Package com.irurueta.geometry.estimators

Class LinePlaneCorrespondencePinholeCameraEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraEstimator

com.irurueta.geometry.estimators.LinePlaneCorrespondencePinholeCameraEstimator

Direct Known Subclasses:

DLTLinePlaneCorrespondencePinholeCameraEstimator, WeightedLinePlaneCorrespondencePinholeCameraEstimator

public abstract class LinePlaneCorrespondencePinholeCameraEstimator
extends PinholeCameraEstimator

This file contains abstract implementation for pinhole camera estimators based on line/plane correspondences.

Field Summary

Fields

Modifier and Type	Field	Description
protected List<Line2D>	lines2D	List of corresponding 2D lines.
static final int	MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES	Minimum number of required line/plane correspondences to estimate a camera.
protected List<Plane>	planes	List of corresponding 3D 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

Modifier	Constructor	Description
protected	LinePlaneCorrespondencePinholeCameraEstimator()	Constructor.
protected	LinePlaneCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)	Constructor.
protected	LinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes, List<Line2D> lines2D)	Constructor.
protected	LinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes, List<Line2D> lines2D, PinholeCameraEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	areListsAvailable()	Indicates if lists have already been provided and are available for retrieval.
static boolean	areValidLists(List<Plane> planes, List<Line2D> lines2D)	Indicates if lists of corresponding 2D lines and planes are valid.
protected PinholeCamera	attemptRefine(PinholeCamera pinholeCamera)	Attempts to refine provided camera using requested suggestions.
List<Line2D>	getLines2D()	Returns list of corresponding 2D lines.
List<Plane>	getPlanes()	Returns list of corresponding lines/planes.
private void	internalSetLists(List<Plane> planes, List<Line2D> lines2D)	Internal method to set list of corresponding lines/planes (it does not check if estimator is locked).
void	setLists(List<Plane> planes, List<Line2D> lines2D)	Set list of corresponding lines/planes.

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

create, create, estimate, getListener, getMaxSuggestionWeight, getMinSuggestionWeight, getSuggestedAspectRatioValue, getSuggestedCenterValue, getSuggestedHorizontalFocalLengthValue, getSuggestedPrincipalPointValue, getSuggestedRotationValue, getSuggestedSkewnessValue, getSuggestedVerticalFocalLengthValue, getSuggestionWeightStep, getType, hasSuggestions, isLocked, isReady, 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_LINE_PLANE_CORRESPONDENCES

public static final int MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES

Minimum number of required line/plane correspondences to estimate a camera.

See Also:

• Constant Field Values

planes

protected List<Plane> planes

List of corresponding 3D planes.

lines2D

protected List<Line2D> lines2D

List of corresponding 2D lines.

Constructor Details

LinePlaneCorrespondencePinholeCameraEstimator

protected LinePlaneCorrespondencePinholeCameraEstimator()

Constructor.

LinePlaneCorrespondencePinholeCameraEstimator

protected LinePlaneCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)

Constructor.

Parameters:

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

LinePlaneCorrespondencePinholeCameraEstimator

protected LinePlaneCorrespondencePinholeCameraEstimator(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 points don't have the same size and enough correspondences.

LinePlaneCorrespondencePinholeCameraEstimator

protected LinePlaneCorrespondencePinholeCameraEstimator(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 points don't have the same size and enough correspondences.

Method Details

internalSetLists

private void internalSetLists(List<Plane> planes,
 List<Line2D> lines2D)
                       throws WrongListSizesException

Internal method to set list of corresponding lines/planes (it does not check if estimator is locked).

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

setLists

public void setLists(List<Plane> planes,
 List<Line2D> lines2D)
              throws LockedException,
WrongListSizesException

Set list of corresponding lines/planes.

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

Throws:

LockedException - if estimator is locked.

IllegalArgumentException - if any of the lists are null.

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

getPlanes

public List<Plane> getPlanes()
                      throws NotAvailableException

Returns list of corresponding lines/planes. Notice that this method returns an unmodifiable list of planes to avoid undesired modifications.

Returns:

list of corresponding 3D planes.

Throws:

NotAvailableException - if list of planes is not yet available.

getLines2D

public List<Line2D> getLines2D()
                        throws NotAvailableException

Returns list of corresponding 2D lines. Notice that this method returns an unmodifiable list of 2D lines to avoid undesired modifications.

Returns:

list of corresponding 2D lines.

Throws:

NotAvailableException - if list of 2D lines is not yet available.

areValidLists

public static boolean areValidLists(List<Plane> planes,
 List<Line2D> lines2D)

Indicates if lists of corresponding 2D lines and planes are valid. Lists are considered valid if they have the same number of points and both have more than the required minimum of correspondences (which is 4).

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

Returns:

true if corresponding 2D lines and planes are valid, false otherwise.

areListsAvailable

public boolean areListsAvailable()

Indicates if lists have already been provided and are available for retrieval.

Returns:

true if available, false otherwise.

attemptRefine

protected PinholeCamera attemptRefine(PinholeCamera pinholeCamera)

Attempts to refine provided camera using requested suggestions. If no suggestions are requested or if refinement fails, provided camera is returned instead.

Specified by:

attemptRefine in class PinholeCameraEstimator

Parameters:

pinholeCamera - camera to be refined.

Returns:

refined camera.