Package com.irurueta.geometry.estimators

Class LineCorrespondenceProjectiveTransformation2DRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.ProjectiveTransformation2DRobustEstimator

com.irurueta.geometry.estimators.LineCorrespondenceProjectiveTransformation2DRobustEstimator

Direct Known Subclasses:

LMedSLineCorrespondenceProjectiveTransformation2DRobustEstimator, MSACLineCorrespondenceProjectiveTransformation2DRobustEstimator, PROMedSLineCorrespondenceProjectiveTransformation2DRobustEstimator, PROSACLineCorrespondenceProjectiveTransformation2DRobustEstimator, RANSACLineCorrespondenceProjectiveTransformation2DRobustEstimator

public abstract class LineCorrespondenceProjectiveTransformation2DRobustEstimator
extends ProjectiveTransformation2DRobustEstimator

This is an abstract class for algorithms to robustly find the best projective 2D transformation for collections of matching 2D lines. Implementations of this class should be able to detect and discard outliers in order to find the best solution.

Field Summary

Fields

Modifier and Type	Field	Description
static final com.irurueta.numerical.robust.RobustEstimatorMethod	DEFAULT_ROBUST_METHOD	Default robust estimator method when none is provided.
protected List<Line2D>	inputLines	List of lines to be used to estimate a projective 2D transformation.
protected List<Line2D>	outputLines	List of lines to be used to estimate a projective 2D transformation.

Fields inherited from class com.irurueta.geometry.estimators.ProjectiveTransformation2DRobustEstimator

confidence, covariance, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_RESULT, inliersData, keepCovariance, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, MINIMUM_SIZE, progressDelta, refineResult

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	LineCorrespondenceProjectiveTransformation2DRobustEstimator()	Constructor.
protected	LineCorrespondenceProjectiveTransformation2DRobustEstimator(ProjectiveTransformation2DRobustEstimatorListener listener)	Constructor.
protected	LineCorrespondenceProjectiveTransformation2DRobustEstimator(ProjectiveTransformation2DRobustEstimatorListener listener, List<Line2D> inputLines, List<Line2D> outputLines)	Constructor with listener and lists of lines to be used to estimate projective 2D transformation.
protected	LineCorrespondenceProjectiveTransformation2DRobustEstimator(List<Line2D> inputLines, List<Line2D> outputLines)	Constructor with lists of lines to be used to estimate a projective 2D transformation.

Method Summary

Modifier and Type	Method	Description
protected ProjectiveTransformation2D	attemptRefine(ProjectiveTransformation2D transformation)	Attempts to refine provided solution if refinement is requested.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create()	Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(double[] qualityScores)	Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(ProjectiveTransformation2DRobustEstimatorListener listener)	Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(ProjectiveTransformation2DRobustEstimatorListener listener, double[] qualityScores)	Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(ProjectiveTransformation2DRobustEstimatorListener listener, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(ProjectiveTransformation2DRobustEstimatorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(ProjectiveTransformation2DRobustEstimatorListener listener, List<Line2D> inputLines, List<Line2D> outputLines)	Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(ProjectiveTransformation2DRobustEstimatorListener listener, List<Line2D> inputLines, List<Line2D> outputLines, double[] qualityScores)	Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(ProjectiveTransformation2DRobustEstimatorListener listener, List<Line2D> inputLines, List<Line2D> outputLines, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(ProjectiveTransformation2DRobustEstimatorListener listener, List<Line2D> inputLines, List<Line2D> outputLines, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(List<Line2D> inputLines, List<Line2D> outputLines)	Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(List<Line2D> inputLines, List<Line2D> outputLines, double[] qualityScores)	Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(List<Line2D> inputLines, List<Line2D> outputLines, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.
static LineCorrespondenceProjectiveTransformation2DRobustEstimator	create(List<Line2D> inputLines, List<Line2D> outputLines, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.
List<Line2D>	getInputLines()	Returns list of input lines to be used to estimate a projective 2D transformation.
List<Line2D>	getOutputLines()	Returns list of output lines to be used to estimate a projective 2D transformation.
double[]	getQualityScores()	Returns quality scores corresponding to each pair of matched lines.
protected static double	getResidual(Line2D line, Line2D transformedLine)	Computes residual by comparing two lines algebraically by doing the dot product of their parameters.
private void	internalSetLines(List<Line2D> inputLines, List<Line2D> outputLines)	Internal method to set lists of lines to be used to estimate a projective 2D transformation.
boolean	isReady()	Indicates if estimator is ready to start the affine 2D transformation estimation.
final void	setLines(List<Line2D> inputLines, List<Line2D> outputLines)	Sets lists of lines to be used to estimate a projective 2D transformation.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each pair of matched lines.

Methods inherited from class com.irurueta.geometry.estimators.ProjectiveTransformation2DRobustEstimator

createFromLines, createFromLines, createFromLines, createFromLines, createFromLines, createFromLines, createFromLines, createFromLines, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, estimate, getConfidence, getCovariance, getInliersData, getListener, getMaxIterations, getMethod, getProgressDelta, getRefinementStandardDeviation, isCovarianceKept, isListenerAvailable, isLocked, isResultRefined, setConfidence, setCovarianceKept, setListener, setMaxIterations, setProgressDelta, setResultRefined

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_ROBUST_METHOD

public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD

Default robust estimator method when none is provided.

inputLines

protected List<Line2D> inputLines

List of lines to be used to estimate a projective 2D transformation. Each line in the list of input lines must be matched with the corresponding line in the list of output lines located at the same position. Hence, both input lines and output lines must have the same size, and their size must be greater or equal than MINIMUM_SIZE.

outputLines

protected List<Line2D> outputLines

List of lines to be used to estimate a projective 2D transformation. Each point in the list of output lines must be matched with the corresponding line in the list of input lines located at the same position. Hence, both input lines and output lines must have the same size, and their size must be greater or equal than MINIMUM_SIZE.

Constructor Details

LineCorrespondenceProjectiveTransformation2DRobustEstimator

protected LineCorrespondenceProjectiveTransformation2DRobustEstimator()

Constructor.

LineCorrespondenceProjectiveTransformation2DRobustEstimator

protected LineCorrespondenceProjectiveTransformation2DRobustEstimator(List<Line2D> inputLines,
 List<Line2D> outputLines)

Constructor with lists of lines to be used to estimate a projective 2D transformation. Lines 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 MINIMUM_SIZE.

Parameters:

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines ot be used to estimate a projective 2D transformation.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

LineCorrespondenceProjectiveTransformation2DRobustEstimator

protected LineCorrespondenceProjectiveTransformation2DRobustEstimator(ProjectiveTransformation2DRobustEstimatorListener listener)

Constructor.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

LineCorrespondenceProjectiveTransformation2DRobustEstimator

protected LineCorrespondenceProjectiveTransformation2DRobustEstimator(ProjectiveTransformation2DRobustEstimatorListener listener,
 List<Line2D> inputLines,
 List<Line2D> outputLines)

Constructor with listener and lists of lines to be used to estimate projective 2D transformation. Lines 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 MINIMUM_SIZE.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

Method Details

getInputLines

public List<Line2D> getInputLines()

Returns list of input lines to be used to estimate a projective 2D transformation. Each line in the list of input lines must be matched with the corresponding line in the list of output lines located at the same position. Hence, both input lines and output lines must have the same size, and their size must be greater or equal than MINIMUM_SIZE.

Returns:

list of input lines to be used to estimate a projective 2D transformation.

getOutputLines

public List<Line2D> getOutputLines()

Returns list of output lines to be used to estimate a projective 2D transformation. Each line in the list of output lines must be matched with the corresponding line in the list of input lines located at the same position. Hence, both input lines and output lines must have the same size, and their size must be greater or equal than MINIMUM_SIZE.

Returns:

list of output lines to be used to estimate a projective 2D transformation.

setLines

public final void setLines(List<Line2D> inputLines,
 List<Line2D> outputLines)
                    throws LockedException

Sets lists of lines to be used to estimate a projective 2D transformation. Lines 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 MINIMUM_SIZE.

Parameters:

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

LockedException - if estimator is locked because a computation is already in progress.

isReady

public boolean isReady()

Indicates if estimator is ready to start the affine 2D transformation estimation. This is true when input data (i.e. lists of matched lines) are provided and a minimum of MINIMUM_SIZE lines are available.

Returns:

true if estimator is ready, false otherwise.

getQualityScores

public double[] getQualityScores()

Returns quality scores corresponding to each pair of matched lines. The larger the score value the better the quality of the matching. This implementation always returns null. Subclasses using quality scores must implement proper behaviour.

Returns:

quality scores corresponding to each pair of matched points.

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws LockedException

Sets quality scores corresponding to each pair of matched lines. The larger the score value the better the quality of the matching. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

Throws:

LockedException - if robust estimator is locked because an estimation is already in progress.

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 3 samples).

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.

Parameters:

method - method of a robust estimator algorithm to estimate best projective 2D transformation.

Returns:

an instance of projective 2D transformation estimator.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(List<Line2D> inputLines,
 List<Line2D> outputLines,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.

Parameters:

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

method - method of a robust estimator algorithm to estimate best projective 2D transformation.

Returns:

an instance of projective 2D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(ProjectiveTransformation2DRobustEstimatorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

method - method of a robust estimator algorithm to estimate best projective 2D transformation.

Returns:

an instance of projective 2D transformation estimator.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(ProjectiveTransformation2DRobustEstimatorListener listener,
 List<Line2D> inputLines,
 List<Line2D> outputLines,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

method - method of a robust estimator algorithm to estimate best projective 2D transformation.

Returns:

an instance of projective 2D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate best projective 2D transformation.

Returns:

an instance of projective 2D transformation estimator.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(List<Line2D> inputLines,
 List<Line2D> outputLines,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.

Parameters:

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

qualityScores - quality scores corresponding to each pair of matched lines.

method - method of a robust estimator algorithm to estimate best projective 2D transformation.

Returns:

an instance of projective 2D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(ProjectiveTransformation2DRobustEstimatorListener listener,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

qualityScores - quality scores corresponding to each pair of matched lines.

method - method of a robust estimator algorithm to estimate best projective 2D transformation.

Returns:

an instance of projective 2D transformation estimator.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(ProjectiveTransformation2DRobustEstimatorListener listener,
 List<Line2D> inputLines,
 List<Line2D> outputLines,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 2D transformation estimator based on 2D line correspondences and using provided robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

qualityScores - quality scores corresponding to each pair of matched lines.

method - method of a robust estimator algorithm to estimate best projective 2D transformation.

Returns:

an instance of projective 2D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create()

Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.

Returns:

an instance of projective 2D transformation estimator.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(List<Line2D> inputLines,
 List<Line2D> outputLines)

Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.

Parameters:

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

Returns:

an instance of projective 2D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(ProjectiveTransformation2DRobustEstimatorListener listener)

Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Returns:

an instance of projective 2D transformation estimator.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(ProjectiveTransformation2DRobustEstimatorListener listener,
 List<Line2D> inputLines,
 List<Line2D> outputLines)

Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

Returns:

an instance of projective 2D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(double[] qualityScores)

Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of affine 2D transformation estimator.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(List<Line2D> inputLines,
 List<Line2D> outputLines,
 double[] qualityScores)

Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.

Parameters:

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of projective 2D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(ProjectiveTransformation2DRobustEstimatorListener listener,
 double[] qualityScores)

Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of projective 2D transformation estimator.

create

public static LineCorrespondenceProjectiveTransformation2DRobustEstimator create(ProjectiveTransformation2DRobustEstimatorListener listener,
 List<Line2D> inputLines,
 List<Line2D> outputLines,
 double[] qualityScores)

Creates a projective 2D transformation estimator based on 2D line correspondences and using default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

qualityScores - quality scores corresponding to each pair of matched lines.

Returns:

an instance of projective 2D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

internalSetLines

private void internalSetLines(List<Line2D> inputLines,
 List<Line2D> outputLines)

Internal method to set lists of lines to be used to estimate a projective 2D transformation. This method does not check whether estimator is locked or not.

Parameters:

inputLines - list of input lines to be used to estimate a projective 2D transformation.

outputLines - list of output lines to be used to estimate a projective 2D transformation.

Throws:

IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

getResidual

protected static double getResidual(Line2D line,
 Line2D transformedLine)

Computes residual by comparing two lines algebraically by doing the dot product of their parameters. A residual of 0 indicates that dot product was 1 or -1 and lines were equal. A residual of 1 indicates that dot product was 0 and lines were orthogonal. If dot product was -1, then although their director vectors are opposed, lines are considered equal, since sign changes are not taken into account.

Parameters:

line - originally sampled output line.

transformedLine - estimated output line obtained after using estimated transformation.

Returns:

computed residual.

attemptRefine

protected ProjectiveTransformation2D attemptRefine(ProjectiveTransformation2D transformation)

Attempts to refine provided solution if refinement is requested. This method returns a refined solution of the same provided solution if refinement is not requested or has failed. If refinement is enabled, and it is requested to keep covariance, this method will also keep covariance of refined transformation.

Parameters:

transformation - transformation estimated by a robust estimator without refinement.

Returns:

solution after refinement (if requested) or the provided non-refined solution if not requested or refinement failed.