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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.algebra.AlgebraException;
import com.irurueta.algebra.Matrix;
import com.irurueta.algebra.Utils;
import com.irurueta.ar.calibration.RadialDistortion;
import com.irurueta.ar.calibration.RadialDistortionException;
import com.irurueta.geometry.InhomogeneousPoint2D;
import com.irurueta.geometry.PinholeCameraIntrinsicParameters;
import com.irurueta.geometry.Point2D;
import com.irurueta.geometry.estimators.LockedException;
import com.irurueta.geometry.estimators.NotReadyException;
import java.util.List;
/**
* This class defines the interface for an estimator of radial distortion
*/
public abstract class RadialDistortionEstimator {
/**
* Default number of radial distortion parameters.
*/
public static final int DEFAULT_NUM_K_PARAMS = 2;
/**
* Minimum number of radial distortion parameters.
*/
public static final int MIN_K_PARAMS = 1;
/**
* Defines default focal length if none is defined.
*/
public static final double DEFAULT_FOCAL_LENGTH = 1.0;
/**
* Defines default skewness if none is defined.
*/
public static final double DEFAULT_SKEW = 0.0;
/**
* Default estimator type.
*/
public static final RadialDistortionEstimatorType DEFAULT_ESTIMATOR_TYPE =
RadialDistortionEstimatorType.LMSE_RADIAL_DISTORTION_ESTIMATOR;
/**
* True when estimator is estimating radial distortion.
*/
protected boolean mLocked;
/**
* Listener to be notified of events such as when estimation starts, ends or
* estimation progress changes.
*/
protected RadialDistortionEstimatorListener mListener;
/**
* Distortion center. This is usually equal to the principal point
* of an estimated camera. If not set it is assumed to be at the origin of
* coordinates (0,0).
*/
protected Point2D mDistortionCenter;
/**
* Horizontal focal length expressed in pixels.
*/
protected double mHorizontalFocalLength;
/**
* Vertical focal length expressed in pixels.
*/
protected double mVerticalFocalLength;
/**
* Skew in pixels.
*/
protected double mSkew;
/**
* Intrinsic parameters matrix.
*/
protected Matrix mKinv;
/**
* List of distorted points. Distorted points are obtained after radial
* distortion is applied to an undistorted point.
*/
protected List mDistortedPoints;
/**
* List of undistorted points.
*/
protected List mUndistortedPoints;
/**
* Number of radial distortion parameters to estimate.
*/
protected int mNumKParams;
/**
* Constructor.
*/
protected RadialDistortionEstimator() {
mLocked = false;
mListener = null;
mNumKParams = DEFAULT_NUM_K_PARAMS;
try {
setInternalIntrinsic(null, DEFAULT_FOCAL_LENGTH,
DEFAULT_FOCAL_LENGTH, DEFAULT_SKEW);
} catch (final RadialDistortionException ignore) {
// never happens
}
}
/**
* Constructor with listener.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or estimation progress changes.
*/
protected RadialDistortionEstimator(
final RadialDistortionEstimatorListener listener) {
mLocked = false;
mListener = listener;
mNumKParams = DEFAULT_NUM_K_PARAMS;
try {
setInternalIntrinsic(null, DEFAULT_FOCAL_LENGTH,
DEFAULT_FOCAL_LENGTH, DEFAULT_SKEW);
} catch (final RadialDistortionException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param distortedPoints list of distorted points. Distorted points are
* obtained after radial distortion is applied to an undistorted point.
* @param undistortedPoints list of undistorted points.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
protected RadialDistortionEstimator(
final List distortedPoints,
final List undistortedPoints) {
this();
internalSetPoints(distortedPoints, undistortedPoints);
}
/**
* Constructor.
*
* @param distortedPoints list of distorted points. Distorted points are
* obtained after radial distortion is applied to an undistorted point.
* @param undistortedPoints list of undistorted points.
* @param listener listener to be notified of events such as when estimation
* starts, ends or estimation progress changes.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
protected RadialDistortionEstimator(
final List distortedPoints,
final List undistortedPoints,
final RadialDistortionEstimatorListener listener) {
this(listener);
internalSetPoints(distortedPoints, undistortedPoints);
}
/**
* Constructor with distortion center.
*
* @param distortionCenter Distortion center. This is usually equal to the
* principal point of an estimated camera. If not set it is assumed to be at
* the origin of coordinates (0,0).
*/
protected RadialDistortionEstimator(
final Point2D distortionCenter) {
mLocked = false;
mListener = null;
mNumKParams = DEFAULT_NUM_K_PARAMS;
try {
setInternalIntrinsic(distortionCenter, DEFAULT_FOCAL_LENGTH,
DEFAULT_FOCAL_LENGTH, DEFAULT_SKEW);
} catch (final RadialDistortionException ignore) {
// never happens
}
}
/**
* Constructor with listener and distortion center.
*
* @param distortionCenter Distortion center. This is usually equal to the
* principal point of an estimated camera. If not set it is assumed to be at
* the origin of coordinates (0,0).
* @param listener listener to be notified of events such as when estimation
* starts, ends or estimation progress changes.
*/
protected RadialDistortionEstimator(
final Point2D distortionCenter,
final RadialDistortionEstimatorListener listener) {
this(listener);
try {
setInternalIntrinsic(distortionCenter, DEFAULT_FOCAL_LENGTH,
DEFAULT_FOCAL_LENGTH, DEFAULT_SKEW);
} catch (final RadialDistortionException ignore) {
// never happens
}
}
/**
* Constructor with points and distortion center.
*
* @param distortedPoints list of distorted points. Distorted points are
* obtained after radial distortion is applied to an undistorted point.
* @param undistortedPoints list of undistorted points.
* @param distortionCenter Distortion center. This is usually equal to the
* principal point of an estimated camera. If not set it is assumed to be at
* the origin of coordinates (0,0).
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
protected RadialDistortionEstimator(
final List distortedPoints,
final List undistortedPoints,
final Point2D distortionCenter) {
this(distortedPoints, undistortedPoints);
try {
setInternalIntrinsic(distortionCenter, DEFAULT_FOCAL_LENGTH,
DEFAULT_FOCAL_LENGTH, DEFAULT_SKEW);
} catch (final RadialDistortionException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param distortedPoints list of distorted points. Distorted points are
* obtained after radial distortion is applied to an undistorted point.
* @param undistortedPoints list of undistorted points.
* @param distortionCenter Distortion center. This is usually equal to the
* principal point of an estimated camera. If not set it is assumed to be at
* the origin of coordinates (0,0).
* @param listener listener to be notified of events such as when estimation
* starts, ends or estimation progress changes.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
protected RadialDistortionEstimator(
final List distortedPoints,
final List undistortedPoints,
final Point2D distortionCenter,
final RadialDistortionEstimatorListener listener) {
this(distortedPoints, undistortedPoints, listener);
try {
setInternalIntrinsic(distortionCenter, DEFAULT_FOCAL_LENGTH,
DEFAULT_FOCAL_LENGTH, DEFAULT_SKEW);
} catch (final RadialDistortionException ignore) {
// never happens
}
}
/**
* Returns listener to be notified of events such as when estimation starts,
* ends or estimation progress changes.
*
* @return listener to be notified of events.
*/
public RadialDistortionEstimatorListener getListener() {
return mListener;
}
/**
* Sets listener to be notified of events such as when estimation starts,
* ends or estimation progress changes.
*
* @param listener listener to be notified of events.
* @throws LockedException if estimator is locked.
*/
public void setListener(final RadialDistortionEstimatorListener listener)
throws LockedException {
if (isLocked()) {
throw new LockedException();
}
mListener = listener;
}
/**
* Indicates whether this instance is locked.
*
* @return true if this estimator is busy estimating a camera, false
* otherwise.
*/
public boolean isLocked() {
return mLocked;
}
/**
* Sets list of corresponding distorted and undistorted points.
*
* @param distortedPoints list of distorted points. Distorted points are
* obtained after radial distortion is applied to an undistorted point.
* @param undistortedPoints list of undistorted points.
* @throws LockedException if estimator is locked.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
public void setPoints(
final List distortedPoints,
final List undistortedPoints) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetPoints(distortedPoints, undistortedPoints);
}
/**
* Returns list of distorted points. Distorted points are obtained after
* radial distortion is applied to an undistorted point.
*
* @return list of distorted points.
*/
public List getDistortedPoints() {
return mDistortedPoints;
}
/**
* Returns list of undistorted points.
*
* @return list of undistorted points.
*/
public List getUndistortedPoints() {
return mUndistortedPoints;
}
/**
* Returns distortion center. This is usually equal to the principal point
* of an estimated camera. If not set it is assumed to be at the origin of
* coordinates (0,0).
*
* @return distortion center or null.
*/
public Point2D getDistortionCenter() {
return mDistortionCenter;
}
/**
* Sets distortion center. This is usually equal to the principal point of
* an estimated camera. If not set it is assumed to be at the origin of
* coordinates (0,0).
*
* @param distortionCenter distortion center, or null if set at origin of
* coordinates.
* @throws LockedException if estimator is locked.
*/
public void setDistortionCenter(final Point2D distortionCenter)
throws LockedException {
if (isLocked()) {
throw new LockedException();
}
try {
setInternalIntrinsic(distortionCenter, mHorizontalFocalLength,
mVerticalFocalLength, mSkew);
} catch (final RadialDistortionException ignore) {
// never happens
}
}
/**
* Returns horizontal focal length expressed in pixels.
*
* @return horizontal focal length expressed in pixels.
*/
public double getHorizontalFocalLength() {
return mHorizontalFocalLength;
}
/**
* Sets horizontal focal length expressed in pixels.
*
* @param horizontalFocalLength horizontal focal length expressed in pixels.
* @throws LockedException if estimator is locked.
* @throws RadialDistortionException if provided value is degenerate (i.e.
* zero).
*/
public void setHorizontalFocalLength(final double horizontalFocalLength)
throws LockedException, RadialDistortionException {
if (isLocked()) {
throw new LockedException();
}
setInternalIntrinsic(mDistortionCenter, horizontalFocalLength,
mVerticalFocalLength, mSkew);
}
/**
* Returns vertical focal length expressed in pixels.
*
* @return vertical focal length expressed in pixels.
*/
public double getVerticalFocalLength() {
return mVerticalFocalLength;
}
/**
* Sets vertical focal length expressed in pixels.
*
* @param verticalFocalLength vertical focal length expressed in pixels.
* @throws LockedException if estimator is locked.
* @throws RadialDistortionException if provided value is degenerate (i.e.
* zero).
*/
public void setVerticalFocalLength(final double verticalFocalLength)
throws LockedException, RadialDistortionException {
if (isLocked()) {
throw new LockedException();
}
setInternalIntrinsic(mDistortionCenter, mHorizontalFocalLength,
verticalFocalLength, mSkew);
}
/**
* Returns skew expressed in pixels.
*
* @return skew expressed in pixels.
*/
public double getSkew() {
return mSkew;
}
/**
* Sets skew expressed in pixels.
*
* @param skew skew expressed in pixels.
* @throws LockedException if estimator is locked.
*/
public void setSkew(final double skew) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
try {
setInternalIntrinsic(mDistortionCenter, mHorizontalFocalLength,
mVerticalFocalLength, skew);
} catch (final RadialDistortionException ignore) {
// never happens
}
}
/**
* Sets intrinsic parameters.
*
* @param distortionCenter radial distortion center.
* @param horizontalFocalLength horizontal focal length expressed in pixels.
* @param verticalFocalLength vertical focal length expressed in pixels.
* @param skew skew expressed in pixels.
* @throws LockedException if estimator is locked.
* @throws RadialDistortionException if focal length is degenerate (i.e.
* zero).
*/
public final void setIntrinsic(
final Point2D distortionCenter,
final double horizontalFocalLength,
final double verticalFocalLength,
final double skew)
throws LockedException, RadialDistortionException {
if (isLocked()) {
throw new LockedException();
}
setInternalIntrinsic(distortionCenter, horizontalFocalLength,
verticalFocalLength, skew);
}
/**
* Returns pinhole camera intrinsic parameters associated to this estimator.
*
* @return pinhole camera intrinsic parameters associated to this estimator.
*/
public PinholeCameraIntrinsicParameters getIntrinsic() {
return new PinholeCameraIntrinsicParameters(mHorizontalFocalLength,
mVerticalFocalLength,
mDistortionCenter != null ? mDistortionCenter.getInhomX() : 0.0,
mDistortionCenter != null ? mDistortionCenter.getInhomY() : 0.0,
mSkew);
}
/**
* Sets intrinsic parameters for this estimator from pinhole camera
* intrinsic parameters.
*
* @param intrinsic intrinsic parameters.
* @throws LockedException if estimator is locked.
* @throws RadialDistortionException if focal length is degenerate (i.e.
* zero).
*/
public void setIntrinsic(final PinholeCameraIntrinsicParameters intrinsic)
throws LockedException, RadialDistortionException {
setIntrinsic(new InhomogeneousPoint2D(
intrinsic.getHorizontalPrincipalPoint(),
intrinsic.getVerticalPrincipalPoint()),
intrinsic.getHorizontalFocalLength(),
intrinsic.getVerticalFocalLength(),
intrinsic.getSkewness());
}
/**
* Returns number of radial distortion parameters to estimate.
*
* @return number of radial distortion parameters to estimate.
*/
public int getNumKParams() {
return mNumKParams;
}
/**
* Sets number of radial distortion parameters to estimate.
*
* @param numKParams number of radial distortion parameters to estimate.
* @throws LockedException if estimator is locked.
* @throws IllegalArgumentException if number of parameters is less than 1.
*/
public void setNumKParams(final int numKParams) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
if (numKParams < MIN_K_PARAMS) {
throw new IllegalArgumentException();
}
mNumKParams = numKParams;
}
/**
* Returns minimum number of required matched points to compute the radial
* distortion. This is equal to the number of radial distortion parameters.
* The larger the number of radial distortion parameters, the larger the
* number of matched points required. Typically 2 radial distortion
* parameters are enough, since the following terms can be safely neglected
*
* @return minimum number of required matched points to compute the radial
* distortion.
*/
public int getMinNumberOfMatchedPoints() {
return mNumKParams;
}
/**
* Indicates if lists of corresponding distorted and undistorted 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 2)
*
* @param distortedPoints list of distorted points. Distorted points are
* obtained after radial distortion is applied to an undistorted point.
* @param undistortedPoints list of undistorted points.
* @return true if lists of points are valid, false otherwise.
*/
public boolean areValidPoints(
final List distortedPoints,
final List undistortedPoints) {
if (distortedPoints == null || undistortedPoints == null) {
return false;
}
return distortedPoints.size() == undistortedPoints.size() &&
distortedPoints.size() >= getMinNumberOfMatchedPoints();
}
/**
* Indicates if lists of corresponding points have already been provided and
* are available for retrieval.
*
* @return true if available, false otherwise.
*/
public boolean arePointsAvailable() {
return mDistortedPoints != null && mUndistortedPoints != null;
}
/**
* Indicates if this estimator is ready to start th estimation.
* This is true when lists of points are provided, having equal size and
* at least 2 points.
*
* @return true if estimator is ready, false otherwise.
*/
public boolean isReady() {
return arePointsAvailable() &&
areValidPoints(mDistortedPoints, mUndistortedPoints);
}
/**
* Estimates a radial distortion.
*
* @return estimated radial distortion.
* @throws LockedException if estimator is locked.
* @throws NotReadyException if input has not yet been provided.
* @throws RadialDistortionEstimatorException if an error occurs during
* estimation, usually because input data is not valid.
*/
public abstract RadialDistortion estimate() throws LockedException,
NotReadyException, RadialDistortionEstimatorException;
/**
* Returns type of radial distortion estimator.
*
* @return type of radial distortion estimator.
*/
public abstract RadialDistortionEstimatorType getType();
/**
* Creates an instance of a radial distortion estimator using default
* type.
*
* @return an instance of a radial distortion estimator.
*/
public static RadialDistortionEstimator create() {
return create(DEFAULT_ESTIMATOR_TYPE);
}
/**
* Creates an instance of a radial distortion estimator using provided
* type.
*
* @param type type of radial distortion estimator.
* @return an instance of a radial distortion estimator.
*/
public static RadialDistortionEstimator create(
final RadialDistortionEstimatorType type) {
switch (type) {
case WEIGHTED_RADIAL_DISTORTION_ESTIMATOR:
return new WeightedRadialDistortionEstimator();
case LMSE_RADIAL_DISTORTION_ESTIMATOR:
default:
return new LMSERadialDistortionEstimator();
}
}
/**
* Internally sets intrinsic parameters.
* This method does not check whether estimator is locked.
*
* @param distortionCenter radial distortion center.
* @param horizontalFocalLength horizontal focal length expressed in pixels.
* @param verticalFocalLength vertical focal length expressed in pixels.
* @param skew skew expressed in pixels.
* @throws RadialDistortionException if focal length is degenerate (i.e.
* zero).
*/
@SuppressWarnings("DuplicatedCode")
private void setInternalIntrinsic(
final Point2D distortionCenter,
final double horizontalFocalLength,
final double verticalFocalLength,
final double skew) throws RadialDistortionException {
mDistortionCenter = distortionCenter;
mHorizontalFocalLength = horizontalFocalLength;
mVerticalFocalLength = verticalFocalLength;
mSkew = skew;
try {
if (mKinv == null) {
mKinv = new Matrix(3, 3);
}
// initially matrix is zero
final Matrix k = new Matrix(3, 3);
k.setElementAt(0, 0, horizontalFocalLength);
k.setElementAt(1, 1, verticalFocalLength);
k.setElementAt(0, 1, skew);
// if center is not provided, values below are zero
if (mDistortionCenter != null) {
k.setElementAt(0, 2, mDistortionCenter.getInhomX());
k.setElementAt(1, 2, mDistortionCenter.getInhomY());
}
k.setElementAt(2, 2, 1.0);
Utils.inverse(k, mKinv);
} catch (AlgebraException e) {
throw new RadialDistortionException(e);
}
}
/**
* Sets list of corresponding distorted and undistorted points.
* This method does not check whether estimator is locked.
*
* @param distortedPoints list of distorted points. Distorted points are
* obtained after radial distortion is applied to an undistorted point.
* @param undistortedPoints list of undistorted points.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
private void internalSetPoints(final List distortedPoints,
final List undistortedPoints) {
if (distortedPoints == null || undistortedPoints == null) {
throw new IllegalArgumentException();
}
if (!areValidPoints(distortedPoints, undistortedPoints)) {
throw new IllegalArgumentException();
}
mDistortedPoints = distortedPoints;
mUndistortedPoints = undistortedPoints;
}
}
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