Package com.irurueta.geometry.estimators

Class MSACUPnPPointCorrespondencePinholeCameraRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraRobustEstimator

com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraRobustEstimator

com.irurueta.geometry.estimators.UPnPPointCorrespondencePinholeCameraRobustEstimator

com.irurueta.geometry.estimators.MSACUPnPPointCorrespondencePinholeCameraRobustEstimator

public class MSACUPnPPointCorrespondencePinholeCameraRobustEstimator
extends UPnPPointCorrespondencePinholeCameraRobustEstimator

Finds the best pinhole camera for provided collections of matched 2D/3D points using MSAC + UPnP algorithms.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether points are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double	threshold	Threshold to determine whether points are inliers or not when testing possible estimation solutions.

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

horizontalPrincipalPoint, nullspaceDimension2Allowed, planarConfigurationAllowed, planarThreshold, skewness, verticalPrincipalPoint

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

Constructor	Description
MSACUPnPPointCorrespondencePinholeCameraRobustEstimator()	Constructor.
MSACUPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)	Constructor with listener.
MSACUPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D)	Constructor with listener and lists of points to be used to estimate a pinhole camera.
MSACUPnPPointCorrespondencePinholeCameraRobustEstimator(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
PinholeCamera	estimate()	Estimates a pinhole camera using a robust estimator and the best set of matched 2D/3D point correspondences or 2D line/3D plane correspondences found using the robust estimator.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
protected double	getRefinementStandardDeviation()	Gets standard deviation used for Levenberg-Marquardt fitting during refinement.
double	getThreshold()	Returns threshold to determine whether points are inliers or not when testing possible estimation solutions.
void	setThreshold(double threshold)	Sets threshold to determine whether points are inliers or not when testing possible estimation solutions.

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

create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getHorizontalPrincipalPoint, getPlanarThreshold, getSkewness, getVerticalPrincipalPoint, isNormalizeSubsetPointCorrespondences, isNullspaceDimension2Allowed, isPlanarConfigurationAllowed, setHorizontalPrincipalPoint, setNormalizeSubsetPointCorrespondences, setNullspaceDimension2Allowed, setPlanarConfigurationAllowed, setPlanarThreshold, setSkewness, setVerticalPrincipalPoint

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, isReady, 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, getConfidence, getCovariance, getInliersData, getListener, getMaxIterations, getProgressDelta, 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

DEFAULT_THRESHOLD

public static final double DEFAULT_THRESHOLD

Constant defining default threshold to determine whether points are inliers or not. By default, 1.0 is considered a good value for cases where measures are done on pixels, since typically the minimum resolution is 1 pixel.

See Also:

• Constant Field Values

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:

• Constant Field Values

threshold

private double threshold

Threshold to determine whether points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error (i.e. distance) a possible solution has on a matched pair of points.

Constructor Details

MSACUPnPPointCorrespondencePinholeCameraRobustEstimator

public MSACUPnPPointCorrespondencePinholeCameraRobustEstimator()

Constructor.

MSACUPnPPointCorrespondencePinholeCameraRobustEstimator

public MSACUPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)

Constructor with listener.

Parameters:

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

MSACUPnPPointCorrespondencePinholeCameraRobustEstimator

public MSACUPnPPointCorrespondencePinholeCameraRobustEstimator(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).

MSACUPnPPointCorrespondencePinholeCameraRobustEstimator

public MSACUPnPPointCorrespondencePinholeCameraRobustEstimator(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 - 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).

Method Details

getThreshold

public double getThreshold()

Returns threshold to determine whether points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error (i.e. Euclidean distance) a possible solution has on projected 2D points.

Returns:

threshold to determine whether points are inliers or not when testing possible estimation solutions.

setThreshold

public void setThreshold(double threshold)
                  throws LockedException

Sets threshold to determine whether points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error (i.e. Euclidean distance) a possible solution has on projected 2D points.

Parameters:

threshold - threshold to be set.

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/3D point correspondences or 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.