Package com.irurueta.geometry.estimators

Class WeightedPointCorrespondencePinholeCameraEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraEstimator

com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraEstimator

com.irurueta.geometry.estimators.WeightedPointCorrespondencePinholeCameraEstimator

public class WeightedPointCorrespondencePinholeCameraEstimator
extends PointCorrespondencePinholeCameraEstimator

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_POINTS	Default number of points (i.e. 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.
private int	maxPoints	Maximum number of points (i.e. 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.PointCorrespondencePinholeCameraEstimator

DEFAULT_NORMALIZE_POINT_CORRESPONDENCES, EPS, MIN_NUMBER_OF_POINT_CORRESPONDENCES, points2D, points3D

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
WeightedPointCorrespondencePinholeCameraEstimator()	Constructor.
WeightedPointCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)	Constructor with listener.
WeightedPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D, List<Point2D> points2D)	Constructor.
WeightedPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D, List<Point2D> points2D, double[] weights)	Constructor.
WeightedPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D, List<Point2D> points2D, double[] weights, PinholeCameraEstimatorListener listener)	Constructor.
WeightedPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D, List<Point2D> points2D, PinholeCameraEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
static boolean	areValidListsAndWeights(List<Point3D> points3D, List<Point2D> points2D, double[] weights)	Indicates if lists of corresponding 2D/3D points are valid.
boolean	areWeightsAvailable()	Returns boolean indicating whether weights have been provided and are available for retrieval.
int	getMaxPoints()	Returns maximum number of points (i.e. 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.
protected com.irurueta.algebra.Matrix	internalEstimate(List<Point3D> points3D, List<Point2D> points2D)	Internal method that actually computes the normalized pinhole camera internal matrix.
private void	internalSetListsAndWeights(List<Point3D> points3D, List<Point2D> points2D, 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<Point3D> points3D, List<Point2D> points2D, double[] weights)	Sets list of corresponding points.
void	setMaxPoints(int maxPoints)	Sets maximum number of points (i.e. 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.PointCorrespondencePinholeCameraEstimator

areListsAvailable, arePointCorrespondencesNormalized, areValidLists, attemptRefine, estimate, getPoints2D, getPoints3D, setLists, setPointCorrespondencesNormalized

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_POINTS

public static final int DEFAULT_MAX_POINTS

Default number of points (i.e. 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

maxPoints

private int maxPoints

Maximum number of points (i.e. 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

WeightedPointCorrespondencePinholeCameraEstimator

public WeightedPointCorrespondencePinholeCameraEstimator()

Constructor.

WeightedPointCorrespondencePinholeCameraEstimator

public WeightedPointCorrespondencePinholeCameraEstimator(PinholeCameraEstimatorListener listener)

Constructor with listener.

Parameters:

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

WeightedPointCorrespondencePinholeCameraEstimator

public WeightedPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D,
 List<Point2D> points2D)
                                                  throws WrongListSizesException

Constructor.

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

Throws:

IllegalArgumentException - if any of the lists are null.

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

WeightedPointCorrespondencePinholeCameraEstimator

public WeightedPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D,
 List<Point2D> points2D,
 PinholeCameraEstimatorListener listener)
                                                  throws WrongListSizesException

Constructor.

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

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

Throws:

IllegalArgumentException - if any of the lists are null.

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

WeightedPointCorrespondencePinholeCameraEstimator

public WeightedPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] weights)
                                                  throws WrongListSizesException

Constructor.

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

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

WeightedPointCorrespondencePinholeCameraEstimator

public WeightedPointCorrespondencePinholeCameraEstimator(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] weights,
 PinholeCameraEstimatorListener listener)
                                                  throws WrongListSizesException

Constructor.

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

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

Method Details

internalSetListsAndWeights

private void internalSetListsAndWeights(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] weights)
                                 throws WrongListSizesException

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

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

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 points don't have the same size and enough points or if the length of the weights array is not equal to the number of point correspondences.

setListsAndWeights

public void setListsAndWeights(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] weights)
                        throws LockedException,
WrongListSizesException

Sets list of corresponding points.

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

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

areValidListsAndWeights

public static boolean areValidListsAndWeights(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] weights)

Indicates if lists of corresponding 2D/3D points are valid. Lists are considered valid if they have the same number of points and both have more than the required minimum of correspondences (which is 6).

Parameters:

points3D - list of corresponding 3D points.

points2D - list of corresponding 2D points.

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 2D/3D points 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.

getMaxPoints

public int getMaxPoints()

Returns maximum number of points (i.e. correspondences) to be weighted and taken into account.

Returns:

maximum number of points to be weighted.

setMaxPoints

public void setMaxPoints(int maxPoints)
                  throws LockedException

Sets maximum number of points (i.e. correspondences) to be weighted and taken into account.

Parameters:

maxPoints - maximum number of points 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.

internalEstimate

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

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

Specified by:

internalEstimate in class PointCorrespondencePinholeCameraEstimator

Parameters:

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

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

Returns:

matrix of estimated pinhole camera.

Throws:

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

getType

public PinholeCameraEstimatorType getType()

Returns type of pinhole camera estimator.

Specified by:

getType in class PinholeCameraEstimator

Returns:

type of pinhole camera estimator.