Package com.irurueta.geometry.estimators

Class MSACPoint3DRobustEstimator

java.lang.Object
com.irurueta.geometry.estimators.Point3DRobustEstimator
com.irurueta.geometry.estimators.MSACPoint3DRobustEstimator
public class MSACPoint3DRobustEstimator extends Point3DRobustEstimator
Finds the best 3D point for provided collection of 3D planes using MSAC algorithm.

  • Field Details

    • DEFAULT_THRESHOLD

      public static final double DEFAULT_THRESHOLD
      Constant defining default threshold to determine whether points are inliers or not. Because typical resolution for points is 1 voxel, then default threshold is defined as 1.
      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 error (i.e. distance) a possible solution has on a sampled line.

  • Constructor Details

    • MSACPoint3DRobustEstimator

      public MSACPoint3DRobustEstimator()
      Constructor.

    • MSACPoint3DRobustEstimator

      public MSACPoint3DRobustEstimator(List<Plane> planes)
      Constructor with planes.
      Parameters:
      planes - 3D planes to estimate a 3D point.
      Throws:
      IllegalArgumentException - if provided list of planes doesn't have a size greater or equal than MINIMUM_SIZE.

    • MSACPoint3DRobustEstimator

      public MSACPoint3DRobustEstimator(Point3DRobustEstimatorListener listener)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • MSACPoint3DRobustEstimator

      public MSACPoint3DRobustEstimator(Point3DRobustEstimatorListener listener, List<Plane> planes)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      planes - 3D planes to estimate a 3D point.
      Throws:
      IllegalArgumentException - if provided list of planes doesn't have a size greater or equal than MINIMUM_SIZE.

  • Method Details

    • getThreshold

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

    • setThreshold

      public void setThreshold(double threshold) throws LockedException
      Sets threshold to determine whether planes are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has on a given plane.
      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 Point3D estimate() throws LockedException, NotReadyException, com.irurueta.numerical.robust.RobustEstimatorException
      Estimates a 3D point using a robust estimator and the best set of 3D planes that intersect into the estimated 3D point.
      Specified by:
      estimate in class Point3DRobustEstimator
      Returns:
      a 3D point.
      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 Point3DRobustEstimator
      Returns:
      method being used for robust estimation.

    • getRefinementStandardDeviation

      protected double getRefinementStandardDeviation()
      Gets standard deviation used for Levenberg-Marquardt fitting during refinement. Returned value gives an indication of how much variance each residual has. Typically, this value is related to the threshold used on each robust estimation, since residuals of found inliers are within the range of such threshold.
      Specified by:
      getRefinementStandardDeviation in class Point3DRobustEstimator
      Returns:
      standard deviation used for refinement.