Package com.irurueta.geometry.estimators

Class PROSACPoint3DRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.Point3DRobustEstimator

com.irurueta.geometry.estimators.PROSACPoint3DRobustEstimator

public class PROSACPoint3DRobustEstimator
extends Point3DRobustEstimator

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

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	computeAndKeepInliers	Indicates whether inliers must be computed and kept.
private boolean	computeAndKeepResiduals	Indicates whether residuals must be computed and kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_INLIERS	Indicates that by default inliers will only be computed but not kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_RESIDUALS	Indicates that by default residuals will only be computed but not kept.
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 planes are inliers or not when testing possible estimation solutions.

Fields inherited from class com.irurueta.geometry.estimators.Point3DRobustEstimator

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

Constructor Summary

Constructors

Constructor	Description
PROSACPoint3DRobustEstimator()	Constructor.
PROSACPoint3DRobustEstimator(double[] qualityScores)	Constructor.
PROSACPoint3DRobustEstimator(Point3DRobustEstimatorListener listener)	Constructor.
PROSACPoint3DRobustEstimator(Point3DRobustEstimatorListener listener, double[] qualityScores)	Constructor.
PROSACPoint3DRobustEstimator(Point3DRobustEstimatorListener listener, List<Plane> planes)	Constructor.
PROSACPoint3DRobustEstimator(Point3DRobustEstimatorListener listener, List<Plane> planes, double[] qualityScores)	Constructor.
PROSACPoint3DRobustEstimator(List<Plane> planes)	Constructor with planes.
PROSACPoint3DRobustEstimator(List<Plane> planes, double[] qualityScores)	Constructor with planes.

Method Summary

Modifier and Type	Method	Description
Point3D	estimate()	Estimates a 3D point using a robust estimator and the best set of 3D planes that intersect into the estimated 3D point.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double[]	getQualityScores()	Returns quality scores corresponding to each provided plane.
protected double	getRefinementStandardDeviation()	Gets standard deviation used for Levenberg-Marquardt fitting during refinement.
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 line.
boolean	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResidualsEnabled()	Indicates whether residuals must be computed and kept.
boolean	isReady()	Indicates if estimator is ready to start the 3D point estimation.
void	setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)	Specifies whether inliers must be computed and kept.
void	setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)	Specifies whether residuals must be computed and kept.
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.Point3DRobustEstimator

attemptRefine, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getConfidence, getCovariance, getInliersData, getListener, getMaxIterations, getPlanes, getProgressDelta, getRefinementCoordinatesType, isCovarianceKept, isListenerAvailable, isLocked, isResultRefined, residual, setConfidence, setCovarianceKept, setListener, setMaxIterations, setPlanes, setProgressDelta, setRefinementCoordinatesType, setResultRefined

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 voxel, 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

DEFAULT_COMPUTE_AND_KEEP_INLIERS

public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS

Indicates that by default inliers will only be computed but not kept.

See Also:

• Constant Field Values

DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

Indicates that by default residuals will only be computed but not kept.

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 error (i.e. distance) a possible solution has on a sampled plane.

qualityScores

private double[] qualityScores

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

computeAndKeepInliers

private boolean computeAndKeepInliers

Indicates whether inliers must be computed and kept.

computeAndKeepResiduals

private boolean computeAndKeepResiduals

Indicates whether residuals must be computed and kept.

Constructor Details

PROSACPoint3DRobustEstimator

public PROSACPoint3DRobustEstimator()

Constructor.

PROSACPoint3DRobustEstimator

public PROSACPoint3DRobustEstimator(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.

PROSACPoint3DRobustEstimator

public PROSACPoint3DRobustEstimator(Point3DRobustEstimatorListener listener)

Constructor.

Parameters:

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

PROSACPoint3DRobustEstimator

public PROSACPoint3DRobustEstimator(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.

PROSACPoint3DRobustEstimator

public PROSACPoint3DRobustEstimator(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. 2 planes).

PROSACPoint3DRobustEstimator

public PROSACPoint3DRobustEstimator(List<Plane> planes,
 double[] qualityScores)

Constructor with planes.

Parameters:

planes - 3D planes to estimate a 3D point.

qualityScores - quality scores corresponding to each provided plane.

Throws:

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

PROSACPoint3DRobustEstimator

public PROSACPoint3DRobustEstimator(Point3DRobustEstimatorListener 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. 3 planes).

PROSACPoint3DRobustEstimator

public PROSACPoint3DRobustEstimator(Point3DRobustEstimatorListener 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 3D point.

qualityScores - quality scores corresponding to each provided plane.

Throws:

IllegalArgumentException - if provided list of planes doesn'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 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 Point3DRobustEstimator

Returns:

quality scores corresponding to each plane.

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 Point3DRobustEstimator

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. 23 samples).

isReady

public boolean isReady()

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

Overrides:

isReady in class Point3DRobustEstimator

Returns:

true if estimator is ready, false otherwise.

isComputeAndKeepInliersEnabled

public boolean isComputeAndKeepInliersEnabled()

Indicates whether inliers must be computed and kept.

Returns:

true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

setComputeAndKeepInliersEnabled

public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
                                     throws LockedException

Specifies whether inliers must be computed and kept.

Parameters:

computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

Throws:

LockedException - if estimator is locked.

isComputeAndKeepResidualsEnabled

public boolean isComputeAndKeepResidualsEnabled()

Indicates whether residuals must be computed and kept.

Returns:

true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

setComputeAndKeepResidualsEnabled

public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
                                       throws LockedException

Specifies whether residuals must be computed and kept.

Parameters:

computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

Throws:

LockedException - if estimator is locked.

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.

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.