Package com.irurueta.geometry.estimators

Class PROSACLine2DRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.Line2DRobustEstimator

com.irurueta.geometry.estimators.PROSACLine2DRobustEstimator

public class PROSACLine2DRobustEstimator
extends Line2DRobustEstimator

Finds the best 2D line for provided collection of 2D points using PROSAC algorithm.

Field Summary

Fields

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

Fields inherited from class com.irurueta.geometry.estimators.Line2DRobustEstimator

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, points, progressDelta

Constructor Summary

Constructors

Constructor	Description
PROSACLine2DRobustEstimator()	Constructor.
PROSACLine2DRobustEstimator(double[] qualityScores)	Constructor.
PROSACLine2DRobustEstimator(Line2DRobustEstimatorListener listener)	Constructor.
PROSACLine2DRobustEstimator(Line2DRobustEstimatorListener listener, double[] qualityScores)	Constructor.
PROSACLine2DRobustEstimator(Line2DRobustEstimatorListener listener, List<Point2D> points)	Constructor.
PROSACLine2DRobustEstimator(Line2DRobustEstimatorListener listener, List<Point2D> points, double[] qualityScores)	Constructor.
PROSACLine2DRobustEstimator(List<Point2D> points)	Constructor with points.
PROSACLine2DRobustEstimator(List<Point2D> points, double[] qualityScores)	Constructor with points.

Method Summary

Modifier and Type	Method	Description
Line2D	estimate()	Estimates a 2D line using a robust estimator and the best set of 2D points that pass through the estimated 2D line (i.e. belong to its locus)
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double[]	getQualityScores()	Returns quality scores corresponding to each provided point.
double	getThreshold()	Returns threshold to determine whether points are inliers or not when testing possible estimation solutions.
private void	internalSetQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided point.
boolean	isReady()	Indicates if estimator is ready to start the 2D line estimation.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided point.
void	setThreshold(double threshold)	Sets threshold to determine whether points are inliers or not when testing possible estimation solutions.

Methods inherited from class com.irurueta.geometry.estimators.Line2DRobustEstimator

create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getConfidence, getListener, getMaxIterations, getPoints, getProgressDelta, isListenerAvailable, isLocked, residual, setConfidence, setListener, setMaxIterations, setPoints, 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 points are inliers or not. Because typical resolution for points is 1 pixel, then default threshold is defined as 1.

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 points 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.

qualityScores

private double[] qualityScores

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

Constructor Details

PROSACLine2DRobustEstimator

public PROSACLine2DRobustEstimator()

Constructor.

PROSACLine2DRobustEstimator

public PROSACLine2DRobustEstimator(List<Point2D> points)

Constructor with points.

Parameters:

points - 2D points to estimate a 2D line.

Throws:

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

PROSACLine2DRobustEstimator

public PROSACLine2DRobustEstimator(Line2DRobustEstimatorListener listener)

Constructor.

Parameters:

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

PROSACLine2DRobustEstimator

public PROSACLine2DRobustEstimator(Line2DRobustEstimatorListener listener,
 List<Point2D> points)

Constructor.

Parameters:

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

points - 2D points to estimate a 2D line.

Throws:

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

PROSACLine2DRobustEstimator

public PROSACLine2DRobustEstimator(double[] qualityScores)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided point.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 2 points).

PROSACLine2DRobustEstimator

public PROSACLine2DRobustEstimator(List<Point2D> points,
 double[] qualityScores)

Constructor with points.

Parameters:

points - 2D points to estimate a 2D line.

qualityScores - quality scores corresponding to each provided point.

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.

PROSACLine2DRobustEstimator

public PROSACLine2DRobustEstimator(Line2DRobustEstimatorListener 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 point.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 2 points).

PROSACLine2DRobustEstimator

public PROSACLine2DRobustEstimator(Line2DRobustEstimatorListener listener,
 List<Point2D> points,
 double[] qualityScores)

Constructor.

Parameters:

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

points - 2D points to estimate a 2D line.

qualityScores - quality scores corresponding to each provided point.

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 points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has on a given point.

Returns:

threshold to determine whether points are inliers or not when testing possible estimation solutions.

setThreshold

public void setThreshold(double threshold)
                  throws LockedException

Sets threshold to determine whether points are inliers or not when testing possible estimation solutions. The threshold refers to the amount of error a possible solution has on a given point.

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 point. The larger the score value the better the quality of the sampled point.

Overrides:

getQualityScores in class Line2DRobustEstimator

Returns:

quality scores corresponding to each point.

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws LockedException

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

Overrides:

setQualityScores in class Line2DRobustEstimator

Parameters:

qualityScores - quality scores corresponding to each point.

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. 2 samples).

isReady

public boolean isReady()

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

Overrides:

isReady in class Line2DRobustEstimator

Returns:

true if estimator is ready, false otherwise.

estimate

public Line2D estimate()
                throws LockedException,
NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Estimates a 2D line using a robust estimator and the best set of 2D points that pass through the estimated 2D line (i.e. belong to its locus)

Specified by:

estimate in class Line2DRobustEstimator

Returns:

a 2D line.

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 Line2DRobustEstimator

Returns:

method being used for robust estimation.

internalSetQualityScores

private void internalSetQualityScores(double[] qualityScores)

Sets quality scores corresponding to each provided point. 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.