Package com.irurueta.geometry.estimators

Class MSACDualConicRobustEstimator

java.lang.Object
com.irurueta.geometry.estimators.DualConicRobustEstimator
com.irurueta.geometry.estimators.MSACDualConicRobustEstimator
public class MSACDualConicRobustEstimator extends DualConicRobustEstimator
Finds the best dual conic for provided collection of 2D lines using MSAC algorithm.

  • Field Details

    • DEFAULT_THRESHOLD

      public static final double DEFAULT_THRESHOLD
      Constant defining default threshold to determine whether lines are inliers or not. Threshold is defined by the equation abs(trans(l) * dc * l) < t, where trans is the transposition, l is a line, dc is a dual conic and t is a threshold. This equation determines the lines l belonging to the locus of a dual conic dC up to a certain threshold.
      See Also:

    • MIN_THRESHOLD

      public static final double MIN_THRESHOLD
      Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.
      See Also:

    • threshold

      private double threshold
      Threshold to determine whether lines are inliers or not when testing possible estimation solutions. The threshold refers to the amount of algebraic error a possible solution has on a given line.

  • Constructor Details

    • MSACDualConicRobustEstimator

      public MSACDualConicRobustEstimator()
      Constructor.

    • MSACDualConicRobustEstimator

      public MSACDualConicRobustEstimator(List<Line2D> lines)
      Constructor with points.
      Parameters:
      lines - 2D lines to estimate a dual conic.
      Throws:
      IllegalArgumentException - if provided list of lines don't have a size greater or equal than MINIMUM_SIZE.

    • MSACDualConicRobustEstimator

      public MSACDualConicRobustEstimator(DualConicRobustEstimatorListener listener)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • MSACDualConicRobustEstimator

      public MSACDualConicRobustEstimator(DualConicRobustEstimatorListener listener, List<Line2D> lines)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      lines - 2D lines to estimate a dual conic.
      Throws:
      IllegalArgumentException - if provided list of lines don't have a size greater or equal than MINIMUM_SIZE.

  • Method Details

    • getThreshold

      public double getThreshold()
      Returns threshold to determine whether lines are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has on a given line.
      Returns:
      threshold to determine whether lines are inliers or not when testing possible estimation solutions.

    • setThreshold

      public void setThreshold(double threshold) throws LockedException
      Sets threshold to determine whether lines are inliers or not when testing possible estimation solutions. The threshold refers to the amount of algebraic error a possible solution has on a given line.
      Parameters:
      threshold - threshold to be set.
      Throws:
      IllegalArgumentException - if provided value is equal or less than zero.
      LockedException - if robust estimator is locked because an estimation is already in progress.

    • estimate

      public DualConic estimate() throws LockedException, NotReadyException, com.irurueta.numerical.robust.RobustEstimatorException
      Estimates a dual conic using a robust estimator and the best set of 2D lines that fit into the locus of the estimated dual conic found using the robust estimator.
      Specified by:
      estimate in class DualConicRobustEstimator
      Returns:
      a dual conic.
      Throws:
      LockedException - if robust estimator is locked because an estimation is already in progress.
      NotReadyException - if provided input data is not enough to start the estimation.
      com.irurueta.numerical.robust.RobustEstimatorException - if estimation fails for any reason (i.e. numerical instability, no solution available, etc).

    • getMethod

      public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
      Returns method being used for robust estimation.
      Specified by:
      getMethod in class DualConicRobustEstimator
      Returns:
      method being used for robust estimation.