Package com.irurueta.geometry.estimators

Class MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator

java.lang.Object
com.irurueta.geometry.estimators.PinholeCameraRobustEstimator
com.irurueta.geometry.estimators.LinePlaneCorrespondencePinholeCameraRobustEstimator
com.irurueta.geometry.estimators.DLTLinePlaneCorrespondencePinholeCameraRobustEstimator
com.irurueta.geometry.estimators.MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator
public class MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator extends DLTLinePlaneCorrespondencePinholeCameraRobustEstimator
Finds the best pinhole camera for provided collections of matched lines and planes using MSAC algorithm.

  • Field Details

    • DEFAULT_THRESHOLD

      public static final double DEFAULT_THRESHOLD
      Constant defining default threshold to determine whether planes are inliers or not. Residuals to determine whether planes are inliers or not are computed by comparing two planes algebraically (e.g. doing the dot product of their parameters). A residual of 0 indicates that dot product was 1 or -1 and lines were equal. A residual of 1 indicates that dot product was 0 and lines were orthogonal. If dot product between lines is -1, then although their director vectors are opposed, lines are considered equal, since sign changes are not taken into account and their residuals will be 0.
      See Also:

    • MIN_THRESHOLD

      public static final double MIN_THRESHOLD
      Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.
      See Also:

    • threshold

      private double threshold
      Threshold to determine whether planes are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has on a plane respect the back-projected plane of a line using estimated camera.

  • Constructor Details

    • MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator

      public MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator()
      Constructor.

    • MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator

      public MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator(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).

    • MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator

      public MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)
      Constructor with listener.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator

      public MSACDLTLinePlaneCorrespondencePinholeCameraRobustEstimator(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

    • getThreshold

      public double getThreshold()
      Returns threshold to determine whether planes are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has on a plane respect the back-projected plane of a line using estimated camera Residuals to determine whether planes are inliers or not are computed by comparing two planes algebraically (e.g. doing the dot product of their parameters). A residual of 0 indicates that dot product was 1 or -1 and planes were equal. A residual of 1 indicates that dot product was 0 and planes were orthogonal. If dot product between planes is -1, then although their director vectors are opposed, planes are considered equal, since sign changes are not taken into account and their residuals will be 0.
      Returns:
      threshold to determine whether matched planes are inliers or not.

    • setThreshold

      public void setThreshold(double threshold) throws LockedException
      Sets threshold to determine whether planes are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has on a plane respect the back-projected plane of a line using estimated camera Residuals to determine whether planes are inliers or not are computed by comparing two planes algebraically (e.g. doing the dot product of their parameters). A residual of 0 indicates that dot product was 1 or -1 and planes were equal. A residual of 1 indicates that dot product was 0 and planes were orthogonal. If dot product between planes is -1, then although their director vectors are opposed, planes are considered equal, since sign changes are not taken into account and their residuals will be 0.
      Parameters:
      threshold - threshold to determine whether matched planes are inliers or not.
      Throws:
      IllegalArgumentException - if provided value is equal or less than zero.
      LockedException - if robust estimator is locked because an estimation is already in progress.

    • estimate

      public PinholeCamera estimate() throws LockedException, NotReadyException, com.irurueta.numerical.robust.RobustEstimatorException
      Estimates a pinhole camera using a robust estimator and the best set of matched 2D line/3D plane correspondences found using the robust estimator.
      Specified by:
      estimate in class PinholeCameraRobustEstimator
      Returns:
      a pinhole camera.
      Throws:
      LockedException - if robust estimator is locked because an estimation is already in progress.
      NotReadyException - if provided input data is not enough to start the estimation.
      com.irurueta.numerical.robust.RobustEstimatorException - if estimation fails for any reason (i.e. numerical instability, no solution available, etc).

    • getMethod

      public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
      Returns method being used for robust estimation.
      Specified by:
      getMethod in class PinholeCameraRobustEstimator
      Returns:
      method being used for robust estimation.

    • getRefinementStandardDeviation

      protected double getRefinementStandardDeviation()
      Gets standard deviation used for Levenberg-Marquardt fitting during refinement. Returned value gives an indication of how much variance each residual has. Typically, this value is related to the threshold used on each robust estimation, since residuals of found inliers are within the range of such threshold.
      Specified by:
      getRefinementStandardDeviation in class PinholeCameraRobustEstimator
      Returns:
      standard deviation used for refinement.