Package com.irurueta.geometry.estimators

Class PROSACQuadricRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.QuadricRobustEstimator

com.irurueta.geometry.estimators.PROSACQuadricRobustEstimator

public class PROSACQuadricRobustEstimator
extends QuadricRobustEstimator

Finds the bes quadric for provided collection of 3D 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 pair of matched points.
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.QuadricRobustEstimator

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
PROSACQuadricRobustEstimator()	Constructor.
PROSACQuadricRobustEstimator(double[] qualityScores)	Constructor.
PROSACQuadricRobustEstimator(QuadricRobustEstimatorListener listener)	Constructor.
PROSACQuadricRobustEstimator(QuadricRobustEstimatorListener listener, double[] qualityScores)	Constructor.
PROSACQuadricRobustEstimator(QuadricRobustEstimatorListener listener, List<Point3D> points)	Constructor.
PROSACQuadricRobustEstimator(QuadricRobustEstimatorListener listener, List<Point3D> points, double[] qualityScores)	Constructor.
PROSACQuadricRobustEstimator(List<Point3D> points)	Constructor with points.
PROSACQuadricRobustEstimator(List<Point3D> points, double[] qualityScores)	Constructor with points.

Method Summary

Modifier and Type	Method	Description
Quadric	estimate()	Estimates a quadric using a robust estimator and the best set of 3D points that fit into the locus of the estimated 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 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 conic 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.QuadricRobustEstimator

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. Threshold is defined by the equation abs(trans(X)) * Q * X) < t, where trans is the transposition, X is a point, Q is a quadric and t is a threshold. This equation determines the points X belonging to the locus of a quadric Q 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 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 matched pair of points.

qualityScores

private double[] qualityScores

Quality scores corresponding to each pair of matched points. The larger the score value the better the quality of the matching.

Constructor Details

PROSACQuadricRobustEstimator

public PROSACQuadricRobustEstimator()

Constructor.

PROSACQuadricRobustEstimator

public PROSACQuadricRobustEstimator(List<Point3D> points)

Constructor with points.

Parameters:

points - 3D points to estimate a quadric.

Throws:

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

PROSACQuadricRobustEstimator

public PROSACQuadricRobustEstimator(QuadricRobustEstimatorListener listener)

Constructor.

Parameters:

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

PROSACQuadricRobustEstimator

public PROSACQuadricRobustEstimator(QuadricRobustEstimatorListener listener,
 List<Point3D> points)

Constructor.

Parameters:

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

points - 3D points to estimate a quadric.

Throws:

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

PROSACQuadricRobustEstimator

public PROSACQuadricRobustEstimator(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. 9 points).

PROSACQuadricRobustEstimator

public PROSACQuadricRobustEstimator(List<Point3D> points,
 double[] qualityScores)

Constructor with points.

Parameters:

points - 3D points to estimate a quadric.

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.

PROSACQuadricRobustEstimator

public PROSACQuadricRobustEstimator(QuadricRobustEstimatorListener 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. 9 points).

PROSACQuadricRobustEstimator

public PROSACQuadricRobustEstimator(QuadricRobustEstimatorListener listener,
 List<Point3D> points,
 double[] qualityScores)

Constructor.

Parameters:

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

points - 3D points to estimate a quadric.

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 QuadricRobustEstimator

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 QuadricRobustEstimator

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. 9 samples).

isReady

public boolean isReady()

Indicates if estimator is ready to start the conic 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 QuadricRobustEstimator

Returns:

true if estimator is ready, false otherwise.

estimate

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

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

Specified by:

estimate in class QuadricRobustEstimator

Returns:

a 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 QuadricRobustEstimator

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.