Package com.irurueta.geometry.estimators

Class RANSACDLTPointCorrespondencePinholeCameraRobustEstimatorTest

java.lang.Object

com.irurueta.geometry.estimators.RANSACDLTPointCorrespondencePinholeCameraRobustEstimatorTest

All Implemented Interfaces:

PinholeCameraRobustEstimatorListener

class RANSACDLTPointCorrespondencePinholeCameraRobustEstimatorTest
extends Object
implements PinholeCameraRobustEstimatorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	estimateEnd
private int	estimateNextIteration
private int	estimateProgressChange
private int	estimateStart
private static final int	INHOM_3D_COORDS
private static final double	LARGE_ABSOLUTE_ERROR
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_FOCAL_LENGTH
private static final int	MAX_POINTS
private static final double	MAX_PRINCIPAL_POINT
private static final double	MAX_RANDOM_VALUE
private static final double	MAX_SKEWNESS
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_FOCAL_LENGTH
private static final int	MIN_POINTS
private static final double	MIN_PRINCIPAL_POINT
private static final double	MIN_RANDOM_VALUE
private static final double	MIN_SKEWNESS
private static final int	PERCENTAGE_OUTLIER
private static final double	STD_ERROR
private static final double	THRESHOLD
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
RANSACDLTPointCorrespondencePinholeCameraRobustEstimatorTest()

Method Summary

Modifier and Type	Method	Description
private static void	checkLocked(RANSACDLTPointCorrespondencePinholeCameraRobustEstimator estimator)
void	onEstimateEnd(PinholeCameraRobustEstimator estimator)
void	onEstimateNextIteration(PinholeCameraRobustEstimator estimator, int iteration)
void	onEstimateProgressChange(PinholeCameraRobustEstimator estimator, float progress)
void	onEstimateStart(PinholeCameraRobustEstimator estimator)
private void	reset()
(package private) void	testConstants()
(package private) void	testConstructor()
(package private) void	testEstimateSuggestedAspectRatioEnabled()
(package private) void	testEstimateSuggestedAspectRatioWithFastRefinement()
(package private) void	testEstimateSuggestedAspectRatioWithRefinement()
(package private) void	testEstimateSuggestedCenterEnabled()
(package private) void	testEstimateSuggestedCenterWithFastRefinement()
(package private) void	testEstimateSuggestedCenterWithRefinement()
(package private) void	testEstimateSuggestedHorizontalFocalLengthEnabled()
(package private) void	testEstimateSuggestedHorizontalFocalLengthWithFastRefinement()
(package private) void	testEstimateSuggestedHorizontalFocalLengthWithRefinement()
(package private) void	testEstimateSuggestedPrincipalPointEnabled()
(package private) void	testEstimateSuggestedPrincipalPointWithFastRefinement()
(package private) void	testEstimateSuggestedPrincipalPointWithRefinement()
(package private) void	testEstimateSuggestedRotationEnabled()
(package private) void	testEstimateSuggestedRotationWithFastRefinement()
(package private) void	testEstimateSuggestedRotationWithRefinement()
(package private) void	testEstimateSuggestedSkewness()
(package private) void	testEstimateSuggestedSkewnessWithFastRefinement()
(package private) void	testEstimateSuggestedSkewnessWithRefinement()
(package private) void	testEstimateSuggestedVerticalFocalLengthEnabled()
(package private) void	testEstimateSuggestedVerticalFocalLengthWithFastRefinement()
(package private) void	testEstimateSuggestedVerticalFocalLengthWithRefinement()
(package private) void	testEstimateWithFastRefinement()
(package private) void	testEstimateWithoutRefinement()
(package private) void	testEstimateWithRefinement()
(package private) void	testEstimateZeroSkewnessZeroPrincipalPointAndEqualFocalLength()
(package private) void	testEstimateZeroSkewnessZeroPrincipalPointAndEqualFocalLengthWithFastRefinement()
(package private) void	testEstimateZeroSkewnessZeroPrincipalPointAndEqualFocalLengthWithRefinement()
(package private) void	testGetSetConfidence()
(package private) void	testGetSetListenerAndIsListenerAvailable()
(package private) void	testGetSetMaxIterations()
(package private) void	testGetSetPointsAndIsReady()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetSuggestedAspectRatioValue()
(package private) void	testGetSetSuggestedCenterValue()
(package private) void	testGetSetSuggestedHorizontalFocalLengthValue()
(package private) void	testGetSetSuggestedPrincipalPointValue()
(package private) void	testGetSetSuggestedRotationValue()
(package private) void	testGetSetSuggestedSkewnessValue()
(package private) void	testGetSetSuggestedVerticalFocalLengthValue()
(package private) void	testGetSetThreshold()
(package private) void	testIsNormalizeSubsetPointCorrespondences()
(package private) void	testIsSetComputeAndKeepInliersEnabled()
(package private) void	testIsSetComputeAndKeepResidualsEnabled()
(package private) void	testIsSetCovarianceKept()
(package private) void	testIsSetFastRefinementUsed()
(package private) void	testIsSetResultRefined()
(package private) void	testIsSetSuggestAspectRatioEnabled()
(package private) void	testIsSetSuggestCenterEnabled()
(package private) void	testIsSetSuggestHorizontalFocalLengthEnabled()
(package private) void	testIsSetSuggestPrincipalPointEnabled()
(package private) void	testIsSetSuggestRotationEnabled()
(package private) void	testIsSetSuggestSkewnessValueEnabled()
(package private) void	testIsSetSuggestVerticalFocalLengthEnabled()

Methods inherited from class java.lang.Object

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

Field Details

MIN_RANDOM_VALUE

private static final double MIN_RANDOM_VALUE

See Also:

• Constant Field Values

MAX_RANDOM_VALUE

private static final double MAX_RANDOM_VALUE

See Also:

• Constant Field Values

MIN_FOCAL_LENGTH

private static final double MIN_FOCAL_LENGTH

See Also:

• Constant Field Values

MAX_FOCAL_LENGTH

private static final double MAX_FOCAL_LENGTH

See Also:

• Constant Field Values

MIN_SKEWNESS

private static final double MIN_SKEWNESS

See Also:

• Constant Field Values

MAX_SKEWNESS

private static final double MAX_SKEWNESS

See Also:

• Constant Field Values

MIN_PRINCIPAL_POINT

private static final double MIN_PRINCIPAL_POINT

See Also:

• Constant Field Values

MAX_PRINCIPAL_POINT

private static final double MAX_PRINCIPAL_POINT

See Also:

• Constant Field Values

MIN_ANGLE_DEGREES

private static final double MIN_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_ANGLE_DEGREES

private static final double MAX_ANGLE_DEGREES

See Also:

• Constant Field Values

INHOM_3D_COORDS

private static final int INHOM_3D_COORDS

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

MIN_POINTS

private static final int MIN_POINTS

See Also:

• Constant Field Values

MAX_POINTS

private static final int MAX_POINTS

See Also:

• Constant Field Values

THRESHOLD

private static final double THRESHOLD

See Also:

• Constant Field Values

STD_ERROR

private static final double STD_ERROR

See Also:

• Constant Field Values

PERCENTAGE_OUTLIER

private static final int PERCENTAGE_OUTLIER

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

estimateStart

private int estimateStart

estimateEnd

private int estimateEnd

estimateNextIteration

private int estimateNextIteration

estimateProgressChange

private int estimateProgressChange

Constructor Details

RANSACDLTPointCorrespondencePinholeCameraRobustEstimatorTest

RANSACDLTPointCorrespondencePinholeCameraRobustEstimatorTest()

Method Details

testConstants

@Test
void testConstants()

testConstructor

@Test
void testConstructor()

testIsSetComputeAndKeepInliersEnabled

@Test
void testIsSetComputeAndKeepInliersEnabled()
                                    throws LockedException

Throws:

LockedException

testIsSetComputeAndKeepResidualsEnabled

@Test
void testIsSetComputeAndKeepResidualsEnabled()
                                      throws LockedException

Throws:

LockedException

testGetSetThreshold

@Test
void testGetSetThreshold()
                  throws LockedException

Throws:

LockedException

testGetSetConfidence

@Test
void testGetSetConfidence()
                   throws LockedException

Throws:

LockedException

testGetSetMaxIterations

@Test
void testGetSetMaxIterations()
                      throws LockedException

Throws:

LockedException

testIsSetResultRefined

@Test
void testIsSetResultRefined()
                     throws LockedException

Throws:

LockedException

testIsSetCovarianceKept

@Test
void testIsSetCovarianceKept()
                      throws LockedException

Throws:

LockedException

testIsSetFastRefinementUsed

@Test
void testIsSetFastRefinementUsed()
                          throws LockedException

Throws:

LockedException

testGetSetPointsAndIsReady

@Test
void testGetSetPointsAndIsReady()
                         throws LockedException

Throws:

LockedException

testGetSetListenerAndIsListenerAvailable

@Test
void testGetSetListenerAndIsListenerAvailable()
                                       throws LockedException

Throws:

LockedException

testIsSetSuggestSkewnessValueEnabled

@Test
void testIsSetSuggestSkewnessValueEnabled()
                                   throws LockedException

Throws:

LockedException

testGetSetSuggestedSkewnessValue

@Test
void testGetSetSuggestedSkewnessValue()
                               throws LockedException

Throws:

LockedException

testIsSetSuggestHorizontalFocalLengthEnabled

@Test
void testIsSetSuggestHorizontalFocalLengthEnabled()
                                           throws LockedException

Throws:

LockedException

testGetSetSuggestedHorizontalFocalLengthValue

@Test
void testGetSetSuggestedHorizontalFocalLengthValue()
                                            throws LockedException

Throws:

LockedException

testIsSetSuggestVerticalFocalLengthEnabled

@Test
void testIsSetSuggestVerticalFocalLengthEnabled()
                                         throws LockedException

Throws:

LockedException

testGetSetSuggestedVerticalFocalLengthValue

@Test
void testGetSetSuggestedVerticalFocalLengthValue()
                                          throws LockedException

Throws:

LockedException

testIsSetSuggestAspectRatioEnabled

@Test
void testIsSetSuggestAspectRatioEnabled()
                                 throws LockedException

Throws:

LockedException

testGetSetSuggestedAspectRatioValue

@Test
void testGetSetSuggestedAspectRatioValue()
                                  throws LockedException

Throws:

LockedException

testIsSetSuggestPrincipalPointEnabled

@Test
void testIsSetSuggestPrincipalPointEnabled()
                                    throws LockedException

Throws:

LockedException

testGetSetSuggestedPrincipalPointValue

@Test
void testGetSetSuggestedPrincipalPointValue()
                                     throws LockedException

Throws:

LockedException

testIsSetSuggestRotationEnabled

@Test
void testIsSetSuggestRotationEnabled()
                              throws LockedException

Throws:

LockedException

testGetSetSuggestedRotationValue

@Test
void testGetSetSuggestedRotationValue()
                               throws LockedException

Throws:

LockedException

testIsSetSuggestCenterEnabled

@Test
void testIsSetSuggestCenterEnabled()
                            throws LockedException

Throws:

LockedException

testGetSetSuggestedCenterValue

@Test
void testGetSetSuggestedCenterValue()
                             throws LockedException

Throws:

LockedException

testGetSetProgressDelta

@Test
void testGetSetProgressDelta()
                      throws LockedException

Throws:

LockedException

testIsNormalizeSubsetPointCorrespondences

@Test
void testIsNormalizeSubsetPointCorrespondences()
                                        throws LockedException

Throws:

LockedException

testEstimateWithoutRefinement

@Test
void testEstimateWithoutRefinement()
                            throws IllegalArgumentException,
LockedException,
NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

CameraException

NotAvailableException

testEstimateWithRefinement

@Test
void testEstimateWithRefinement()
                         throws IllegalArgumentException,
LockedException,
NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

CameraException

NotAvailableException

testEstimateWithFastRefinement

@Test
void testEstimateWithFastRefinement()
                             throws IllegalArgumentException,
LockedException,
NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

CameraException

NotAvailableException

testEstimateSuggestedSkewness

@Test
void testEstimateSuggestedSkewness()
                            throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedSkewnessWithRefinement

@Test
void testEstimateSuggestedSkewnessWithRefinement()
                                          throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedSkewnessWithFastRefinement

@Test
void testEstimateSuggestedSkewnessWithFastRefinement()
                                              throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedHorizontalFocalLengthEnabled

@Test
void testEstimateSuggestedHorizontalFocalLengthEnabled()
                                                throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedHorizontalFocalLengthWithRefinement

@Test
void testEstimateSuggestedHorizontalFocalLengthWithRefinement()
                                                       throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedHorizontalFocalLengthWithFastRefinement

@Test
void testEstimateSuggestedHorizontalFocalLengthWithFastRefinement()
                                                           throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedVerticalFocalLengthEnabled

@Test
void testEstimateSuggestedVerticalFocalLengthEnabled()
                                              throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedVerticalFocalLengthWithRefinement

@Test
void testEstimateSuggestedVerticalFocalLengthWithRefinement()
                                                     throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedVerticalFocalLengthWithFastRefinement

@Test
void testEstimateSuggestedVerticalFocalLengthWithFastRefinement()
                                                         throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedAspectRatioEnabled

@Test
void testEstimateSuggestedAspectRatioEnabled()
                                      throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedAspectRatioWithRefinement

@Test
void testEstimateSuggestedAspectRatioWithRefinement()
                                             throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedAspectRatioWithFastRefinement

@Test
void testEstimateSuggestedAspectRatioWithFastRefinement()
                                                 throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedPrincipalPointEnabled

@Test
void testEstimateSuggestedPrincipalPointEnabled()
                                         throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedPrincipalPointWithRefinement

@Test
void testEstimateSuggestedPrincipalPointWithRefinement()
                                                throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedPrincipalPointWithFastRefinement

@Test
void testEstimateSuggestedPrincipalPointWithFastRefinement()
                                                    throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedRotationEnabled

@Test
void testEstimateSuggestedRotationEnabled()
                                   throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedRotationWithRefinement

@Test
void testEstimateSuggestedRotationWithRefinement()
                                          throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedRotationWithFastRefinement

@Test
void testEstimateSuggestedRotationWithFastRefinement()
                                              throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedCenterEnabled

@Test
void testEstimateSuggestedCenterEnabled()
                                 throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedCenterWithRefinement

@Test
void testEstimateSuggestedCenterWithRefinement()
                                        throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateSuggestedCenterWithFastRefinement

@Test
void testEstimateSuggestedCenterWithFastRefinement()
                                            throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateZeroSkewnessZeroPrincipalPointAndEqualFocalLength

@Test
void testEstimateZeroSkewnessZeroPrincipalPointAndEqualFocalLength()
                                                            throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateZeroSkewnessZeroPrincipalPointAndEqualFocalLengthWithRefinement

@Test
void testEstimateZeroSkewnessZeroPrincipalPointAndEqualFocalLengthWithRefinement()
                                                                          throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

testEstimateZeroSkewnessZeroPrincipalPointAndEqualFocalLengthWithFastRefinement

@Test
void testEstimateZeroSkewnessZeroPrincipalPointAndEqualFocalLengthWithFastRefinement()
                                                                              throws IllegalArgumentException,
LockedException,
NotReadyException,
CameraException,
NotAvailableException

Throws:

IllegalArgumentException

LockedException

NotReadyException

CameraException

NotAvailableException

onEstimateStart

public void onEstimateStart(PinholeCameraRobustEstimator estimator)

Specified by:

onEstimateStart in interface PinholeCameraRobustEstimatorListener

onEstimateEnd

public void onEstimateEnd(PinholeCameraRobustEstimator estimator)

Specified by:

onEstimateEnd in interface PinholeCameraRobustEstimatorListener

onEstimateNextIteration

public void onEstimateNextIteration(PinholeCameraRobustEstimator estimator,
 int iteration)

Specified by:

onEstimateNextIteration in interface PinholeCameraRobustEstimatorListener

onEstimateProgressChange

public void onEstimateProgressChange(PinholeCameraRobustEstimator estimator,
 float progress)

Specified by:

onEstimateProgressChange in interface PinholeCameraRobustEstimatorListener

reset

private void reset()

checkLocked

private static void checkLocked(RANSACDLTPointCorrespondencePinholeCameraRobustEstimator estimator)