Package com.irurueta.geometry.estimators

Class PROSACDualQuadricRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.DualQuadricRobustEstimator

com.irurueta.geometry.estimators.PROSACDualQuadricRobustEstimator

public class PROSACDualQuadricRobustEstimator
extends DualQuadricRobustEstimator

Finds the best dual quadric for provided collection of 3D planes using PROSAC algorithm.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether planes 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 plane.
private double	threshold	Threshold to determine whether planes are inliers or not when testing possible estimation solutions.

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

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

Constructor Summary

Constructors

Constructor	Description
PROSACDualQuadricRobustEstimator()	Constructor.
PROSACDualQuadricRobustEstimator(double[] qualityScores)	Constructor.
PROSACDualQuadricRobustEstimator(DualQuadricRobustEstimatorListener listener)	Constructor.
PROSACDualQuadricRobustEstimator(DualQuadricRobustEstimatorListener listener, double[] qualityScores)	Constructor.
PROSACDualQuadricRobustEstimator(DualQuadricRobustEstimatorListener listener, List<Plane> planes)	Constructor.
PROSACDualQuadricRobustEstimator(DualQuadricRobustEstimatorListener listener, List<Plane> planes, double[] qualityScores)	Constructor.
PROSACDualQuadricRobustEstimator(List<Plane> planes)	Constructor with planes.
PROSACDualQuadricRobustEstimator(List<Plane> planes, double[] qualityScores)	Constructor with planes.

Method Summary

Modifier and Type	Method	Description
DualQuadric	estimate()	Estimates a dual quadric using a robust estimator and the best set of 3D planes that fit into the locus of the estimated dual quadric 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 plane.
double	getThreshold()	Returns threshold to determine whether planes are inliers or not when testing possible estimation solutions.
private void	internalSetQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided plane.
boolean	isReady()	Indicates if estimator is ready to start the quadric estimation.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided plane.
void	setThreshold(double threshold)	Sets threshold to determine whether planes are inliers or not when testing possible estimation solutions.

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

create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getConfidence, getListener, getMaxIterations, getPlanes, getProgressDelta, isListenerAvailable, isLocked, residual, setConfidence, setListener, setMaxIterations, setPlanes, 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 planes are inliers or not. Threshold is defined by the equation abs(trans(P) * dQ * P) < t, where trans is the transposition, P is a plane, dQ is a dual quadric and t is a threshold. This equation determines the planes P belonging to the locus of a dual quadric dQ 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 planes 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 plane. The larger the score value the better the quality of the sample.

Constructor Details

PROSACDualQuadricRobustEstimator

public PROSACDualQuadricRobustEstimator()

Constructor.

PROSACDualQuadricRobustEstimator

public PROSACDualQuadricRobustEstimator(List<Plane> planes)

Constructor with planes.

Parameters:

planes - 3D planes to estimate a dual quadric.

Throws:

IllegalArgumentException - if provided list of planes don't have a size greater or equal than MINIMUM_SIZE.

PROSACDualQuadricRobustEstimator

public PROSACDualQuadricRobustEstimator(DualQuadricRobustEstimatorListener listener)

Constructor.

Parameters:

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

PROSACDualQuadricRobustEstimator

public PROSACDualQuadricRobustEstimator(DualQuadricRobustEstimatorListener 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 dual quadric.

Throws:

IllegalArgumentException - if provided list of planes don't have a size greater or equal than MINIMUM_SIZE.

PROSACDualQuadricRobustEstimator

public PROSACDualQuadricRobustEstimator(double[] qualityScores)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided plane.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 9 planes).

PROSACDualQuadricRobustEstimator

public PROSACDualQuadricRobustEstimator(List<Plane> planes,
 double[] qualityScores)

Constructor with planes.

Parameters:

planes - 3D planes to estimate a dual quadric.

qualityScores - quality scores corresponding to each provided plane.

Throws:

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

PROSACDualQuadricRobustEstimator

public PROSACDualQuadricRobustEstimator(DualQuadricRobustEstimatorListener 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 plane.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 9 planes).

PROSACDualQuadricRobustEstimator

public PROSACDualQuadricRobustEstimator(DualQuadricRobustEstimatorListener listener,
 List<Plane> planes,
 double[] qualityScores)

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 dual quadric.

qualityScores - quality scores corresponding to each provided plane.

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 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 algebraic 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.

getQualityScores

public double[] getQualityScores()

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

Overrides:

getQualityScores in class DualQuadricRobustEstimator

Returns:

quality scores corresponding to each point.

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws LockedException

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

Overrides:

setQualityScores in class DualQuadricRobustEstimator

Parameters:

qualityScores - quality scores corresponding to each plane.

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. 9 samples).

isReady

public boolean isReady()

Indicates if estimator is ready to start the quadric estimation. This is true when input data (i.e. 3D planes and quality scores) are provided and a minimum of MINIMUM_SIZE planes are available.

Overrides:

isReady in class DualQuadricRobustEstimator

Returns:

true if estimator is ready, false otherwise.

estimate

public DualQuadric estimate()
                     throws LockedException,
NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Estimates a dual quadric using a robust estimator and the best set of 3D planes that fit into the locus of the estimated dual quadric found using the robust estimator.

Specified by:

estimate in class DualQuadricRobustEstimator

Returns:

a dual quadric.

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 DualQuadricRobustEstimator

Returns:

method being used for robust estimation.

internalSetQualityScores

private void internalSetQualityScores(double[] qualityScores)

Sets quality scores corresponding to each provided plane. 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.