Package com.irurueta.geometry.estimators

Class PointCorrespondencePinholeCameraEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraEstimator

com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraEstimator

Direct Known Subclasses:

DLTPointCorrespondencePinholeCameraEstimator, EPnPPointCorrespondencePinholeCameraEstimator, UPnPPointCorrespondencePinholeCameraEstimator, WeightedPointCorrespondencePinholeCameraEstimator

public abstract class PointCorrespondencePinholeCameraEstimator
extends PinholeCameraEstimator

This file contains abstract implementation for pinhole camera estimators based on point correspondences.

Field Summary

Fields

Modifier and Type	Field	Description
static final boolean	DEFAULT_NORMALIZE_POINT_CORRESPONDENCES	Indicates if by default provided point correspondences are normalized to increase the accuracy of the estimation.
static final double	EPS	Defines tiny value considered as machine precision.
static final int	MIN_NUMBER_OF_POINT_CORRESPONDENCES	Minimum number of required point correspondences to estimate a pinhole camera.
private boolean	normalizePointCorrespondences	Indicates if provided point correspondences are normalized to increase the accuracy of the estimation.
protected List<Point2D>	points2D	List of corresponding 2D points.
protected List<Point3D>	points3D	List of corresponding 3D points.

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	PointCorrespondencePinholeCameraEstimator()	Constructor.
protected	PointCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)	Constructor.
protected	PointCorrespondencePinholeCameraEstimator(List<Point3D> points3D, List<Point2D> points2D)	Constructor.
protected	PointCorrespondencePinholeCameraEstimator(List<Point3D> points3D, List<Point2D> points2D, PinholeCameraEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	areListsAvailable()	Indicates if lists have already been provided and are available for retrieval.
boolean	arePointCorrespondencesNormalized()	Indicates if provided point correspondences are normalized to increase the accuracy of the estimation.
static boolean	areValidLists(List<Point3D> points3D, List<Point2D> points2D)	Indicates if lists of corresponding 2D/3D points are valid.
protected PinholeCamera	attemptRefine(PinholeCamera pinholeCamera)	Attempts to refine provided camera using requested suggestions.
PinholeCamera	estimate()	Estimates a pinhole camera.
List<Point2D>	getPoints2D()	Returns list of corresponding 2D points.
List<Point3D>	getPoints3D()	Returns list of corresponding 3D points.
protected abstract com.irurueta.algebra.Matrix	internalEstimate(List<Point3D> points3D, List<Point2D> points2D)	Internal method that actually computes the normalized pinhole camera internal matrix.
private void	internalSetLists(List<Point3D> points3D, List<Point2D> points2D)	Internal method to set list of corresponding points (it does not check if estimator is locked).
void	setLists(List<Point3D> points3D, List<Point2D> points2D)	Sets list of corresponding points.
void	setPointCorrespondencesNormalized(boolean normalize)	Specifies whether provided point correspondences are normalized to increase the accuracy of the estimation.
private List<Point2D>	transformPoints2D(List<Point2D> list, ProjectiveTransformation2D inverseTransformation)	Transforms 2D points so that they have zero mean and unitary standard deviation.
private List<Point3D>	transformPoints3D(List<Point3D> list, ProjectiveTransformation3D transformation)	Transforms 3D points so that they have zero mean and unitary standard deviation.

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

create, create, 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_POINT_CORRESPONDENCES

public static final int MIN_NUMBER_OF_POINT_CORRESPONDENCES

Minimum number of required point correspondences to estimate a pinhole camera.

See Also:

• Constant Field Values

DEFAULT_NORMALIZE_POINT_CORRESPONDENCES

public static final boolean DEFAULT_NORMALIZE_POINT_CORRESPONDENCES

Indicates if by default provided point correspondences are normalized to increase the accuracy of the estimation.

See Also:

• Constant Field Values

EPS

public static final double EPS

Defines tiny value considered as machine precision.

See Also:

• Constant Field Values

points3D

protected List<Point3D> points3D

List of corresponding 3D points.

points2D

protected List<Point2D> points2D

List of corresponding 2D points.

normalizePointCorrespondences

private boolean normalizePointCorrespondences

Indicates if provided point correspondences are normalized to increase the accuracy of the estimation.

Constructor Details

PointCorrespondencePinholeCameraEstimator

protected PointCorrespondencePinholeCameraEstimator()

Constructor.

PointCorrespondencePinholeCameraEstimator

protected PointCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)

Constructor.

Parameters:

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

PointCorrespondencePinholeCameraEstimator

protected PointCorrespondencePinholeCameraEstimator(List<Point3D> points3D,
 List<Point2D> points2D)
                                             throws WrongListSizesException

Constructor.

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

Throws:

IllegalArgumentException - if any of the lists are null.

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

PointCorrespondencePinholeCameraEstimator

protected PointCorrespondencePinholeCameraEstimator(List<Point3D> points3D,
 List<Point2D> points2D,
 PinholeCameraEstimatorListener listener)
                                             throws WrongListSizesException

Constructor.

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

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 points.

Method Details

internalSetLists

private void internalSetLists(List<Point3D> points3D,
 List<Point2D> points2D)
                       throws WrongListSizesException

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

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

Throws:

IllegalArgumentException - if any of the lists are null.

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

setLists

public void setLists(List<Point3D> points3D,
 List<Point2D> points2D)
              throws LockedException,
WrongListSizesException

Sets list of corresponding points.

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

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 points.

getPoints3D

public List<Point3D> getPoints3D()
                          throws NotAvailableException

Returns list of corresponding 3D points. Notice that this method returns an unmodifiable list of points to avoid undesired modifications.

Returns:

list of corresponding 3D points.

Throws:

NotAvailableException - if list of points is not yet available.

getPoints2D

public List<Point2D> getPoints2D()
                          throws NotAvailableException

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

Returns:

list of corresponding 2D points.

Throws:

NotAvailableException - if list of points is not yet available.

areValidLists

public static boolean areValidLists(List<Point3D> points3D,
 List<Point2D> points2D)

Indicates if lists of corresponding 2D/3D points 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 6).

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

Returns:

true if corresponding 2D/3D points 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.

arePointCorrespondencesNormalized

public boolean arePointCorrespondencesNormalized()

Indicates if provided point correspondences are normalized to increase the accuracy of the estimation.

Returns:

true if input point correspondences will be normalized, false otherwise.

setPointCorrespondencesNormalized

public void setPointCorrespondencesNormalized(boolean normalize)
                                       throws LockedException

Specifies whether provided point correspondences are normalized to increase the accuracy of the estimation.

Parameters:

normalize - true if input point correspondences will be normalized, false otherwise.

Throws:

LockedException - if estimator is locked.

transformPoints2D

private List<Point2D> transformPoints2D(List<Point2D> list,
 ProjectiveTransformation2D inverseTransformation)
                                 throws PinholeCameraEstimatorException

Transforms 2D points so that they have zero mean and unitary standard deviation. Provided transformation will be updated containing the transformation used for input points.

Parameters:

list - list of input 2D points.

inverseTransformation - inverseTransformation used on input points. This is an output variable.

Returns:

transformed 2D points.

Throws:

PinholeCameraEstimatorException - if transformation cannot be computed because point configuration might be degenerate.

transformPoints3D

private List<Point3D> transformPoints3D(List<Point3D> list,
 ProjectiveTransformation3D transformation)
                                 throws PinholeCameraEstimatorException

Transforms 3D points so that they have zero mean and unitary standard deviation. Provided transformation will be updated containing the transformation used for input points.

Parameters:

list - list of input 3D points.

transformation - transformation used on input points. This is an output variable.

Returns:

transformed 3D points.

Throws:

PinholeCameraEstimatorException - if transformation cannot be computed because point configuration might be degenerate.

estimate

public PinholeCamera estimate()
                       throws LockedException,
NotReadyException,
PinholeCameraEstimatorException

Estimates a pinhole camera.

Specified by:

estimate in class PinholeCameraEstimator

Returns:

estimated pinhole camera.

Throws:

LockedException - if estimator is locked.

NotReadyException - if input has not yet been provided.

PinholeCameraEstimatorException - if an error occurs during estimation, usually because input data is not valid.

internalEstimate

protected abstract com.irurueta.algebra.Matrix internalEstimate(List<Point3D> points3D,
 List<Point2D> points2D)
                                                         throws PinholeCameraEstimatorException

Internal method that actually computes the normalized pinhole camera internal matrix. Returned matrix must have norm equal to one and might be estimated using any convenient algorithm (i.e. DLT or weighted DLT).

Parameters:

points3D - list of 3D points. Points might or might not be normalized.

points2D - list of 2D points. Points might or might not be normalized.

Returns:

matrix of estimated pinhole camera.

Throws:

PinholeCameraEstimatorException - if estimation fails for some reason (i.e. numerical instability or geometric degeneracy).

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.