Package com.irurueta.geometry.refiners

Class NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner

java.lang.Object

com.irurueta.geometry.refiners.Refiner<PinholeCamera>

com.irurueta.geometry.refiners.InliersDataRefiner<PinholeCamera>

com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner<PinholeCamera,Plane,Line2D>

com.irurueta.geometry.refiners.PinholeCameraRefiner<Plane,Line2D>

com.irurueta.geometry.refiners.LinePlaneCorrespondencePinholeCameraRefiner

com.irurueta.geometry.refiners.NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner

public class NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner
extends LinePlaneCorrespondencePinholeCameraRefiner

A pinhole camera refiner using line/plane correspondences and the Levenberg-Marquardt algorithm to try to decrease overall error in LMSE terms among inlier samples by taking the pinhole camera matrix as a whole without decomposition. Typically, this refiner is used by a robust estimator, however it can also be useful in some other situations.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_SUGGESTION_ERROR_WEIGHT	Default value for the weight applied to errors related to suggested camera parameters during computation of projection residuals.
private static final int	REFINE_DIMS	Dimensions for refinement.
private double	suggestionErrorWeight	Suggestion error weight.

Fields inherited from class com.irurueta.geometry.refiners.PinholeCameraRefiner

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, refinementStandardDeviation

Fields inherited from class com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner

samples1, samples2

Fields inherited from class com.irurueta.geometry.refiners.InliersDataRefiner

inliers, numInliers, residuals

Fields inherited from class com.irurueta.geometry.refiners.Refiner

covariance, DEFAULT_KEEP_COVARIANCE, initialEstimation, keepCovariance, listener, locked

Constructor Summary

Constructors

Constructor	Description
NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner()	Constructor.
NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner(PinholeCamera initialEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<Plane> samples1, List<Line2D> samples2, double refinementStandardDeviation)	Constructor.
NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner(PinholeCamera initialEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<Plane> samples1, List<Line2D> samples2, double refinementStandardDeviation)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	getSuggestionErrorWeight()	Gets suggestion error weight.
boolean	refine(PinholeCamera result)	Refines provided initial estimation.
void	setSuggestionErrorWeight(double suggestionErrorWeight)	Sets suggestion error weight.

Methods inherited from class com.irurueta.geometry.refiners.LinePlaneCorrespondencePinholeCameraRefiner

residualLevenbergMarquardt, residualPowell

Methods inherited from class com.irurueta.geometry.refiners.PinholeCameraRefiner

cameraToParameters, getRefinementStandardDeviation, getSuggestedAspectRatioValue, getSuggestedCenterValue, getSuggestedHorizontalFocalLengthValue, getSuggestedPrincipalPointValue, getSuggestedRotationValue, getSuggestedSkewnessValue, getSuggestedVerticalFocalLengthValue, hasSuggestions, isSuggestAspectRatioEnabled, isSuggestCenterEnabled, isSuggestHorizontalFocalLengthEnabled, isSuggestPrincipalPointEnabled, isSuggestRotationEnabled, isSuggestSkewnessValueEnabled, isSuggestVerticalFocalLengthEnabled, parametersToCamera, refine, setRefinementStandardDeviation, setSuggestAspectRatioEnabled, setSuggestCenterEnabled, setSuggestedAspectRatioValue, setSuggestedCenterValue, setSuggestedHorizontalFocalLengthValue, setSuggestedPrincipalPointValue, setSuggestedRotationValue, setSuggestedSkewnessValue, setSuggestedVerticalFocalLengthValue, setSuggestHorizontalFocalLengthEnabled, setSuggestPrincipalPointEnabled, setSuggestRotationEnabled, setSuggestSkewnessValueEnabled, setSuggestVerticalFocalLengthEnabled, suggestionResidual

Methods inherited from class com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner

getSamples1, getSamples2, isReady, setSamples1, setSamples2

Methods inherited from class com.irurueta.geometry.refiners.InliersDataRefiner

getInliers, getNumInliers, getResiduals, getTotalSamples, setInliers, setInliersData, setNumInliers, setResiduals

Methods inherited from class com.irurueta.geometry.refiners.Refiner

getCovariance, getInitialEstimation, getListener, isCovarianceKept, isLocked, setCovarianceKept, setInitialEstimation, setListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

DEFAULT_SUGGESTION_ERROR_WEIGHT

public static final double DEFAULT_SUGGESTION_ERROR_WEIGHT

Default value for the weight applied to errors related to suggested camera parameters during computation of projection residuals.

See Also:

• Constant Field Values

REFINE_DIMS

private static final int REFINE_DIMS

Dimensions for refinement.

See Also:

• Constant Field Values

suggestionErrorWeight

private double suggestionErrorWeight

Suggestion error weight. This weight is applied to errors related to suggested camera parameters during computation of projection residuals.

Constructor Details

NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner

public NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner()

Constructor.

NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner

public NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner(PinholeCamera initialEstimation,
 boolean keepCovariance,
 BitSet inliers,
 double[] residuals,
 int numInliers,
 List<Plane> samples1,
 List<Line2D> samples2,
 double refinementStandardDeviation)

Constructor.

Parameters:

initialEstimation - initial estimation to be set.

keepCovariance - true if covariance of estimation must be kept after refinement, false otherwise.

inliers - set indicating which of the provided matches are inliers.

residuals - residuals for matched samples.

numInliers - number of inliers on initial estimation.

samples1 - 1st set of paired samples.

samples2 - 2nd set of paired samples.

refinementStandardDeviation - standard deviation used for Levenberg-Marquardt fitting.

NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner

public NonDecomposedLinePlaneCorrespondencePinholeCameraRefiner(PinholeCamera initialEstimation,
 boolean keepCovariance,
 com.irurueta.numerical.robust.InliersData inliersData,
 List<Plane> samples1,
 List<Line2D> samples2,
 double refinementStandardDeviation)

Constructor.

Parameters:

initialEstimation - initial estimation to be set.

keepCovariance - true if covariance of estimation must be kept after refinement, false otherwise.

inliersData - inlier data, typically obtained from a robust estimator.

samples1 - 1st set of paired samples.

samples2 - 2nd set of paired samples.

refinementStandardDeviation - standard deviation used for Levenberg-Marquardt fitting.

Method Details

getSuggestionErrorWeight

public double getSuggestionErrorWeight()

Gets suggestion error weight. This weight is applied to errors related to suggested camera parameters during computation of projection residuals.

Returns:

suggestion error weight.

setSuggestionErrorWeight

public void setSuggestionErrorWeight(double suggestionErrorWeight)
                              throws LockedException

Sets suggestion error weight. This weight is applied to errors related to suggested camera parameters during computation of projection residuals.

Parameters:

suggestionErrorWeight - suggestion error weight.

Throws:

LockedException - if estimator is locked.

refine

public boolean refine(PinholeCamera result)
               throws NotReadyException,
LockedException,
RefinerException

Refines provided initial estimation. This method always sets a value into provided result instance regardless of the fact that error has actually improved in LMSE terms or not.

Specified by:

refine in class Refiner<PinholeCamera>

Parameters:

result - instance where refined estimation will be stored.

Returns:

true if result improves (decreases) in LMSE terms respect to initial estimation, false if no improvement has been achieved.

Throws:

NotReadyException - if not enough input data has been provided.

LockedException - if estimator is locked because refinement is already in progress.

RefinerException - if refinement fails for some reason (e.g. unable to converge to a result).