Package com.irurueta.geometry.estimators

Class RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator

java.lang.Object
com.irurueta.geometry.estimators.PinholeCameraRobustEstimator
com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraRobustEstimator
com.irurueta.geometry.estimators.EPnPPointCorrespondencePinholeCameraRobustEstimator
com.irurueta.geometry.estimators.RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator
public class RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator extends EPnPPointCorrespondencePinholeCameraRobustEstimator
Finds the best pinhole camera for provided collections of matched 2D/3D points using RANSAC + EPnP algorithms.

  • 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:

    • 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:

    • 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:

    • 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:

    • 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.

    • 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

    • RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator

      public RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator()
      Constructor.

    • RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator

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

    • RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator

      public RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator(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).

    • RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator

      public RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator(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).

    • RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator

      public RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraIntrinsicParameters intrinsic)
      Constructor with intrinsic parameters.
      Parameters:
      intrinsic - intrinsic parameters of camera to be estimated.

    • RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator

      public RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic)
      Constructor with intrinsic parameters and listener.
      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.

    • RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator

      public RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D)
      Constructor with lists of points to be used to estimate a pinhole camera and intrinsic parameters. 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:
      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.
      Throws:
      IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

    • RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator

      public RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D)
      Constructor with listener and lists of points to be used to estimate a pinhole camera and intrinsic parameters. 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.
      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.
      Throws:
      IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

  • Method Details

    • getThreshold

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

    • setThreshold

      public void setThreshold(double threshold) throws LockedException
      Sets threshold to determine whether points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error (i.e. Euclidean distance) a possible solution has on projected 2D points.
      Parameters:
      threshold - threshold to be set.
      Throws:
      IllegalArgumentException - if provided value is equal or less than zero.
      LockedException - if robust estimator is locked because an estimation is already in progress.

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

    • getMethod

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

    • getRefinementStandardDeviation

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