parameters:

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

planes - list of 3D planes to estimate a pinhole camera.

lines - list of corresponding projected 2D lines used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched planes/lines.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of planes and lines or quality scores don't have the same size or their size is smaller than required minimum size (4 correspondences).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create()

Creates a pinhole camera robust estimator based on plane/line correspondences and using default robust estimator method.

Returns:

an instance of a pinhole camera robust estimator.

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(List<Plane> planes,
 List<Line2D> lines)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided planes and lines and default robust estimator method.

Parameters:

planes - list of 3D planes to estimate a pinhole camera.

lines - list of corresponding projected 2D lines used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of planes and lines don't have the same size or their size is smaller than required minimum size (4 correspondences).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener and default estimator method.

Parameters:

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

Returns:

an instance of a pinhole camera robust estimator.

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Plane> planes,
 List<Line2D> lines)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, planes and lines, and default robust estimator method.

Parameters:

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

planes - list of 3D planes to estimate a pinhole camera.

lines - list of corresponding projected 2D lines used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of planes and lines don't have the same size or their size is smaller than required minimum size (4 correspondences).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(double[] qualityScores)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided quality scores and default robust estimator method.

Parameters:

qualityScores - quality scores corresponding to each pair of matched planes/lines.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size (4 samples).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(List<Plane> planes,
 List<Line2D> lines,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided planes and lines, quality scores and default robust estimator method.

Parameters:

planes - list of 3D planes to estimate a pinhole camera.

lines - list of corresponding projected 2D lines used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched planes/lines.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of planes and lines or quality scores don't have the same size or their size is smaller than required minimum size (4 correspondences).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, quality scores and default robust estimator method.

Parameters:

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

qualityScores - quality scores corresponding to each pair of matched planes/lines.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores don't have the required minimum size (4 samples).

create

public static DLTLinePlaneCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Plane> planes,
 List<Line2D> lines,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, planes and lines, and default robust estimator method.

Parameters:

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

planes - list of 3D planes to estimate a pinhole camera.

lines - list of corresponding projected 2D lines used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched planes/lines.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of planes and lines or quality scores don't have the same size or their size is smaller than required minimum size (4 correspondences).