Package com.irurueta.geometry.estimators

Class DLTPointCorrespondencePinholeCameraRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraRobustEstimator

com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraRobustEstimator

com.irurueta.geometry.estimators.DLTPointCorrespondencePinholeCameraRobustEstimator

Direct Known Subclasses:

LMedSDLTPointCorrespondencePinholeCameraRobustEstimator, MSACDLTPointCorrespondencePinholeCameraRobustEstimator, PROMedSDLTPointCorrespondencePinholeCameraRobustEstimator, PROSACDLTPointCorrespondencePinholeCameraRobustEstimator, RANSACDLTPointCorrespondencePinholeCameraRobustEstimator

public abstract class DLTPointCorrespondencePinholeCameraRobustEstimator
extends PointCorrespondencePinholeCameraRobustEstimator

Base abstract class for algorithms to robustly find the best pinhole camera for collections of matched 3D/2D points using DLT (Direct Linear Transform) 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.PointCorrespondencePinholeCameraRobustEstimator

DEFAULT_NORMALIZE_SUBSET_POINT_CORRESPONDENCES, DEFAULT_ROBUST_METHOD, MIN_NUMBER_OF_POINT_CORRESPONDENCES, normalizeSubsetPointCorrespondences, points2D, points3D

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	DLTPointCorrespondencePinholeCameraRobustEstimator()	Constructor.
protected	DLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)	Constructor with listener.
protected	DLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D)	Constructor with listener and lists of points to be used to estimate a pinhole camera.
protected	DLTPointCorrespondencePinholeCameraRobustEstimator(List<Point3D> points3D, List<Point2D> points2D)	Constructor with lists of points to be used to estimate a pinhole camera.

Method Summary

Modifier and Type	Method	Description
static DLTPointCorrespondencePinholeCameraRobustEstimator	create()	Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method.
static DLTPointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method.

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

attemptRefine, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getPoints2D, getPoints3D, getQualityScores, isNormalizeSubsetPointCorrespondences, isReady, setNormalizeSubsetPointCorrespondences, setPoints, setQualityScores

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

DLTPointCorrespondencePinholeCameraRobustEstimator

protected DLTPointCorrespondencePinholeCameraRobustEstimator()

Constructor.

DLTPointCorrespondencePinholeCameraRobustEstimator

protected DLTPointCorrespondencePinholeCameraRobustEstimator(List<Point3D> points3D,
 List<Point2D> points2D)

Constructor with lists of points to be used to estimate a pinhole camera. Points 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_POINT_CORRESPONDENCES (6 points).

Parameters:

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

DLTPointCorrespondencePinholeCameraRobustEstimator

protected DLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)

Constructor with listener.

Parameters:

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

DLTPointCorrespondencePinholeCameraRobustEstimator

protected DLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D)

Constructor with listener and lists of points to be used to estimate a pinhole camera. Points 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_POINT_CORRESPONDENCES (6 points).

Parameters:

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

points3D - lists of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

Method Details

create

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

Creates a pinhole camera robust estimator based on point 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 DLTPointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method.

Parameters:

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points 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 points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

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

Creates a pinhole camera robust estimator based on point correspondences and using provided listener.

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 DLTPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method.

Parameters:

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

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points 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 points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

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

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

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

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 (6 samples).

create

public static DLTPointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method.

Parameters:

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

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 points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

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

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores.

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 points.

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 (6 correspondences).

create

public static DLTPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, 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.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

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 points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static DLTPointCorrespondencePinholeCameraRobustEstimator create()

Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method.

Returns:

an instance of a pinhole camera robust estimator.

create

public static DLTPointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method.

Parameters:

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static DLTPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust 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 DLTPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method.

Parameters:

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

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static DLTPointCorrespondencePinholeCameraRobustEstimator create(double[] qualityScores)

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

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size (6 samples).

create

public static DLTPointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method.

Parameters:

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

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

Creates a pinhole camera robust estimator based on point 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 points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores don't have the required minimum size (6 correspondences).

create

public static DLTPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, 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.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).