Package com.irurueta.geometry.estimators

Class LinePlaneCorrespondencePinholeCameraRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraRobustEstimator

com.irurueta.geometry.estimators.LinePlaneCorrespondencePinholeCameraRobustEstimator

Direct Known Subclasses:

DLTLinePlaneCorrespondencePinholeCameraRobustEstimator

public abstract class LinePlaneCorrespondencePinholeCameraRobustEstimator
extends PinholeCameraRobustEstimator

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

Field Summary

Fields

Modifier and Type	Field	Description
static final com.irurueta.numerical.robust.RobustEstimatorMethod	DEFAULT_ROBUST_METHOD	Default robust estimator method when none is provided.
protected List<Line2D>	lines	List of matched 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 matched planes.
private final Plane	residualTestPlane	Plane to be reused when computing residuals.

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	LinePlaneCorrespondencePinholeCameraRobustEstimator()	Constructor.
protected	LinePlaneCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)	Constructor with listener.
protected	LinePlaneCorrespondencePinholeCameraRobustEstimator(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	LinePlaneCorrespondencePinholeCameraRobustEstimator(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
private PinholeCamera	attemptFastRefine(PinholeCamera pinholeCamera, double weight)	Attempts to refine provided camera using a fast algorithm based on Levenberg/Marquardt.
protected PinholeCamera	attemptRefine(PinholeCamera pinholeCamera, double weight)	Attempt sto refine provided camera.
private PinholeCamera	attemptSlowRefine(PinholeCamera pinholeCamera, double weight)	Attempts to refine provided camera using a slow but more accurate and stable algorithm by first doing a Powell optimization and then obtaining covariance using Levenberg/Marquardt if needed.
static LinePlaneCorrespondencePinholeCameraRobustEstimator	create()	Creates a pinhole camera robust estimator based on plane/line correspondences and using default robust estimator method.
static LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener and default estimator method.
static LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on plane/line correspondences and using provided listener, quality scores and robust estimator method.
static LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	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 LinePlaneCorrespondencePinholeCameraRobustEstimator	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.
List<Line2D>	getLines()	Returns list of 2D lines to be used to estimate a pinhole camera.
List<Plane>	getPlanes()	Returns list of 3D planes to be used to estimate a pinhole camera.
double[]	getQualityScores()	Returns quality scores corresponding to each pair of matched samples (plane and line).
private void	internalSetLinesAndPlanes(List<Plane> planes, List<Line2D> lines)	Internal method to set lists of planes and lines to be used to estimate a pinhole camera.
boolean	isReady()	Indicates if estimator is ready to start the pinhole camera estimation.
final void	setLinesAndPlanes(List<Plane> planes, List<Line2D> lines)	Sets list of matched 3D planes and 2D lines to be used to estimate a pinhole camera.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each pair of matched points.
protected double	singleBackprojectionResidual(PinholeCamera pinholeCamera, Line2D line, Plane plane)	Back-projection residual/error for a single line using provided camera.

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

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

DEFAULT_ROBUST_METHOD

public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD

Default robust estimator method when none is provided.

planes

protected List<Plane> planes

List of matched planes.

lines

protected List<Line2D> lines

List of matched lines.

residualTestPlane

private final Plane residualTestPlane

Plane to be reused when computing residuals.

Constructor Details

LinePlaneCorrespondencePinholeCameraRobustEstimator

protected LinePlaneCorrespondencePinholeCameraRobustEstimator()

Constructor.

LinePlaneCorrespondencePinholeCameraRobustEstimator

protected LinePlaneCorrespondencePinholeCameraRobustEstimator(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).

LinePlaneCorrespondencePinholeCameraRobustEstimator

protected LinePlaneCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)

Constructor with listener.

Parameters:

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

LinePlaneCorrespondencePinholeCameraRobustEstimator

protected LinePlaneCorrespondencePinholeCameraRobustEstimator(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

getPlanes

public List<Plane> getPlanes()

Returns list of 3D planes to be used to estimate a pinhole camera. Each plane in the list of 3D planes must be matched with a corresponding 2D line resulting from the projection of the 3D plane through the camera to be estimated. Matched lines and planes must be located on the same position in the lists, hence, both lists must have the same size, and their size must be greater or equal than MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES.

Returns:

list of 3D planes to be used to estimate a pinhole camera.

getLines

public List<Line2D> getLines()

Returns list of 2D lines to be used to estimate a pinhole camera. Each line in the list is the result of the projection of a matched.

Returns:

list of 2D lines to be used to estimate a pinhole camera.

setLinesAndPlanes

public final void setLinesAndPlanes(List<Plane> planes,
 List<Line2D> lines)
                             throws LockedException

Sets list of matched 3D planes and 2D lines to be used to estimate a pinhole camera. Each plane in the list of 3D planes must be matched with a corresponding 2D line resulting from the projection of the 3D plane through the camera to be estimated. Matched lines and planes must be located on the same position in the lists, hence, both lists must have the same size, and their size must be greater or equal than MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES.

Parameters:

planes - 3D planes to be 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).

LockedException - if estimator is locked because a computation is already in progress.

isReady

public boolean isReady()

Indicates if estimator is ready to start the pinhole camera estimation. This is true when input data (i.e. lists of matched planes and lines) are provided as a minimum of MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES are available.

Returns:

true if estimator is ready, false otherwise.

getQualityScores

public double[] getQualityScores()

Returns quality scores corresponding to each pair of matched samples (plane and line). The larger the score value the better the quality of the matching. This implementation always returns null. Subclasses using quality scores must implement proper behaviour.

Returns:

quality scores corresponding to each pair of matched points.

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws LockedException

Sets quality scores corresponding to each pair of matched points. The larger the score value the better the quality of the matching. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.

Parameters:

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

Throws:

LockedException - if robust estimator is locked because an estimation is already in progress.

IllegalArgumentException - if provided quality scores length is smaller than MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES (i.e. 4 samples).

create

public static LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 or their size is smaller than required minimum size (4 correspondences).

create

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

Creates a pinhole camera robust estimator based on plane/line 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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 LinePlaneCorrespondencePinholeCameraRobustEstimator 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).

attemptRefine

protected PinholeCamera attemptRefine(PinholeCamera pinholeCamera,
 double weight)

Attempt sto refine provided camera.

Parameters:

pinholeCamera - camera to be refined.

weight - weight for suggestion residual.

Returns:

refined camera of provided camera if anything fails.

singleBackprojectionResidual

protected double singleBackprojectionResidual(PinholeCamera pinholeCamera,
 Line2D line,
 Plane plane)

Back-projection residual/error for a single line using provided camera.

Parameters:

pinholeCamera - camera ot be checked.

line - line to be back-projected.

plane - plane to check against.

Returns:

dot product distance between back-projected line and plane.

internalSetLinesAndPlanes

private void internalSetLinesAndPlanes(List<Plane> planes,
 List<Line2D> lines)

Internal method to set lists of planes and lines to be used to estimate a pinhole camera. This method does not check whether estimator is locked or not.

Parameters:

planes - list of 3D 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 of planes/lines don't have the same size or their size is smaller than required minimum size (4 samples).

attemptSlowRefine

private PinholeCamera attemptSlowRefine(PinholeCamera pinholeCamera,
 double weight)

Attempts to refine provided camera using a slow but more accurate and stable algorithm by first doing a Powell optimization and then obtaining covariance using Levenberg/Marquardt if needed.

Parameters:

pinholeCamera - camera to be refined.

weight - weight for suggestion residual.

Returns:

refined camera or provided camera if anything fails.

attemptFastRefine

private PinholeCamera attemptFastRefine(PinholeCamera pinholeCamera,
 double weight)

Attempts to refine provided camera using a fast algorithm based on Levenberg/Marquardt.

Parameters:

pinholeCamera - camera to be refined.

weight - weight for suggestion residual.

Returns:

refined camera or provided camera if anything fails.