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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.RadialDistortion;
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 com.irurueta.numerical.robust.RobustEstimatorException;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.List;
/**
* This is an abstract class for algorithms to robustly find the best
* RadialDistortion for provided collections of matched distorted and
* undistorted 2D points.
* Implementations of this class should be able to detect and discard outliers
* in order to find the best solution
*/
public abstract class RadialDistortionRobustEstimator {
/**
* Default robust estimator method when none is provided.
*/
public static final RobustEstimatorMethod DEFAULT_ROBUST_METHOD =
RobustEstimatorMethod.PROMedS;
/**
* Default amount of progress variation before notifying a change in
* estimation progress. By default this is set to 5%.
*/
public static final float DEFAULT_PROGRESS_DELTA = 0.05f;
/**
* Minimum allowed value for progress delta.
*/
public static final float MIN_PROGRESS_DELTA = 0.0f;
/**
* Maximum allowed value for progress delta.
*/
public static final float MAX_PROGRESS_DELTA = 1.0f;
/**
* Constant defining default confidence of the estimated result, which is
* 99%. This means that with a probability of 99% estimation will be
* accurate because chosen sub-samples will be inliers.
*/
public static final double DEFAULT_CONFIDENCE = 0.99;
/**
* Default maximum allowed number of iterations.
*/
public static final int DEFAULT_MAX_ITERATIONS = 5000;
/**
* Minimum allowed confidence value.
*/
public static final double MIN_CONFIDENCE = 0.0;
/**
* Maximum allowed confidence value.
*/
public static final double MAX_CONFIDENCE = 1.0;
/**
* Minimum allowed number of iterations.
*/
public static final int MIN_ITERATIONS = 1;
/**
* Minimum number of required point correspondences to estimate a radial
* distortion.
*/
public static final int MIN_NUMBER_OF_POINTS = 2;
/**
* 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;
/**
* List of distorted points (aka measured points).
*/
protected List mDistortedPoints;
/**
* List of undistorted points (aka ideal points).
*/
protected List mUndistortedPoints;
/**
* Distortion center.
*/
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;
/**
* Number of radial distortion parameters to estimate.
*/
protected int mNumKParams;
/**
* Listener to be notified of events such as when estimation starts, ends
* or its progress significantly changes.
*/
protected RadialDistortionRobustEstimatorListener mListener;
/**
* Indicates if this estimator is locked because an estimation is being
* computed.
*/
protected volatile boolean mLocked;
/**
* Amount of progress variation before notifying a progress change during
* estimation.
*/
protected float mProgressDelta;
/**
* Amount of confidence expressed as a value between 0.0 and 1.0 (which is
* equivalent to 100%). The amount of confidence indicates the probability
* that the estimated result is correct. Usually this value will be close
* to 1.0, but not exactly 1.0.
*/
protected double mConfidence;
/**
* Maximum allowed number of iterations. When the maximum number of
* iterations is exceeded, result will not be available, however an
* approximate result will be available for retrieval.
*/
protected int mMaxIterations;
/**
* Constructor.
*/
protected RadialDistortionRobustEstimator() {
mProgressDelta = DEFAULT_PROGRESS_DELTA;
mConfidence = DEFAULT_CONFIDENCE;
mMaxIterations = DEFAULT_MAX_ITERATIONS;
mHorizontalFocalLength = mVerticalFocalLength = DEFAULT_FOCAL_LENGTH;
mSkew = DEFAULT_SKEW;
mNumKParams = DEFAULT_NUM_K_PARAMS;
}
/**
* Constructor.
*
* @param listener listener to be notified of events such as when
* estimation starts, ends or its progress significantly changes.
*/
protected RadialDistortionRobustEstimator(
final RadialDistortionRobustEstimatorListener listener) {
this();
mListener = listener;
}
/**
* 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 or their size is smaller than MIN_NUMBER_OF_POINTS.
*/
protected RadialDistortionRobustEstimator(
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 its progress significantly changes.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size or their size is smaller than MIN_NUMBER_OF_POINTS.
*/
protected RadialDistortionRobustEstimator(
final List distortedPoints,
final List undistortedPoints,
final RadialDistortionRobustEstimatorListener listener) {
this(listener);
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 distortionCenter radial distortion center. If null it is assumed
* to be the origin of coordinates, otherwise this is typically equal to
* the camera principal point.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size or their size is smaller than MIN_NUMBER_OF_POINTS.
*/
protected RadialDistortionRobustEstimator(
final List distortedPoints,
final List undistortedPoints,
final Point2D distortionCenter) {
this(distortedPoints, undistortedPoints);
mDistortionCenter = distortionCenter;
}
/**
* 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 radial distortion center. If null it is assumed
* to be the origin of coordinates, otherwise this is typically equal to
* the camera principal point.
* @param listener listener to be notified of events such as when
* estimation starts, ends or its progress significantly changes.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size or their size is smaller than MIN_NUMBER_OF_POINTS.
*/
protected RadialDistortionRobustEstimator(
final List distortedPoints,
final List undistortedPoints,
final Point2D distortionCenter,
final RadialDistortionRobustEstimatorListener listener) {
this(distortedPoints, undistortedPoints, listener);
mDistortionCenter = distortionCenter;
}
/**
* Returns reference to listener to be notified of events such as when
* estimation starts, ends or its progress significantly changes.
*
* @return listener to be notified of events.
*/
public RadialDistortionRobustEstimatorListener getListener() {
return mListener;
}
/**
* Sets listener to be notified of events such as when estimation starts,
* ends or its progress significantly changes.
*
* @param listener listener to be notified of events.
* @throws LockedException if robust estimator is locked.
*/
public void setListener(final RadialDistortionRobustEstimatorListener listener)
throws LockedException {
if (isLocked()) {
throw new LockedException();
}
mListener = listener;
}
/**
* Indicates whether listener has been provided and is available for
* retrieval.
*
* @return true if available, false otherwise.
*/
public boolean isListenerAvailable() {
return mListener != null;
}
/**
* Indicates if this instance is locked because estimation is being computed.
*
* @return true if locked, false otherwise.
*/
public boolean isLocked() {
return mLocked;
}
/**
* Returns amount of progress variation before notifying a progress change
* during estimation.
*
* @return amount of progress variation before notifying a progress change
* during estimation.
*/
public float getProgressDelta() {
return mProgressDelta;
}
/**
* Sets amount of progress variation before notifying a progress change
* during estimation.
*
* @param progressDelta amount of progress variation before notifying a
* progress change during estimation.
* @throws IllegalArgumentException if progress delta is less than zero or
* greater than 1.
* @throws LockedException if this estimator is locked because an estimation
* is being computed.
*/
public void setProgressDelta(final float progressDelta) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
if (progressDelta < MIN_PROGRESS_DELTA ||
progressDelta > MAX_PROGRESS_DELTA) {
throw new IllegalArgumentException();
}
mProgressDelta = progressDelta;
}
/**
* Returns amount of confidence expressed as a value between 0.0 and 1.0
* (which is equivalent to 100%). The amount of confidence indicates the
* probability that the estimated result is correct. Usually this value will
* be close to 1.0, but not exactly 1.0.
*
* @return amount of confidence as a value between 0.0 and 1.0.
*/
public double getConfidence() {
return mConfidence;
}
/**
* Sets amount of confidence expressed as a value between 0.0 and 1.0 (which
* is equivalent to 100%). The amount of confidence indicates the
* probability that the estimated result is correct. Usually this value will
* be close to 1.0, but not exactly 1.0.
*
* @param confidence confidence to be set as a value between 0.0 and 1.0.
* @throws IllegalArgumentException if provided value is not between 0.0 and
* 1.0.
* @throws LockedException if this estimator is locked because an estimator
* is being computed.
*/
public void setConfidence(final double confidence) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
if (confidence < MIN_CONFIDENCE || confidence > MAX_CONFIDENCE) {
throw new IllegalArgumentException();
}
mConfidence = confidence;
}
/**
* Returns maximum allowed number of iterations. If maximum allowed number
* of iterations is achieved without converging to a result when calling
* estimate(), a RobustEstimatorException will be raised.
*
* @return maximum allowed number of iterations.
*/
public int getMaxIterations() {
return mMaxIterations;
}
/**
* Sets maximum allowed number of iterations. When the maximum number of
* iterations is exceeded, result will not be available, however an
* approximate result will be available for retrieval
*
* @param maxIterations maximum allowed number of iterations to be set.
* @throws IllegalArgumentException if provided value is less than 1.
* @throws LockedException if this estimator is locked because an estimation
* is being computed.
*/
public void setMaxIterations(final int maxIterations) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
if (maxIterations < MIN_ITERATIONS) {
throw new IllegalArgumentException();
}
mMaxIterations = maxIterations;
}
/**
* 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();
}
mDistortionCenter = distortionCenter;
}
/**
* 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.
*/
public void setHorizontalFocalLength(final double horizontalFocalLength)
throws LockedException {
if (isLocked()) {
throw new LockedException();
}
mHorizontalFocalLength = horizontalFocalLength;
}
/**
* 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.
*/
public void setVerticalFocalLength(final double verticalFocalLength)
throws LockedException {
if (isLocked()) {
throw new LockedException();
}
mVerticalFocalLength = verticalFocalLength;
}
/**
* 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();
}
mSkew = 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.
*/
public void setIntrinsic(final PinholeCameraIntrinsicParameters intrinsic)
throws LockedException {
setIntrinsic(
new InhomogeneousPoint2D(intrinsic.getHorizontalPrincipalPoint(),
intrinsic.getVerticalPrincipalPoint()),
intrinsic.getHorizontalFocalLength(),
intrinsic.getVerticalFocalLength(),
intrinsic.getSkewness());
}
/**
* Sets intrinsic parameters for this estimator.
*
* @param distortionCenter distortion center.
* @param horizontalFocalLength horizontal focal length in pixels.
* @param verticalFocalLength vertical focal length in pixels.
* @param skew skew in pixels.
* @throws LockedException if estimator is locked.
*/
public void setIntrinsic(final Point2D distortionCenter,
final double horizontalFocalLength,
final double verticalFocalLength,
final double skew) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
mDistortionCenter = distortionCenter;
mHorizontalFocalLength = horizontalFocalLength;
mVerticalFocalLength = verticalFocalLength;
mSkew = skew;
}
/**
* 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;
}
/**
* 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);
}
/**
* Returns quality scores corresponding to each point.
* The larger the score value the better the quality of the point measure.
* This implementation always returns null.
* Subclasses using quality scores must implement proper behaviour.
*
* @return quality scores corresponding to each point.
*/
public double[] getQualityScores() {
return null;
}
/**
* Sets quality scores corresponding to each point.
* The larger the score value the better the quality of the point sample.
* This implementation makes no action.
* Subclasses using quality scores must implement proper behaviour.
*
* @param qualityScores quality scores corresponding to each sampled point.
* @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).
*/
public void setQualityScores(final double[] qualityScores) throws LockedException {
}
/**
* Estimates a radial distortion using a robust estimator and
* the best set of matched 2D points found using the robust estimator.
*
* @return a radial distortion.
* @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).
*/
public abstract RadialDistortion estimate() throws LockedException,
NotReadyException, RobustEstimatorException;
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
public abstract RobustEstimatorMethod getMethod();
/**
* Creates a radial distortion robust estimator using provided robust method.
*
* @param method method of a robust estimator algorithm to estimate best
* radial distortion.
* @return an instance of a radial distortion robust estimator.
*/
public static RadialDistortionRobustEstimator create(
final RobustEstimatorMethod method) {
switch (method) {
case LMedS:
return new LMedSRadialDistortionRobustEstimator();
case MSAC:
return new MSACRadialDistortionRobustEstimator();
case PROSAC:
return new PROSACRadialDistortionRobustEstimator();
case PROMedS:
return new PROMedSRadialDistortionRobustEstimator();
case RANSAC:
default:
return new RANSACRadialDistortionRobustEstimator();
}
}
/**
* Creates a radial distortion robust estimator using provided distorted and
* undistorted points, as well as the distortion center. If no distortion
* center is provided, it is assumed to be at the origin of coordinates.
*
* @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 qualityScores quality scores corresponding to each point.
* @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 method method of a robust estimator algorithm to estimate best
* radial distortion.
* @return an instance of a radial distortion robust estimator.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
public static RadialDistortionRobustEstimator create(
final List distortedPoints, final List undistortedPoints,
final double[] qualityScores, final Point2D distortionCenter,
final RobustEstimatorMethod method) {
switch (method) {
case LMedS:
return new LMedSRadialDistortionRobustEstimator(distortedPoints,
undistortedPoints, distortionCenter);
case MSAC:
return new MSACRadialDistortionRobustEstimator(distortedPoints,
undistortedPoints, distortionCenter);
case PROSAC:
return new PROSACRadialDistortionRobustEstimator(
distortedPoints, undistortedPoints, qualityScores,
distortionCenter);
case PROMedS:
return new PROMedSRadialDistortionRobustEstimator(
distortedPoints, undistortedPoints, qualityScores,
distortionCenter);
case RANSAC:
default:
return new RANSACRadialDistortionRobustEstimator(
distortedPoints, undistortedPoints, distortionCenter);
}
}
/**
* Creates a radial distortion robust estimator using provided distorted and
* undistorted points, as well as the distortion center. If no distortion
* center is provided, it is assumed to be at the origin of coordinates.
*
* @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 method method of a robust estimator algorithm to estimate best
* radial distortion.
* @return an instance of a radial distortion robust estimator.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
public static RadialDistortionRobustEstimator create(
final List distortedPoints, final List undistortedPoints,
final Point2D distortionCenter, final RobustEstimatorMethod method) {
switch (method) {
case LMedS:
return new LMedSRadialDistortionRobustEstimator(distortedPoints,
undistortedPoints, distortionCenter);
case MSAC:
return new MSACRadialDistortionRobustEstimator(distortedPoints,
undistortedPoints, distortionCenter);
case PROSAC:
return new PROSACRadialDistortionRobustEstimator(
distortedPoints, undistortedPoints, distortionCenter);
case PROMedS:
return new PROMedSRadialDistortionRobustEstimator(
distortedPoints, undistortedPoints, distortionCenter);
case RANSAC:
default:
return new RANSACRadialDistortionRobustEstimator(
distortedPoints, undistortedPoints, distortionCenter);
}
}
/**
* Creates a radial distortion robust estimator using provided distorted and
* undistorted points and assuming that distortion center is at origin of
* coordinates.
*
* @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 qualityScores quality scores corresponding to each point.
* @param method method of a robust estimator algorithm to estimate best
* radial distortion.
* @return an instance of a radial distortion robust estimator.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
public static RadialDistortionRobustEstimator create(
final List distortedPoints, final List undistortedPoints,
final double[] qualityScores, final RobustEstimatorMethod method) {
return create(distortedPoints, undistortedPoints, qualityScores, null,
method);
}
/**
* Creates a radial distortion robust estimator using provided distorted and
* undistorted points and assuming that distortion center is at origin of
* coordinates.
*
* @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 method method of a robust estimator algorithm to estimate best
* radial distortion.
* @return an instance of a radial distortion robust estimator.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
public static RadialDistortionRobustEstimator create(
final List distortedPoints, final List undistortedPoints,
final RobustEstimatorMethod method) {
return create(distortedPoints, undistortedPoints, (Point2D) null,
method);
}
/**
* Creates a radial distortion robust estimator using default robust method.
*
* @return an instance of a radial distortion robust estimator.
*/
public static RadialDistortionRobustEstimator create() {
return create(DEFAULT_ROBUST_METHOD);
}
/**
* Creates a radial distortion robust estimator using provided distorted and
* undistorted points assuming that distortion center is at origin of
* coordinates and using default robust estimation method.
*
* @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 qualityScores quality scores corresponding to each point
* @return an instance of a radial distortion robust estimator.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
public static RadialDistortionRobustEstimator create(
final List distortedPoints, final List undistortedPoints,
final double[] qualityScores) {
return create(distortedPoints, undistortedPoints, qualityScores,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a radial distortion robust estimator using provided distorted and
* undistorted points assuming that distortion center is at origin of
* coordinates and using default robust estimation method.
*
* @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 an instance of a radial distortion robust estimator.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
public static RadialDistortionRobustEstimator create(
final List distortedPoints, final List undistortedPoints) {
return create(distortedPoints, undistortedPoints,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a radial distortion robust estimator using provided distorted and
* undistorted points, as well as the distortion center using the default
* robust estimation method. If no distortion center is provided, it is
* assumed to be at the origin of coordinates.
*
* @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 qualityScores quality scores corresponding to each point.
* @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).
* @return an instance of a radial distortion robust estimator.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
public static RadialDistortionRobustEstimator create(
final List distortedPoints, final List undistortedPoints,
final double[] qualityScores, final Point2D distortionCenter) {
return create(distortedPoints, undistortedPoints, qualityScores,
distortionCenter, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a radial distortion robust estimator using provided distorted and
* undistorted points, as well as the distortion center using the default
* robust estimation method. If no distortion center is provided, it is
* assumed to be at the origin of coordinates.
*
* @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).
* @return an instance of a radial distortion robust estimator.
* @throws IllegalArgumentException if provided lists of points don't have
* the same size.
*/
public static RadialDistortionRobustEstimator create(
final List distortedPoints, final List undistortedPoints,
final Point2D distortionCenter) {
return create(distortedPoints, undistortedPoints, distortionCenter,
DEFAULT_ROBUST_METHOD);
}
/**
* 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 static boolean areValidPoints(final List distortedPoints,
final List undistortedPoints) {
if (distortedPoints == null || undistortedPoints == null) {
return false;
}
return distortedPoints.size() == undistortedPoints.size() &&
distortedPoints.size() >= MIN_NUMBER_OF_POINTS;
}
/**
* 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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