Package com.irurueta.geometry.estimators

Class PROSACDualConicRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.DualConicRobustEstimator

com.irurueta.geometry.estimators.PROSACDualConicRobustEstimator

public class PROSACDualConicRobustEstimator
extends DualConicRobustEstimator

Finds the best dual conic for provided collection of 2D lines using PROSAC algorithm.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether lines are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double[]	qualityScores	Quality scores corresponding to each line.
private double	threshold	Threshold to determine whether lines are inliers or not when testing possible estimation solutions.

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

confidence, DEFAULT_CONFIDENCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_ROBUST_METHOD, lines, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, MINIMUM_SIZE, progressDelta

Constructor Summary

Constructors

Constructor	Description
PROSACDualConicRobustEstimator()	Constructor.
PROSACDualConicRobustEstimator(double[] qualityScores)	Constructor with quality scores.
PROSACDualConicRobustEstimator(DualConicRobustEstimatorListener listener)	Constructor.
PROSACDualConicRobustEstimator(DualConicRobustEstimatorListener listener, double[] qualityScores)	Constructor.
PROSACDualConicRobustEstimator(DualConicRobustEstimatorListener listener, List<Line2D> lines)	Constructor.
PROSACDualConicRobustEstimator(DualConicRobustEstimatorListener listener, List<Line2D> lines, double[] qualityScores)	Constructor.
PROSACDualConicRobustEstimator(List<Line2D> lines)	Constructor with points.
PROSACDualConicRobustEstimator(List<Line2D> lines, double[] qualityScores)	Constructor with lines and quality scores.

Method Summary

Modifier and Type	Method	Description
DualConic	estimate()	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.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double[]	getQualityScores()	Returns quality scores corresponding to each provided line.
double	getThreshold()	Returns threshold to determine whether lines are inliers or not when testing possible estimation solutions.
private void	internalSetQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided line.
boolean	isReady()	Indicates if estimator is ready to start the conic estimation.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided line.
void	setThreshold(double threshold)	Sets threshold to determine whether lines are inliers or not when testing possible estimation solutions.

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

create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getConfidence, getLines, getListener, getMaxIterations, getProgressDelta, isListenerAvailable, isLocked, residual, setConfidence, setLines, setListener, setMaxIterations, setProgressDelta

Methods inherited from class java.lang.Object

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

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:

• Constant Field Values

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:

• Constant Field Values

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.

qualityScores

private double[] qualityScores

Quality scores corresponding to each line. The larger the score value the better the quality of the sample.

Constructor Details

PROSACDualConicRobustEstimator

public PROSACDualConicRobustEstimator()

Constructor.

PROSACDualConicRobustEstimator

public PROSACDualConicRobustEstimator(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.

PROSACDualConicRobustEstimator

public PROSACDualConicRobustEstimator(DualConicRobustEstimatorListener listener)

Constructor.

Parameters:

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

PROSACDualConicRobustEstimator

public PROSACDualConicRobustEstimator(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.

PROSACDualConicRobustEstimator

public PROSACDualConicRobustEstimator(double[] qualityScores)

Constructor with quality scores.

Parameters:

qualityScores - quality scores corresponding to each provided line.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 5 lines).

PROSACDualConicRobustEstimator

public PROSACDualConicRobustEstimator(List<Line2D> lines,
 double[] qualityScores)

Constructor with lines and quality scores.

Parameters:

lines - 2D lines to estimate a dual conic.

qualityScores - quality scores corresponding to each provided line.

Throws:

IllegalArgumentException - if provided list of lines don't have the same size as the list of provided quality scores, or it their size is not greater or equal than MINIMUM_SIZE.

PROSACDualConicRobustEstimator

public PROSACDualConicRobustEstimator(DualConicRobustEstimatorListener listener,
 double[] qualityScores)

Constructor.

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 provided line.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 5 lines).

PROSACDualConicRobustEstimator

public PROSACDualConicRobustEstimator(DualConicRobustEstimatorListener listener,
 List<Line2D> lines,
 double[] qualityScores)

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.

qualityScores - quality scores corresponding to each provided line.

Throws:

IllegalArgumentException - if provided list of points don't have the same size as the list of provided quality scores, or it their size is not 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.

getQualityScores

public double[] getQualityScores()

Returns quality scores corresponding to each provided line. The larger the score value the better the quality of the sampled line.

Overrides:

getQualityScores in class DualConicRobustEstimator

Returns:

quality scores corresponding to each point.

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws LockedException

Sets quality scores corresponding to each provided line. The larger the score value the better the quality of the sampled line.

Overrides:

setQualityScores in class DualConicRobustEstimator

Parameters:

qualityScores - quality scores corresponding to each line.

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. 5 samples).

isReady

public boolean isReady()

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

Overrides:

isReady in class DualConicRobustEstimator

Returns:

true if estimator is ready, false otherwise.

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.

internalSetQualityScores

private void internalSetQualityScores(double[] qualityScores)

Sets quality scores corresponding to each provided line. This method is used internally and does not check whether instance is locked or not.

Parameters:

qualityScores - quality scores to be set.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE.