Package com.irurueta.geometry.estimators

Class PROSACDLTPointCorrespondencePinholeCameraRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraRobustEstimator

com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraRobustEstimator

com.irurueta.geometry.estimators.DLTPointCorrespondencePinholeCameraRobustEstimator

com.irurueta.geometry.estimators.PROSACDLTPointCorrespondencePinholeCameraRobustEstimator

public class PROSACDLTPointCorrespondencePinholeCameraRobustEstimator
extends DLTPointCorrespondencePinholeCameraRobustEstimator

Finds the best pinhole camera for provided collections of matched 2D/3D points using PROSAC algorithm.

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	computeAndKeepInliers	Indicates whether inliers must be computed and kept.
private boolean	computeAndKeepResiduals	Indicates whether residuals must be computed and kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_INLIERS	Indicates that by default inliers will only be computed but not kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_RESIDUALS	Indicates that by default residuals will only be computed but not kept.
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[]	qualityScores	Quality scores corresponding to each pair of matched points.
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.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
PROSACDLTPointCorrespondencePinholeCameraRobustEstimator()	Constructor.
PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(double[] qualityScores)	Constructor.
PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)	Constructor.
PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, double[] qualityScores)	Constructor.
PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D)	Constructor with listener and lists of points to be used ot estimate a pinhole camera.
PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Constructor with listener and lists of points to be used ot estimate a pinhole camera.
PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(List<Point3D> points3D, List<Point2D> points2D)	Constructor with lists of points to be used to estimate a pinhole camera.
PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Constructor with lists of points to be used to estimate a pinhole camera.

Method Summary

Modifier and Type	Method	Description
PinholeCamera	estimate()	Estimates an affine 2D transformation using a robust estimator and the best set of matched 2D point correspondences found using the robust estimator.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double[]	getQualityScores()	Returns quality scores corresponding to each pair of matched points.
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.
private void	internalSetQualityScores(double[] qualityScores)	Sets quality scores corresponding to each pair of matched points.
boolean	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResidualsEnabled()	Indicates whether residuals must be computed and kept.
boolean	isReady()	Indicates if estimator is ready to start the affine 2D transformation estimation.
void	setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)	Specifies whether inliers must be computed and kept.
void	setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)	Specifies whether residuals must be computed and kept.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each pair of matched points.
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.DLTPointCorrespondencePinholeCameraRobustEstimator

create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create

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, isNormalizeSubsetPointCorrespondences, setNormalizeSubsetPointCorrespondences, setPoints

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

DEFAULT_COMPUTE_AND_KEEP_INLIERS

public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS

Indicates that by default inliers will only be computed but not kept.

See Also:

• Constant Field Values

DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

Indicates that by default residuals will only be computed but not kept.

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.

qualityScores

private double[] qualityScores

Quality scores corresponding to each pair of matched points. The larger the score value the better the quality of the matching.

computeAndKeepInliers

private boolean computeAndKeepInliers

Indicates whether inliers must be computed and kept.

computeAndKeepResiduals

private boolean computeAndKeepResiduals

Indicates whether residuals must be computed and kept.

Constructor Details

PROSACDLTPointCorrespondencePinholeCameraRobustEstimator

public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator()

Constructor.

PROSACDLTPointCorrespondencePinholeCameraRobustEstimator

public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(List<Point3D> points3D,
 List<Point2D> points2D)

Constructor with lists of points to be used to estimate a pinhole camera. Points in the list 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.

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).

PROSACDLTPointCorrespondencePinholeCameraRobustEstimator

public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)

Constructor.

Parameters:

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

PROSACDLTPointCorrespondencePinholeCameraRobustEstimator

public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D)

Constructor with listener and lists of points to be used ot estimate a pinhole camera. Points in the list 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.

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).

PROSACDLTPointCorrespondencePinholeCameraRobustEstimator

public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(double[] qualityScores)

Constructor.

Parameters:

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

Throws:

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 3 samples).

PROSACDLTPointCorrespondencePinholeCameraRobustEstimator

public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Constructor with lists of points to be used to estimate a pinhole camera. Points in the list 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.

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.

Throws:

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

PROSACDLTPointCorrespondencePinholeCameraRobustEstimator

public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener,
 double[] qualityScores)

Constructor.

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.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 3 samples).

PROSACDLTPointCorrespondencePinholeCameraRobustEstimator

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

Constructor with listener and lists of points to be used ot estimate a pinhole camera. Points in the list 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.

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.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MIN_NUMBER_OF_POINT_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 a matched pair of 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 a matched pair of points.

Parameters:

threshold - threshold to determine whether points are inliers or not.

Throws:

IllegalArgumentException - if provided values is equal or less than zero.

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

getQualityScores

public double[] getQualityScores()

Returns quality scores corresponding to each pair of matched points. The larger the score value the better the quality of the matching.

Overrides:

getQualityScores in class PointCorrespondencePinholeCameraRobustEstimator

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.

Overrides:

setQualityScores in class PointCorrespondencePinholeCameraRobustEstimator

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 MINIMUM_SIZE (i.e. 3 samples).

isReady

public boolean isReady()

Indicates if estimator is ready to start the affine 2D transformation estimation. This is true when input data (i.e. lists of matched points and quality scores) are provided and a minimum of MINIMUM_SIZE points are available.

Overrides:

isReady in class PointCorrespondencePinholeCameraRobustEstimator

Returns:

true if estimator is ready, false otherwise.

isComputeAndKeepInliersEnabled

public boolean isComputeAndKeepInliersEnabled()

Indicates whether inliers must be computed and kept.

Returns:

true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

setComputeAndKeepInliersEnabled

public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
                                     throws LockedException

Specifies whether inliers must be computed and kept.

Parameters:

computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

Throws:

LockedException - if estimator is locked.

isComputeAndKeepResidualsEnabled

public boolean isComputeAndKeepResidualsEnabled()

Indicates whether residuals must be computed and kept.

Returns:

true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

setComputeAndKeepResidualsEnabled

public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
                                       throws LockedException

Specifies whether residuals must be computed and kept.

Parameters:

computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

Throws:

LockedException - if estimator is locked.

estimate

public PinholeCamera estimate()
                       throws LockedException,
NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Estimates an affine 2D transformation using a robust estimator and the best set of matched 2D point correspondences found using the robust estimator.

Specified by:

estimate in class PinholeCameraRobustEstimator

Returns:

an affine 2D transformation.

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.

internalSetQualityScores

private void internalSetQualityScores(double[] qualityScores)

Sets quality scores corresponding to each pair of matched points. This method is used internally and does not check whether instance is locked or not.

Parameters:

qualityScores - quality scores to be set.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE.