Package com.irurueta.geometry.estimators

Class DLTPointCorrespondencePinholeCameraEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraEstimator

com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraEstimator

com.irurueta.geometry.estimators.DLTPointCorrespondencePinholeCameraEstimator

public class DLTPointCorrespondencePinholeCameraEstimator
extends PointCorrespondencePinholeCameraEstimator

This class implements an algorithm to estimate pinhole cameras 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 int	MIN_NUMBER_OF_EQUATIONS	Minimum number of required equations to estimate a pinhole camera.

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

DEFAULT_NORMALIZE_POINT_CORRESPONDENCES, EPS, MIN_NUMBER_OF_POINT_CORRESPONDENCES, points2D, points3D

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
DLTPointCorrespondencePinholeCameraEstimator()	Constructor.
DLTPointCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)	Constructor with listener.
DLTPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D, List<Point2D> points2D)	Constructor.
DLTPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D, List<Point2D> points2D, PinholeCameraEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
PinholeCameraEstimatorType	getType()	Returns type of pinhole camera estimator.
protected com.irurueta.algebra.Matrix	internalEstimate(List<Point3D> points3D, List<Point2D> points2D)	Internal method that actually computes the normalized pinhole camera internal matrix.
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.PointCorrespondencePinholeCameraEstimator

areListsAvailable, arePointCorrespondencesNormalized, areValidLists, attemptRefine, estimate, getPoints2D, getPoints3D, setLists, setPointCorrespondencesNormalized

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

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

DLTPointCorrespondencePinholeCameraEstimator

public DLTPointCorrespondencePinholeCameraEstimator()

Constructor.

DLTPointCorrespondencePinholeCameraEstimator

public DLTPointCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)

Constructor with listener.

Parameters:

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

DLTPointCorrespondencePinholeCameraEstimator

public DLTPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D,
 List<Point2D> points2D)
                                             throws WrongListSizesException

Constructor.

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

Throws:

IllegalArgumentException - if any of the lists are null.

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

DLTPointCorrespondencePinholeCameraEstimator

public DLTPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D,
 List<Point2D> points2D,
 PinholeCameraEstimatorListener listener)
                                             throws WrongListSizesException

Constructor.

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

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 points don't have the same size and enough points.

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.

internalEstimate

protected com.irurueta.algebra.Matrix internalEstimate(List<Point3D> points3D,
 List<Point2D> points2D)
                                                throws PinholeCameraEstimatorException

Internal method that actually computes the normalized pinhole camera internal matrix. Returned matrix must have norm equal to one and might be estimated using any convenient algorithm (i.e. DLT or weighted DLT).

Specified by:

internalEstimate in class PointCorrespondencePinholeCameraEstimator

Parameters:

points3D - list of 3D points. Points might or might not be normalized.

points2D - list of 2D points. Points might or might not be normalized.

Returns:

matrix of estimated pinhole camera.

Throws:

PinholeCameraEstimatorException - if estimation fails for some reason (i.e. numerical instability or geometric degeneracy).

getType

public PinholeCameraEstimatorType getType()

Returns type of pinhole camera estimator.

Specified by:

getType in class PinholeCameraEstimator

Returns:

type of pinhole camera estimator.