PROSACDLTPointCorrespondencePinholeCameraRobustEstimator.java
/*
* Copyright (C) 2015 Alberto Irurueta Carro (alberto@irurueta.com)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.geometry.estimators;
import com.irurueta.geometry.CoordinatesType;
import com.irurueta.geometry.PinholeCamera;
import com.irurueta.geometry.Point2D;
import com.irurueta.geometry.Point3D;
import com.irurueta.numerical.robust.PROSACRobustEstimator;
import com.irurueta.numerical.robust.PROSACRobustEstimatorListener;
import com.irurueta.numerical.robust.RobustEstimator;
import com.irurueta.numerical.robust.RobustEstimatorException;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.ArrayList;
import java.util.List;
/**
* Finds the best pinhole camera for provided collections of matched 2D/3D
* points using PROSAC algorithm.
*/
@SuppressWarnings("DuplicatedCode")
public class PROSACDLTPointCorrespondencePinholeCameraRobustEstimator extends
DLTPointCorrespondencePinholeCameraRobustEstimator {
/**
* 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.
*/
public static final double DEFAULT_THRESHOLD = 1.0;
/**
* Minimum value that can be set as threshold.
* Threshold must be strictly greater than 0.0.
*/
public static final double MIN_THRESHOLD = 0.0;
/**
* Indicates that by default inliers will only be computed but not kept.
*/
public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS = false;
/**
* Indicates that by default residuals will only be computed but not kept.
*/
public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS = false;
/**
* 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.
*/
private double threshold;
/**
* Quality scores corresponding to each pair of matched points.
* The larger the score value the better the quality of the matching.
*/
private double[] qualityScores;
/**
* Indicates whether inliers must be computed and kept.
*/
private boolean computeAndKeepInliers;
/**
* Indicates whether residuals must be computed and kept.
*/
private boolean computeAndKeepResiduals;
/**
* Constructor.
*/
public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator() {
super();
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
}
/**
* Constructor with lists of 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.
*
* @param points3D list of 3D points used to estimate a pinhole camera.
* @param 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).
*/
public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(
final List<Point3D> points3D, final List<Point2D> points2D) {
super(points3D, points2D);
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
}
/**
* Constructor.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
*/
public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(
final PinholeCameraRobustEstimatorListener listener) {
super(listener);
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
}
/**
* Constructor with listener and lists of points to be used ot 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.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param points3D list of 3D points used to estimate a pinhole camera.
* @param 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).
*/
public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(
final PinholeCameraRobustEstimatorListener listener,
final List<Point3D> points3D, final List<Point2D> points2D) {
super(listener, points3D, points2D);
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each pair of matched
* points.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than MINIMUM_SIZE (i.e. 3 samples).
*/
public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(final double[] qualityScores) {
super();
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
internalSetQualityScores(qualityScores);
}
/**
* Constructor with lists of 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.
*
* @param points3D list of 3D points used to estimate a pinhole camera.
* @param points2D list of corresponding projected 2D points used to
* estimate a pinhole camera.
* @param qualityScores quality scores corresponding to each pair of matched
* points.
* @throws IllegalArgumentException if provided lists of points and array
* of quality scores don't have the same size or their size is smaller than
* 6 correspondences.
*/
public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(
final List<Point3D> points3D, final List<Point2D> points2D, final double[] qualityScores) {
super(points3D, points2D);
if (qualityScores.length != points3D.size()) {
throw new IllegalArgumentException();
}
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param qualityScores quality scores corresponding to each pair of matched
* points.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than MINIMUM_SIZE (i.e. 3 samples).
*/
public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(
final PinholeCameraRobustEstimatorListener listener, final double[] qualityScores) {
super(listener);
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
internalSetQualityScores(qualityScores);
}
/**
* Constructor with listener and lists of points to be used ot 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.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param points3D list of 3D points used to estimate a pinhole camera.
* @param points2D list of corresponding projected 2D points used to
* estimate a pinhole camera.
* @param qualityScores quality scores corresponding to each pair of matched
* points.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size or their size is smaller than
* MIN_NUMBER_OF_POINT_CORRESPONDENCES.
*/
public PROSACDLTPointCorrespondencePinholeCameraRobustEstimator(
final PinholeCameraRobustEstimatorListener listener, final List<Point3D> points3D,
final List<Point2D> points2D, final double[] qualityScores) {
super(listener, points3D, points2D);
if (qualityScores.length != points3D.size()) {
throw new IllegalArgumentException();
}
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
internalSetQualityScores(qualityScores);
}
/**
* 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 a matched pair of points.
*
* @return threshold to determine whether points are inliers or not when
* testing possible estimation solutions.
*/
public double getThreshold() {
return threshold;
}
/**
* 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 a matched pair of points.
*
* @param threshold threshold to determine whether points are inliers or
* not.
* @throws IllegalArgumentException if provided values is equal or less than
* zero.
* @throws LockedException if robust estimator is locked because an
* estimation is already in progress.
*/
public void setThreshold(final double threshold) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
if (threshold <= MIN_THRESHOLD) {
throw new IllegalArgumentException();
}
this.threshold = threshold;
}
/**
* Returns quality scores corresponding to each pair of matched points.
* The larger the score value the better the quality of the matching.
*
* @return quality scores corresponding to each pair of matched points.
*/
@Override
public double[] getQualityScores() {
return qualityScores;
}
/**
* Sets quality scores corresponding to each pair of matched points.
* The larger the score value the better the quality of the matching.
*
* @param qualityScores quality scores corresponding to each pair of matched
* points.
* @throws LockedException if robust estimator is locked because an
* estimation is already in progress.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than MINIMUM_SIZE (i.e. 3 samples).
*/
@Override
public void setQualityScores(final double[] qualityScores) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetQualityScores(qualityScores);
}
/**
* Indicates if estimator is ready to start the affine 2D transformation
* estimation.
* This is true when input data (i.e. lists of matched points and quality
* scores) are provided and a minimum of MINIMUM_SIZE points are available.
*
* @return true if estimator is ready, false otherwise.
*/
@Override
public boolean isReady() {
return super.isReady() && qualityScores != null && qualityScores.length == points3D.size();
}
/**
* Indicates whether inliers must be computed and kept.
*
* @return true if inliers must be computed and kept, false if inliers
* only need to be computed but not kept.
*/
public boolean isComputeAndKeepInliersEnabled() {
return computeAndKeepInliers;
}
/**
* Specifies whether inliers must be computed and kept.
*
* @param 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.
*/
public void setComputeAndKeepInliersEnabled(final boolean computeAndKeepInliers) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
this.computeAndKeepInliers = computeAndKeepInliers;
}
/**
* Indicates whether residuals must be computed and kept.
*
* @return true if residuals must be computed and kept, false if residuals
* only need to be computed but not kept.
*/
public boolean isComputeAndKeepResidualsEnabled() {
return computeAndKeepResiduals;
}
/**
* Specifies whether residuals must be computed and kept.
*
* @param 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.
*/
public void setComputeAndKeepResidualsEnabled(final boolean computeAndKeepResiduals) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
this.computeAndKeepResiduals = computeAndKeepResiduals;
}
/**
* Estimates an affine 2D transformation using a robust estimator and
* the best set of matched 2D point correspondences found using the robust
* estimator.
*
* @return an affine 2D transformation.
* @throws LockedException if robust estimator is locked because an
* estimation is already in progress.
* @throws NotReadyException if provided input data is not enough to start
* the estimation.
* @throws RobustEstimatorException if estimation fails for any reason
* (i.e. numerical instability, no solution available, etc).
*/
@Override
public PinholeCamera estimate() throws LockedException, NotReadyException, RobustEstimatorException {
if (isLocked()) {
throw new LockedException();
}
if (!isReady()) {
throw new NotReadyException();
}
// pinhole camera estimator using DLT (Direct Linear Transform) algorithm
final var nonRobustEstimator = new DLTPointCorrespondencePinholeCameraEstimator();
nonRobustEstimator.setLMSESolutionAllowed(false);
nonRobustEstimator.setPointCorrespondencesNormalized(normalizeSubsetPointCorrespondences);
// suggestions
nonRobustEstimator.setSuggestSkewnessValueEnabled(isSuggestSkewnessValueEnabled());
nonRobustEstimator.setSuggestedSkewnessValue(getSuggestedSkewnessValue());
nonRobustEstimator.setSuggestHorizontalFocalLengthEnabled(isSuggestHorizontalFocalLengthEnabled());
nonRobustEstimator.setSuggestedHorizontalFocalLengthValue(getSuggestedHorizontalFocalLengthValue());
nonRobustEstimator.setSuggestVerticalFocalLengthEnabled(isSuggestVerticalFocalLengthEnabled());
nonRobustEstimator.setSuggestedVerticalFocalLengthValue(getSuggestedVerticalFocalLengthValue());
nonRobustEstimator.setSuggestAspectRatioEnabled(isSuggestAspectRatioEnabled());
nonRobustEstimator.setSuggestedAspectRatioValue(getSuggestedAspectRatioValue());
nonRobustEstimator.setSuggestPrincipalPointEnabled(isSuggestPrincipalPointEnabled());
nonRobustEstimator.setSuggestedPrincipalPointValue(getSuggestedPrincipalPointValue());
nonRobustEstimator.setSuggestRotationEnabled(isSuggestRotationEnabled());
nonRobustEstimator.setSuggestedRotationValue(getSuggestedRotationValue());
nonRobustEstimator.setSuggestCenterEnabled(isSuggestCenterEnabled());
nonRobustEstimator.setSuggestedCenterValue(getSuggestedCenterValue());
final var innerEstimator = new PROSACRobustEstimator<>(new PROSACRobustEstimatorListener<PinholeCamera>() {
// point to be reused when computing residuals
private final Point2D testPoint = Point2D.create(CoordinatesType.HOMOGENEOUS_COORDINATES);
// 3D points for a subset of samples
private final List<Point3D> subset3D = new ArrayList<>();
// 2D points for a subset of samples
private final List<Point2D> subset2D = new ArrayList<>();
@Override
public double getThreshold() {
return threshold;
}
@Override
public int getTotalSamples() {
return points3D.size();
}
@Override
public int getSubsetSize() {
return PointCorrespondencePinholeCameraRobustEstimator.MIN_NUMBER_OF_POINT_CORRESPONDENCES;
}
@Override
public void estimatePreliminarSolutions(final int[] samplesIndices, final List<PinholeCamera> solutions) {
subset3D.clear();
subset3D.add(points3D.get(samplesIndices[0]));
subset3D.add(points3D.get(samplesIndices[1]));
subset3D.add(points3D.get(samplesIndices[2]));
subset3D.add(points3D.get(samplesIndices[3]));
subset3D.add(points3D.get(samplesIndices[4]));
subset3D.add(points3D.get(samplesIndices[5]));
subset2D.clear();
subset2D.add(points2D.get(samplesIndices[0]));
subset2D.add(points2D.get(samplesIndices[1]));
subset2D.add(points2D.get(samplesIndices[2]));
subset2D.add(points2D.get(samplesIndices[3]));
subset2D.add(points2D.get(samplesIndices[4]));
subset2D.add(points2D.get(samplesIndices[5]));
try {
nonRobustEstimator.setLists(subset3D, subset2D);
final var cam = nonRobustEstimator.estimate();
solutions.add(cam);
} catch (final Exception e) {
// if points configuration is degenerate, no solution is
// added
}
}
@Override
public double computeResidual(final PinholeCamera currentEstimation, final int i) {
// pick i-th points
final var point3D = points3D.get(i);
final var point2D = points2D.get(i);
// project point3D into test point
currentEstimation.project(point3D, testPoint);
// compare test point and 2D point
return testPoint.distanceTo(point2D);
}
@Override
public boolean isReady() {
return PROSACDLTPointCorrespondencePinholeCameraRobustEstimator.this.isReady();
}
@Override
public void onEstimateStart(final RobustEstimator<PinholeCamera> estimator) {
if (listener != null) {
listener.onEstimateStart(PROSACDLTPointCorrespondencePinholeCameraRobustEstimator.this);
}
}
@Override
public void onEstimateEnd(final RobustEstimator<PinholeCamera> estimator) {
if (listener != null) {
listener.onEstimateEnd(PROSACDLTPointCorrespondencePinholeCameraRobustEstimator.this);
}
}
@Override
public void onEstimateNextIteration(final RobustEstimator<PinholeCamera> estimator, final int iteration) {
if (listener != null) {
listener.onEstimateNextIteration(
PROSACDLTPointCorrespondencePinholeCameraRobustEstimator.this, iteration);
}
}
@Override
public void onEstimateProgressChange(final RobustEstimator<PinholeCamera> estimator, final float progress) {
if (listener != null) {
listener.onEstimateProgressChange(
PROSACDLTPointCorrespondencePinholeCameraRobustEstimator.this, progress);
}
}
@Override
public double[] getQualityScores() {
return qualityScores;
}
});
try {
locked = true;
inliersData = null;
innerEstimator.setComputeAndKeepInliersEnabled(computeAndKeepInliers || refineResult);
innerEstimator.setComputeAndKeepResidualsEnabled(computeAndKeepResiduals || refineResult);
innerEstimator.setConfidence(confidence);
innerEstimator.setMaxIterations(maxIterations);
innerEstimator.setProgressDelta(progressDelta);
final var result = innerEstimator.estimate();
inliersData = innerEstimator.getInliersData();
return attemptRefine(result, nonRobustEstimator.getMaxSuggestionWeight());
} catch (final com.irurueta.numerical.LockedException e) {
throw new LockedException(e);
} catch (final com.irurueta.numerical.NotReadyException e) {
throw new NotReadyException(e);
} finally {
locked = false;
}
}
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
@Override
public RobustEstimatorMethod getMethod() {
return RobustEstimatorMethod.PROSAC;
}
/**
* 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.
*
* @return standard deviation used for refinement.
*/
@Override
protected double getRefinementStandardDeviation() {
return threshold;
}
/**
* Sets quality scores corresponding to each pair of matched points.
* This method is used internally and does not check whether instance is
* locked or not.
*
* @param qualityScores quality scores to be set.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than MINIMUM_SIZE.
*/
private void internalSetQualityScores(final double[] qualityScores) {
if (qualityScores.length < MIN_NUMBER_OF_POINT_CORRESPONDENCES) {
throw new IllegalArgumentException();
}
this.qualityScores = qualityScores;
}
}