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Augmented Reality and 3D reconstruction library
/*
* Copyright (C) 2015 Alberto Irurueta Carro ([email protected])
*
* 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.ar.calibration.estimators;
import com.irurueta.ar.calibration.ImageOfAbsoluteConic;
import com.irurueta.geometry.Transformation2D;
import com.irurueta.geometry.estimators.LockedException;
import com.irurueta.geometry.estimators.NotReadyException;
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 image of absolute conic (IAC) for provided collection of
* homographies (2D transformations) using PROSAC algorithm.
*/
public class PROSACImageOfAbsoluteConicRobustEstimator extends
ImageOfAbsoluteConicRobustEstimator {
/**
* Constant defining default threshold to determine whether homographies are
* inliers or not.
* Threshold is defined by equations h1'*IAC*h2 = 0 and
* h1'*IAC*h1 = h2'*IAC*h2 --< h1'*IAC*h1 - h2'*IAC*h2 = 0, where
* h1 and h2 are the 1st and 2nd columns of an homography (2D
* transformation).
* These equations are derived from the fact that rotation matrices are
* orthonormal.
*/
public static final double DEFAULT_THRESHOLD = 1e-6;
/**
* Minimum value that can be set as threshold.
* Threshold must be strictly greater than 0.0.
*/
public static final double MIN_THRESHOLD = 0.0;
/**
* Threshold to determine whether homographies are inliers or not when
* testing possible estimation solutions.
* The threshold refers to the amount of error a possible solution has on
* the ortho-normality assumption of rotation matrices.
*/
private double mThreshold;
/**
* Quality scores corresponding to each provided homography.
* The larger the score value the better the quality of the sample.
*/
private double[] mQualityScores;
/**
* Constructor.
*/
public PROSACImageOfAbsoluteConicRobustEstimator() {
super();
mThreshold = DEFAULT_THRESHOLD;
}
/**
* Constructor.
*
* @param listener listener to be notified of events such as when
* estimation starts, ends or its progress significantly changes.
*/
public PROSACImageOfAbsoluteConicRobustEstimator(
final ImageOfAbsoluteConicRobustEstimatorListener listener) {
super(listener);
mThreshold = DEFAULT_THRESHOLD;
}
/**
* Constructor.
*
* @param homographies list of homographies (2D transformations) used to
* estimate the image of absolute conic (IAC), which can be used to obtain
* pinhole camera intrinsic parameters.
* @throws IllegalArgumentException if not enough homographies are provided
* for default settings. Hence, at least 1 homography must be provided.
*/
public PROSACImageOfAbsoluteConicRobustEstimator(
final List homographies) {
super(homographies);
mThreshold = DEFAULT_THRESHOLD;
}
/**
* Constructor.
*
* @param homographies list of homographies (2D transformations) used to
* estimate the image of absolute conic (IAC), which can be used to obtain
* pinhole camera intrinsic parameters.
* @param listener listener to be notified of events such as when estimation
* starts, ends or estimation progress changes.
* @throws IllegalArgumentException if not enough homographies are provided
* for default settings. Hence, at least 1 homography must be provided.
*/
public PROSACImageOfAbsoluteConicRobustEstimator(
final List homographies,
final ImageOfAbsoluteConicRobustEstimatorListener listener) {
super(homographies, listener);
mThreshold = DEFAULT_THRESHOLD;
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* homography.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than required number of homographies for default settings (i.e.
* 1 homography).
*/
public PROSACImageOfAbsoluteConicRobustEstimator(final double[] qualityScores) {
this();
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* homography.
* @param listener listener to be notified of events such as when
* estimation starts, ends or its progress significantly changes.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than required number of homographies for default settings (i.e.
* 1 homography).
*/
public PROSACImageOfAbsoluteConicRobustEstimator(final double[] qualityScores,
final ImageOfAbsoluteConicRobustEstimatorListener listener) {
this(listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param homographies list of homographies (2D transformations) used to
* estimate the image of absolute conic (IAC), which can be used to obtain
* pinhole camera intrinsic parameters.
* @param qualityScores quality scores corresponding to each provided
* homography.
* @throws IllegalArgumentException if not enough homographies are provided
* for default settings (i.e. 1 homography) or quality scores and
* homographies don't have the same size.
*/
public PROSACImageOfAbsoluteConicRobustEstimator(
final List homographies, final double[] qualityScores) {
this(homographies);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param homographies list of homographies (2D transformations) used to
* estimate the image of absolute conic (IAC), which can be used to obtain
* pinhole camera intrinsic parameters.
* @param qualityScores quality scores corresponding to each provided
* homography.
* @param listener listener to be notified of events such as when estimation
* starts, ends or estimation progress changes.
* @throws IllegalArgumentException if not enough homographies are provided
* for default settings (i.e. 1 homography) or quality scores and
* homographies don't have the same size.
*/
public PROSACImageOfAbsoluteConicRobustEstimator(
final List homographies, final double[] qualityScores,
final ImageOfAbsoluteConicRobustEstimatorListener listener) {
this(homographies, listener);
internalSetQualityScores(qualityScores);
}
/**
* Returns threshold to determine whether homographies are inliers or not
* when testing possible estimation solutions.
* The threshold refers to the amount of error a possible solution has on
* the ortho-normality assumption of rotation matrices.
*
* @return threshold to determine whether homographies are inliers or not
* when testing possible estimation solutions.
*/
public double getThreshold() {
return mThreshold;
}
/**
* Sets threshold to determine whether homographies are inliers or not when
* testing possible estimation solutions.
* The threshold refers to the amount of error a possible solution has on
* the ortho-normality assumption of rotation matrices.
*
* @param threshold threshold to determine whether homographies are inliers
* or not when testing possible estimation solutions.
* @throws IllegalArgumentException if provided value 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();
}
mThreshold = threshold;
}
/**
* Returns quality scores corresponding to each provided homography.
* The larger the score value the better the quality of the sampled
* homography
*
* @return quality scores corresponding to each homography.
*/
@Override
public double[] getQualityScores() {
return mQualityScores;
}
/**
* Sets quality scores corresponding to each provided homography.
* The larger the score value the better the quality of the sampled
* homography
*
* @param qualityScores quality scores corresponding to each homography
* @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 required number of homographies (i.e. 1 homography)
*/
@Override
public void setQualityScores(final double[] qualityScores) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetQualityScores(qualityScores);
}
/**
* Indicates if estimator is ready to start the IAC estimation.
* This is true when input data (i.e. homographies) is provided and list
* contains at least the minimum number of required homographies, and
* also quality scores are provided.
*
* @return true if estimator is ready, false otherwise.
*/
@Override
public boolean isReady() {
return super.isReady() && mQualityScores != null &&
mQualityScores.length == mHomographies.size();
}
/**
* Estimates Image of Absolute Conic (IAC).
*
* @return estimated IAC.
* @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).
*/
@SuppressWarnings("DuplicatedCode")
@Override
public ImageOfAbsoluteConic estimate() throws LockedException,
NotReadyException, RobustEstimatorException {
if (isLocked()) {
throw new LockedException();
}
if (!isReady()) {
throw new NotReadyException();
}
final PROSACRobustEstimator innerEstimator =
new PROSACRobustEstimator<>(
new PROSACRobustEstimatorListener() {
// subset of homographies picked on each iteration
private final List mSubsetHomographies =
new ArrayList<>();
@Override
public double getThreshold() {
return mThreshold;
}
@Override
public int getTotalSamples() {
return mHomographies.size();
}
@Override
public int getSubsetSize() {
return mIACEstimator.getMinNumberOfRequiredHomographies();
}
@Override
public void estimatePreliminarSolutions(final int[] samplesIndices,
final List solutions) {
mSubsetHomographies.clear();
for (final int samplesIndex : samplesIndices) {
mSubsetHomographies.add(mHomographies.get(
samplesIndex));
}
try {
mIACEstimator.setLMSESolutionAllowed(false);
mIACEstimator.setHomographies(mSubsetHomographies);
final ImageOfAbsoluteConic iac = mIACEstimator.estimate();
solutions.add(iac);
} catch (final Exception e) {
// if anything fails, no solution is added
}
}
@Override
public double computeResidual(
final ImageOfAbsoluteConic currentEstimation, final int i) {
return residual(currentEstimation, mHomographies.get(i));
}
@Override
public boolean isReady() {
return PROSACImageOfAbsoluteConicRobustEstimator.this.isReady();
}
@Override
public void onEstimateStart(
final RobustEstimator estimator) {
if (mListener != null) {
mListener.onEstimateStart(
PROSACImageOfAbsoluteConicRobustEstimator.this);
}
}
@Override
public void onEstimateEnd(
final RobustEstimator estimator) {
if (mListener != null) {
mListener.onEstimateEnd(
PROSACImageOfAbsoluteConicRobustEstimator.this);
}
}
@Override
public void onEstimateNextIteration(
final RobustEstimator estimator,
final int iteration) {
if (mListener != null) {
mListener.onEstimateNextIteration(
PROSACImageOfAbsoluteConicRobustEstimator.this,
iteration);
}
}
@Override
public void onEstimateProgressChange(
final RobustEstimator estimator,
final float progress) {
if (mListener != null) {
mListener.onEstimateProgressChange(
PROSACImageOfAbsoluteConicRobustEstimator.this,
progress);
}
}
@Override
public double[] getQualityScores() {
return mQualityScores;
}
});
try {
mLocked = true;
innerEstimator.setConfidence(mConfidence);
innerEstimator.setMaxIterations(mMaxIterations);
innerEstimator.setProgressDelta(mProgressDelta);
return innerEstimator.estimate();
} catch (final com.irurueta.numerical.LockedException e) {
throw new LockedException(e);
} catch (final com.irurueta.numerical.NotReadyException e) {
throw new NotReadyException(e);
} finally {
mLocked = false;
}
}
/**
* Returns method being used for robust estimation
*
* @return method being used for robust estimation
*/
@Override
public RobustEstimatorMethod getMethod() {
return RobustEstimatorMethod.PROSAC;
}
/**
* Sets quality scores corresponding to each homography.
* 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 the minimum number of required homographies for current
* settings.
*/
private void internalSetQualityScores(final double[] qualityScores) {
if (qualityScores.length < mIACEstimator.getMinNumberOfRequiredHomographies()) {
throw new IllegalArgumentException();
}
mQualityScores = qualityScores;
}
}
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