Package com.irurueta.geometry.estimators

Class PointCorrespondencePinholeCameraRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraRobustEstimator

com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraRobustEstimator

Direct Known Subclasses:

DLTPointCorrespondencePinholeCameraRobustEstimator, EPnPPointCorrespondencePinholeCameraRobustEstimator, UPnPPointCorrespondencePinholeCameraRobustEstimator

public abstract class PointCorrespondencePinholeCameraRobustEstimator
extends PinholeCameraRobustEstimator

This is an abstract class for algorithms to robustly find the best pinhole camera for collections of matched 3D/2D points. 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 boolean	DEFAULT_NORMALIZE_SUBSET_POINT_CORRESPONDENCES	Indicates if by default point correspondences for each picked subset of samples is normalized to increase the accuracy of the estimation.
static final com.irurueta.numerical.robust.RobustEstimatorMethod	DEFAULT_ROBUST_METHOD	Default robust estimator method when none is provided.
static final int	MIN_NUMBER_OF_POINT_CORRESPONDENCES	Minimum number of required point correspondences to estimate a pinhole camera.
protected boolean	normalizeSubsetPointCorrespondences	Indicates if each picked subset point correspondences are normalized to increase the accuracy of the estimation.
protected List<Point2D>	points2D	List of matched 2D points.
protected List<Point3D>	points3D	List of matched 3D points.

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	PointCorrespondencePinholeCameraRobustEstimator()	Constructor.
protected	PointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)	Constructor with listener.
protected	PointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D)	Constructor with listener and lists of points to be used to estimate a pinhole camera.
protected	PointCorrespondencePinholeCameraRobustEstimator(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
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)	Attempts to 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 PointCorrespondencePinholeCameraRobustEstimator	create()	Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint)	Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores and robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores and robust method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and robust method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double skewness, double horizontalPrincipalPoint, double verticalPrincipalPoint, List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method + UPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores and a robust estimation method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic)	Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method + EPnP.
static PointCorrespondencePinholeCameraRobustEstimator	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method + DLT.
static PointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method + DLT.
List<Point2D>	getPoints2D()	Returns list of 2D points ot be used to estimate a pinhole camera.
List<Point3D>	getPoints3D()	Returns list of 3D points to be used to estimate a pinhole camera.
double[]	getQualityScores()	Returns quality scores corresponding to each pair of matched points.
private void	internalSetPoints(List<Point3D> points3D, List<Point2D> points2D)	Internal method to set lists of points to be used to estimate a pinhole camera.
boolean	isNormalizeSubsetPointCorrespondences()	Returns value indicating if each picked subset point correspondences are normalized to increase the accuracy of the estimation.
boolean	isReady()	Indicates if estimator is ready to start the pinhole camera estimation.
void	setNormalizeSubsetPointCorrespondences(boolean normalizeSubsetPointCorrespondences)	Sets value indicating if each picked subset point correspondences are normalized to increase the accuracy of the estimation.
final void	setPoints(List<Point3D> points3D, List<Point2D> points2D)	Sets lists of 3D/2D points to be used to estimate a pinhole camera.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each pair of matched points.

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_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_SUBSET_POINT_CORRESPONDENCES

public static final boolean DEFAULT_NORMALIZE_SUBSET_POINT_CORRESPONDENCES

Indicates if by default point correspondences for each picked subset of samples is normalized to increase the accuracy of the estimation.

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.

points3D

protected List<Point3D> points3D

List of matched 3D points.

points2D

protected List<Point2D> points2D

List of matched 2D points.

normalizeSubsetPointCorrespondences

protected boolean normalizeSubsetPointCorrespondences

Indicates if each picked subset point correspondences are normalized to increase the accuracy of the estimation.

Constructor Details

PointCorrespondencePinholeCameraRobustEstimator

protected PointCorrespondencePinholeCameraRobustEstimator()

Constructor.

PointCorrespondencePinholeCameraRobustEstimator

protected PointCorrespondencePinholeCameraRobustEstimator(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).

PointCorrespondencePinholeCameraRobustEstimator

protected PointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)

Constructor with listener.

Parameters:

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

PointCorrespondencePinholeCameraRobustEstimator

protected PointCorrespondencePinholeCameraRobustEstimator(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

getPoints3D

public List<Point3D> getPoints3D()

Returns list of 3D points to be used to estimate a pinhole camera. Each point in the list of 3D points must be matched with the corresponding 2D point in the list of projected 2D points located at the same position. Hence, both 2D and 3D points lists must have the same size, and their size must be greater or equal than MIN_NUMBER_OF_POINT_CORRESPONDENCES (6 points).

Returns:

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

getPoints2D

public List<Point2D> getPoints2D()

Returns list of 2D points ot be used to estimate a pinhole camera. Each point in the list of 2D points must be matched with the corresponding 3D point in the list of 3D points that can be projected into a 2D point using a pinhole camera. Hence, both 2D and 3D points lists must have the same size, and their size must be greater or equal than MIN_NUMBER_OF_POINT_CORRESPONDENCES (6 points).

Returns:

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

setPoints

public final void setPoints(List<Point3D> points3D,
 List<Point2D> points2D)
                     throws LockedException

Sets lists of 3D/2D 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).

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 2D/3D matched points) are provided and a minimum of MIN_NUMBER_OF_POINT_CORRESPONDENCES are available.

Returns:

true if estimator is ready, false otherwise.

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. 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_POINT_CORRESPONDENCES (i.e. 6 samples).

isNormalizeSubsetPointCorrespondences

public boolean isNormalizeSubsetPointCorrespondences()

Returns value indicating if each picked subset point correspondences are normalized to increase the accuracy of the estimation.

Returns:

true if each picked subset point correspondences are normalized, false otherwise.

setNormalizeSubsetPointCorrespondences

public void setNormalizeSubsetPointCorrespondences(boolean normalizeSubsetPointCorrespondences)
                                            throws LockedException

Sets value indicating if each picked subset point correspondences are normalized to increase the accuracy of the estimation.

Parameters:

normalizeSubsetPointCorrespondences - true if each picked subset point correspondences are normalized, false otherwise.

Throws:

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

create

public static PointCorrespondencePinholeCameraRobustEstimator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method + DLT.

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 PointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method + DLT.

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.

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 points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and robust estimator method + DLT.

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 PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method + DLT.

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.

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 points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

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

Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method + DLT.

Parameters:

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

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 (6 samples).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method + DLT.

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.

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 points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

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

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores and robust estimator method + DLT.

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.

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 (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method + DLT.

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.

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 points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method + EPnP.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

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 PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method + EPnP.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points 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 points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and robust estimator method + EPnP.

Parameters:

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

intrinsic - intrinsic parameters of camera to be estimated.

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 PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method + EPnP.

Parameters:

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

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points 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 points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method + EPnP.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

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

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 (6 samples).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method + EPnP.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

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.

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 points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

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

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores and a robust estimation method + EPnP.

Parameters:

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

intrinsic - intrinsic parameters of camera to be estimated.

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

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 (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method + EPnP.

Parameters:

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

intrinsic - intrinsic parameters of camera to be estimated.

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.

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 points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method + UPnP.

Parameters:

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

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 PointCorrespondencePinholeCameraRobustEstimator create(double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method + UPnP.

Parameters:

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points 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 points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and robust method + UPnP.

Parameters:

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

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

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 PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method + UPnP.

Parameters:

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

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points 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 points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method + UPnP.

Parameters:

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

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

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 (6 samples).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method + UPnP.

Parameters:

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

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.

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 points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores and robust method + UPnP.

Parameters:

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

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

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

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 (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method + UPnP.

Parameters:

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

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

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.

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 points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create()

Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method + DLT.

Returns:

an instance of a pinhole camera robust estimator.

create

public static PointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method + DLT.

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.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method + DLT.

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 PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method + DLT.

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.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method + DLT.

Parameters:

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

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size (6 samples).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method + DLT.

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.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

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

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method + DLT.

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.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores don't have the required minimum size (6 correspondences).

create

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

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method + DLT.

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.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

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

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic)

Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method + EPnP.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

Returns:

an instance of a pinhole camera robust estimator.

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method + EPnP.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method + EPnP.

Parameters:

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

intrinsic - intrinsic parameters of camera to be estimated.

Returns:

an instance of a pinhole camera robust estimator.

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method + EPnP.

Parameters:

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

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method + EPnP.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

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

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size (6 samples).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method + EPnP.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

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.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

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

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method + EPnP.

Parameters:

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

intrinsic - intrinsic parameters of camera to be estimated.

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

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores don't have the required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method + EPnP.

Parameters:

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

intrinsic - intrinsic parameters of camera to be estimated.

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.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

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

create

public static PointCorrespondencePinholeCameraRobustEstimator create(double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint)

Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method + UPnP.

Parameters:

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

Returns:

an instance of a pinhole camera robust estimator.

create

public static PointCorrespondencePinholeCameraRobustEstimator create(double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method + EPnP.

Parameters:

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method + EPnP.

Parameters:

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

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

Returns:

an instance of a pinhole camera robust estimator.

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method + UPnP.

Parameters:

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

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method + UPnP.

Parameters:

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

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

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size (6 samples).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method + UPnP.

Parameters:

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

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.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

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

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method + UPnP.

Parameters:

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

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

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

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores don't have the required minimum size (6 correspondences).

create

public static PointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double skewness,
 double horizontalPrincipalPoint,
 double verticalPrincipalPoint,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method + UPnP.

Parameters:

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

skewness - skewness value of intrinsic parameters of camera to be estimated.

horizontalPrincipalPoint - horizontal principal point value of intrinsic parameters of camera to be estimated.

verticalPrincipalPoint - vertical principal point value of intrinsic parameters of camera to be estimated.

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.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

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

attemptRefine

protected PinholeCamera attemptRefine(PinholeCamera pinholeCamera,
 double weight)

Attempts to refine provided camera.

Parameters:

pinholeCamera - camera to be refined.

weight - weight for suggestion residual.

Returns:

refined camera or provided camera if anything fails.

internalSetPoints

private void internalSetPoints(List<Point3D> points3D,
 List<Point2D> points2D)

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

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 points).

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.