Package com.irurueta.geometry.estimators

Class PlaneCorrespondenceAffineTransformation3DRobustEstimator

java.lang.Object
com.irurueta.geometry.estimators.AffineTransformation3DRobustEstimator
com.irurueta.geometry.estimators.PlaneCorrespondenceAffineTransformation3DRobustEstimator
Direct Known Subclasses:
LMedSPlaneCorrespondenceAffineTransformation3DRobustEstimator, MSACPlaneCorrespondenceAffineTransformation3DRobustEstimator, PROMedSPlaneCorrespondenceAffineTransformation3DRobustEstimator, PROSACPlaneCorrespondenceAffineTransformation3DRobustEstimator, RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator
public abstract class PlaneCorrespondenceAffineTransformation3DRobustEstimator extends AffineTransformation3DRobustEstimator
This is an abstract class for algorithms to robustly find the best affine 3D transformation for collections of matching planes. Implementations of this class should be able to detect and discard outliers in order to find the best solution.

  • Field Details

    • DEFAULT_ROBUST_METHOD

      public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD
      Default robust estimator method when none is provided.

    • inputPlanes

      protected List<Plane> inputPlanes
      List of planes to be used to estimate an affine 3D transformation. Each line in the list of input lines must be matched with the corresponding line in the list of output lines located at the same position. Hence, both input lines and output lines must have the same size, and their size must be greater or equal than MINIMUM_SIZE.

    • outputPlanes

      protected List<Plane> outputPlanes
      List of planes to be used to estimate an affine 3D transformation. Each point in the list of output lines must be matched with the corresponding line in the list of input lines located at the same position. Hence, both input lines and output lines must have the same size, and their size must be greater or equal than MINIMUM_SIZE.

  • Constructor Details

    • PlaneCorrespondenceAffineTransformation3DRobustEstimator

      protected PlaneCorrespondenceAffineTransformation3DRobustEstimator()
      Constructor.

    • PlaneCorrespondenceAffineTransformation3DRobustEstimator

      protected PlaneCorrespondenceAffineTransformation3DRobustEstimator(List<Plane> inputPlanes, List<Plane> outputPlanes)
      Constructor with lists of planes to be used to estimate an affine 3D transformation. Planes in the list located at the same position are considered to be matched. Hence, both lists must have the same size, and their size must be greater or equal than MINIMUM_SIZE.
      Parameters:
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes ot be used to estimate an affine 3D transformation.
      Throws:
      IllegalArgumentException - if provided lists of planes don't have the same size or their size is smaller than MINIMUM_SIZE.

    • PlaneCorrespondenceAffineTransformation3DRobustEstimator

      protected PlaneCorrespondenceAffineTransformation3DRobustEstimator(AffineTransformation3DRobustEstimatorListener listener)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation stars, ends or its progress significantly changes.

    • PlaneCorrespondenceAffineTransformation3DRobustEstimator

      protected PlaneCorrespondenceAffineTransformation3DRobustEstimator(AffineTransformation3DRobustEstimatorListener listener, List<Plane> inputPlanes, List<Plane> outputPlanes)
      Constructor with listener and lists of planes to be used to estimate affine 3D transformation. Planes in the list located at the same position are considered to be matched. Hence, both lists must have the same size, and their size must be greater or equal than MINIMUM_SIZE.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes to be used to estimate an affine 3D transformation.
      Throws:
      IllegalArgumentException - if provided lists of planes don't have the same size or their size is smaller than MINIMUM_SIZE.

  • Method Details

    • getInputPlanes

      public List<Plane> getInputPlanes()
      Returns list of input planes to be used to estimate an affine 3D transformation. Each plane in the list of input planes must be matched with the corresponding planes in the list of output planes located at the same position. Hence, both input planes and output planes must have the same size, and their size must be greater or equal than MINIMUM_SIZE.
      Returns:
      list of input planes to be used to estimate an affine 3D transformation.

    • getOutputPlanes

      public List<Plane> getOutputPlanes()
      Returns list of output planes to be used to estimate an affine 3D transformation. Each plane in the list of output planes must be matched with the corresponding plane in the list of input planes located at the same position. Hence, both input planes and output planes must have the same size, and their size must be greater or equal than MINIMUM_SIZE.
      Returns:
      list of output planes to be used to estimate an affine 3D transformation.

    • setPlanes

      public final void setPlanes(List<Plane> inputPlanes, List<Plane> outputPlanes) throws LockedException
      Sets lists of planes to be used to estimate an affine 3D transformation. Planes in the list located at the same position are considered to be matched. Hence, both lists must have the same size, and their size must be greater or equal than MINIMUM_SIZE.
      Parameters:
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes to be used to estimate an affine 3D transformation.
      Throws:
      IllegalArgumentException - if provided lists of planes don't have the same size or their size is smaller than MINIMUM_SIZE.
      LockedException - if estimator is locked because a computation is already in progress.

    • isReady

      public boolean isReady()
      Indicates if estimator is ready to start the affine 3D transformation estimation. This is true when input data (i.e. lists of matched planes) are provided and a minimum of MINIMUM_SIZE lines are available.
      Returns:
      true if estimator is ready, false otherwise.

    • getQualityScores

      public double[] getQualityScores()
      Returns quality scores corresponding to each pair of matched planes. The larger the score value the better the quality of the matching. This implementation always returns null. Subclasses using quality scores must implement proper behaviour.
      Returns:
      quality scores corresponding to each pair of matched points.

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws LockedException
      Sets quality scores corresponding to each pair of matched planes. The larger the score value the better the quality of the matching. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.
      Parameters:
      qualityScores - quality scores corresponding to each pair of matched points.
      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. 3 samples).

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates an affine 3D transformation estimator based on 3D plane correspondences and using provided robust estimator method.
      Parameters:
      method - method of a robust estimator algorithm to estimate the best affine 3D transformation.
      Returns:
      an instance of affine 3D transformation estimator.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(List<Plane> inputPlanes, List<Plane> outputPlanes, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates an affine 3D transformation estimator based on 3D plane correspondences and using provided robust estimator method.
      Parameters:
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes to be used to estimate an affine 3D transformation.
      method - method of a robust estimator algorithm to estimate the best affine 3D transformation.
      Returns:
      an instance of affine 3D transformation estimator.
      Throws:
      IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(AffineTransformation3DRobustEstimatorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates an affine 3D transformation estimator based on 3D plane correspondences and using provided robust estimator method.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      method - method of a robust estimator algorithm to estimate the best affine 3D transformation.
      Returns:
      an instance of affine 3D transformation estimator.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(AffineTransformation3DRobustEstimatorListener listener, List<Plane> inputPlanes, List<Plane> outputPlanes, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates an affine 3D transformation estimator based on 3D line correspondences and using provided robust estimator method.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      inputPlanes - list of input lines to be used to estimate an affine 3D transformation.
      outputPlanes - list of output lines to be used to estimate an affine 3D transformation.
      method - method of a robust estimator algorithm to estimate best affine 3D transformation.
      Returns:
      an instance of affine 3D transformation estimator.
      Throws:
      IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates an affine 3D transformation estimator based on 3D plane correspondences and using provided robust estimator method.
      Parameters:
      qualityScores - quality scores corresponding to each pair of matched planes.
      method - method of a robust estimator algorithm to estimate the best affine 3D transformation.
      Returns:
      an instance of affine 3D transformation estimator.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(List<Plane> inputPlanes, List<Plane> outputPlanes, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates an affine 3D transformation estimator based on plane correspondences and using provided robust estimator method.
      Parameters:
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes to be used to estimate an affine 3D transformation.
      qualityScores - quality scores corresponding to each pair of matched planes.
      method - method of a robust estimator algorithm to estimate the best affine 3D transformation.
      Returns:
      an instance of affine 3D transformation estimator.
      Throws:
      IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(AffineTransformation3DRobustEstimatorListener listener, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates an affine 3D transformation estimator based on plane correspondences and using provided robust estimator method.
      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 pair of matched lines.
      method - method of a robust estimator algorithm to estimate the best affine 3D transformation.
      Returns:
      an instance of affine 3D transformation estimator.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(AffineTransformation3DRobustEstimatorListener listener, List<Plane> inputPlanes, List<Plane> outputPlanes, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates an affine 3D transformation estimator based on plane correspondences and using provided robust estimator method.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes to be used to estimate an affine 3D transformation.
      qualityScores - quality scores corresponding to each pair of matched planes.
      method - method of a robust estimator algorithm to estimate the best affine 3D transformation.
      Returns:
      an instance of affine 3D transformation estimator.
      Throws:
      IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create()
      Creates an affine 3D transformation estimator based on plane correspondences and using default robust estimator method.
      Returns:
      an instance of affine 3D transformation estimator.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(List<Plane> inputPlanes, List<Plane> outputPlanes)
      Creates an affine 3D transformation estimator based on plane correspondences and using default robust estimator method.
      Parameters:
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes to be used to estimate an affine 3D transformation.
      Returns:
      an instance of affine 3D transformation estimator.
      Throws:
      IllegalArgumentException - if provided lists of planes don't have the same size or their size is smaller than MINIMUM_SIZE.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(AffineTransformation3DRobustEstimatorListener listener)
      Creates an affine 3D transformation estimator based on plane correspondences and using default robust estimator method.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Returns:
      an instance of affine 3D transformation estimator.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(AffineTransformation3DRobustEstimatorListener listener, List<Plane> inputPlanes, List<Plane> outputPlanes)
      Creates an affine 3D transformation estimator based on plane correspondences and using default robust estimator method.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes to be used to estimate an affine 3D transformation.
      Returns:
      an instance of affine 3D transformation estimator.
      Throws:
      IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(double[] qualityScores)
      Creates an affine 3D transformation estimator based on plane correspondences and using default robust estimator method.
      Parameters:
      qualityScores - quality scores corresponding to each pair of matched planes.
      Returns:
      an instance of affine 3D transformation estimator.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(List<Plane> inputPlanes, List<Plane> outputPlanes, double[] qualityScores)
      Creates an affine 3D transformation estimator based on 3D line correspondences and using default robust estimator method.
      Parameters:
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes to be used to estimate an affine 3D transformation.
      qualityScores - quality scores corresponding to each pair of matched planes.
      Returns:
      an instance of affine 3D transformation estimator.
      Throws:
      IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(AffineTransformation3DRobustEstimatorListener listener, double[] qualityScores)
      Creates an affine 3D transformation estimator based on 3D line correspondences and using default robust estimator method.
      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 pair of matched points.
      Returns:
      an instance of affine 3D transformation estimator.

    • create

      public static PlaneCorrespondenceAffineTransformation3DRobustEstimator create(AffineTransformation3DRobustEstimatorListener listener, List<Plane> inputPlanes, List<Plane> outputPlanes, double[] qualityScores)
      Creates an affine 3D transformation estimator based on plane correspondences and using default robust estimator method.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes to be used to estimate an affine 3D transformation.
      qualityScores - quality scores corresponding to each pair of matched lines.
      Returns:
      an instance of affine 3D transformation estimator.
      Throws:
      IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

    • internalSetPlanes

      private void internalSetPlanes(List<Plane> inputPlanes, List<Plane> outputPlanes)
      Internal method to set lists of planes to be used to estimate an affine 3D transformation. This method does not check whether estimator is locked or not.
      Parameters:
      inputPlanes - list of input planes to be used to estimate an affine 3D transformation.
      outputPlanes - list of output planes to be used to estimate an affine 3D transformation.
      Throws:
      IllegalArgumentException - if provided lists of lines don't have the same size or their size is smaller than MINIMUM_SIZE.

    • getResidual

      protected static double getResidual(Plane plane, Plane transformedPlane)
      Computes residual by comparing two lines algebraically by doing the dot product of their parameters. A residual of 0 indicates that dot product was 1 or -1 and lines were equal. A residual of 1 indicates that dot product was 0 and lines were orthogonal. If dot product was -1, then although their director vectors are opposed, lines are considered equal, since sign changes are not taken into account.
      Parameters:
      plane - originally sampled output plane.
      transformedPlane - estimated output plane obtained after using estimated transformation.
      Returns:
      computed residual.

    • attemptRefine

      protected AffineTransformation3D attemptRefine(AffineTransformation3D transformation)
      Attempts to refine provided solution if refinement is requested. This method returns a refined solution of the same provided solution if refinement is not requested or has failed. If refinement is enabled, and it is requested to keep covariance, this method will also keep covariance of refined transformation.
      Parameters:
      transformation - transformation estimated by a robust estimator without refinement.
      Returns:
      solution after refinement (if requested) or the provided non-refined solution if not requested or refinement failed.