Package com.irurueta.geometry.estimators

Class WeightedLinePlaneCorrespondencePinholeCameraEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraEstimator

com.irurueta.geometry.estimators.LinePlaneCorrespondencePinholeCameraEstimator

com.irurueta.geometry.estimators.WeightedLinePlaneCorrespondencePinholeCameraEstimator

public class WeightedLinePlaneCorrespondencePinholeCameraEstimator
extends LinePlaneCorrespondencePinholeCameraEstimator

This class implements pinhole camera estimator using a weighted algorithm and point correspondences.

Field Summary

Fields

Modifier and Type	Field	Description
static final int	DEFAULT_MAX_CORRESPONDENCES	Default number of correspondences to be weighted and taken into account.
static final boolean	DEFAULT_SORT_WEIGHTS	Indicates if weights are sorted by default so that largest weighted correspondences are used first.
static final double	EPS	Defines tiny value considered as machine precision.
private int	maxCorrespondences	Maximum number of correspondences to be weighted and taken into account.
private boolean	sortWeights	Indicates if weights are sorted by default so that largest weighted correspondences are used first.
private double[]	weights	Array containing weights for all point correspondences.

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

lines2D, MIN_NUMBER_OF_LINE_PLANE_CORRESPONDENCES, planes

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

Constructor	Description
WeightedLinePlaneCorrespondencePinholeCameraEstimator()	Constructor.
WeightedLinePlaneCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)	Constructor with listener.
WeightedLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes, List<Line2D> lines2D)	Constructor.
WeightedLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes, List<Line2D> lines2D, double[] weights)	Constructor.
WeightedLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes, List<Line2D> lines2D, double[] weights, PinholeCameraEstimatorListener listener)	Constructor.
WeightedLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes, List<Line2D> lines2D, PinholeCameraEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
static boolean	areValidListsAndWeights(List<Plane> planes, List<Line2D> lines2D, double[] weights)	Indicates if lists of corresponding planes and lines are valid.
boolean	areWeightsAvailable()	Returns boolean indicating whether weights have been provided and are available for retrieval.
PinholeCamera	estimate()	Estimates a pinhole camera.
int	getMaxCorrespondences()	Returns maximum number of correspondences to be weighted and taken into account.
PinholeCameraEstimatorType	getType()	Returns type of pinhole camera estimator.
double[]	getWeights()	Returns array containing a weight amount for each correspondence.
private void	internalSetListsAndWeights(List<Plane> planes, List<Line2D> lines2D, double[] weights)	Internal method to set list of corresponding points (it does not check if estimator is locked).
boolean	isReady()	Indicates if this estimator is ready to start the estimation.
boolean	isSortWeightsEnabled()	Indicates if weights are sorted by so that largest weighted correspondences are used first.
void	setListsAndWeights(List<Plane> planes, List<Line2D> lines2D, double[] weights)	Sets list of corresponding planes and lines.
void	setMaxCorrespondences(int maxCorrespondences)	Sets maximum number of correspondences to be weighted and taken into account.
void	setSortWeightsEnabled(boolean sortWeights)	Specifies whether weights are sorted by so that largest weighted correspondences are used first.

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

areListsAvailable, areValidLists, attemptRefine, getLines2D, getPlanes, setLists

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

create, create, getListener, getMaxSuggestionWeight, getMinSuggestionWeight, getSuggestedAspectRatioValue, getSuggestedCenterValue, getSuggestedHorizontalFocalLengthValue, getSuggestedPrincipalPointValue, getSuggestedRotationValue, getSuggestedSkewnessValue, getSuggestedVerticalFocalLengthValue, getSuggestionWeightStep, hasSuggestions, isLocked, 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

DEFAULT_MAX_CORRESPONDENCES

public static final int DEFAULT_MAX_CORRESPONDENCES

Default number of correspondences to be weighted and taken into account.

See Also:

• Constant Field Values

DEFAULT_SORT_WEIGHTS

public static final boolean DEFAULT_SORT_WEIGHTS

Indicates if weights are sorted by default so that largest weighted correspondences are used first.

See Also:

• Constant Field Values

EPS

public static final double EPS

Defines tiny value considered as machine precision.

See Also:

• Constant Field Values

maxCorrespondences

private int maxCorrespondences

Maximum number of correspondences to be weighted and taken into account.

sortWeights

private boolean sortWeights

Indicates if weights are sorted by default so that largest weighted correspondences are used first.

weights

private double[] weights

Array containing weights for all point correspondences.

Constructor Details

WeightedLinePlaneCorrespondencePinholeCameraEstimator

public WeightedLinePlaneCorrespondencePinholeCameraEstimator()

Constructor.

WeightedLinePlaneCorrespondencePinholeCameraEstimator

public WeightedLinePlaneCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)

Constructor with listener.

Parameters:

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

WeightedLinePlaneCorrespondencePinholeCameraEstimator

public WeightedLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes,
 List<Line2D> lines2D)
                                                      throws WrongListSizesException

Constructor.

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

Throws:

IllegalArgumentException - if any of the lists are null.

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

WeightedLinePlaneCorrespondencePinholeCameraEstimator

public WeightedLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes,
 List<Line2D> lines2D,
 PinholeCameraEstimatorListener listener)
                                                      throws WrongListSizesException

Constructor.

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

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 correspondences don't have the same size and enough correspondences.

WeightedLinePlaneCorrespondencePinholeCameraEstimator

public WeightedLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes,
 List<Line2D> lines2D,
 double[] weights)
                                                      throws WrongListSizesException

Constructor.

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

weights - array containing a weight amount for each correspondence. The larger the value of a weight, the most significant the correspondence will be.

Throws:

IllegalArgumentException - if any of the lists are null.

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

WeightedLinePlaneCorrespondencePinholeCameraEstimator

public WeightedLinePlaneCorrespondencePinholeCameraEstimator(List<Plane> planes,
 List<Line2D> lines2D,
 double[] weights,
 PinholeCameraEstimatorListener listener)
                                                      throws WrongListSizesException

Constructor.

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

weights - array containing a weight amount for each correspondence. The larger the value of a weight, the most significant the correspondence will be.

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 correspondences don't have the same size and enough correspondences.

Method Details

internalSetListsAndWeights

private void internalSetListsAndWeights(List<Plane> planes,
 List<Line2D> lines2D,
 double[] weights)
                                 throws WrongListSizesException

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

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

weights - array containing a weight amount for each correspondence. The larger the value of a weight, the most significant the correspondence will be.

Throws:

IllegalArgumentException - if any of the lists or arrays are null.

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

setListsAndWeights

public void setListsAndWeights(List<Plane> planes,
 List<Line2D> lines2D,
 double[] weights)
                        throws LockedException,
WrongListSizesException

Sets list of corresponding planes and lines.

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

weights - array containing a weight amount for each correspondence. The larger the value of a weight, the most significant the correspondence will be.

Throws:

LockedException - if estimator is locked.

IllegalArgumentException - if any of the lists are null.

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

areValidListsAndWeights

public static boolean areValidListsAndWeights(List<Plane> planes,
 List<Line2D> lines2D,
 double[] weights)

Indicates if lists of corresponding planes and lines are valid. Lists are considered valid if they have the same number of correspondences and both have more than the required minimum of correspondences (which is 4).

Parameters:

planes - list of corresponding 3D planes.

lines2D - list of corresponding 2D lines.

weights - array containing a weight amount for each correspondence. The larger the value of a weight, the most significant the correspondence will be.

Returns:

true if corresponding planes and lines are valid, false otherwise.

getWeights

public double[] getWeights()
                    throws NotAvailableException

Returns array containing a weight amount for each correspondence. The larger the value of a weight, the most significant the correspondence will be.

Returns:

array containing weights for each correspondence.

Throws:

NotAvailableException - if weights are not available.

areWeightsAvailable

public boolean areWeightsAvailable()

Returns boolean indicating whether weights have been provided and are available for retrieval.

Returns:

true if weights are available, false otherwise.

getMaxCorrespondences

public int getMaxCorrespondences()

Returns maximum number of correspondences to be weighted and taken into account.

Returns:

maximum number of points to be weighted.

setMaxCorrespondences

public void setMaxCorrespondences(int maxCorrespondences)
                           throws LockedException

Sets maximum number of correspondences to be weighted and taken into account.

Parameters:

maxCorrespondences - maximum number of correspondences to be weighted.

Throws:

IllegalArgumentException - if provided value is less than the minimum allowed number of point correspondences.

LockedException - if this instance is locked.

isSortWeightsEnabled

public boolean isSortWeightsEnabled()

Indicates if weights are sorted by so that largest weighted correspondences are used first.

Returns:

true if weights are sorted, false otherwise.

setSortWeightsEnabled

public void setSortWeightsEnabled(boolean sortWeights)
                           throws LockedException

Specifies whether weights are sorted by so that largest weighted correspondences are used first.

Parameters:

sortWeights - true if weights are sorted, false otherwise.

Throws:

LockedException - if this instance is locked.

isReady

public boolean isReady()

Indicates if this estimator is ready to start the estimation. Estimator will be ready once both lists and weights are available.

Specified by:

isReady in class PinholeCameraEstimator

Returns:

true if estimator is ready, false otherwise.

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.

getType

public PinholeCameraEstimatorType getType()

Returns type of pinhole camera estimator.

Specified by:

getType in class PinholeCameraEstimator

Returns:

type of pinhole camera estimator.