Package com.irurueta.geometry.estimators

Class PointCorrespondenceProjectiveTransformation3DRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.ProjectiveTransformation3DRobustEstimator

com.irurueta.geometry.estimators.PointCorrespondenceProjectiveTransformation3DRobustEstimator

Direct Known Subclasses:

LMedSPointCorrespondenceProjectiveTransformation3DRobustEstimator, MSACPointCorrespondenceProjectiveTransformation3DRobustEstimator, PROMedSPointCorrespondenceProjectiveTransformation3DRobustEstimator, PROSACPointCorrespondenceProjectiveTransformation3DRobustEstimator, RANSACPointCorrespondenceProjectiveTransformation3DRobustEstimator

public abstract class PointCorrespondenceProjectiveTransformation3DRobustEstimator
extends ProjectiveTransformation3DRobustEstimator

This is an abstract class for algorithms to robustly find the best projective 3D transformation for collection of matching 3D points. Implementations of this class should be able to detect and discard outliers in order to find the best solution.

Field Summary

Fields

Modifier and Type	Field	Description
static final com.irurueta.numerical.robust.RobustEstimatorMethod	DEFAULT_ROBUST_METHOD	Default robust estimator method when none is provided.
protected List<Point3D>	inputPoints	List of points to be used to estimate a projective 3D transformation.
protected List<Point3D>	outputPoints	List of points to be used to estimate a projective 3D transformation.

Fields inherited from class com.irurueta.geometry.estimators.ProjectiveTransformation3DRobustEstimator

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

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PointCorrespondenceProjectiveTransformation3DRobustEstimator()	Constructor.
protected	PointCorrespondenceProjectiveTransformation3DRobustEstimator(ProjectiveTransformation3DRobustEstimatorListener listener)	Constructor.
protected	PointCorrespondenceProjectiveTransformation3DRobustEstimator(ProjectiveTransformation3DRobustEstimatorListener listener, List<Point3D> inputPoints, List<Point3D> outputPoints)	Constructor with listener and lists of points to be used to estimate a projective 3D transformation.
protected	PointCorrespondenceProjectiveTransformation3DRobustEstimator(List<Point3D> inputPoints, List<Point3D> outputPoints)	Constructor with lists of points to be used to estimate a projective 3D transformation.

Method Summary

Modifier and Type	Method	Description
protected ProjectiveTransformation3D	attemptRefine(ProjectiveTransformation3D transformation)	Attempts to refine provided solution if refinement is requested.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create()	Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(double[] qualityScores)	Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 3D transformation estimator based on 3D point correspondences and using provided robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(ProjectiveTransformation3DRobustEstimatorListener listener)	Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(ProjectiveTransformation3DRobustEstimatorListener listener, double[] qualityScores)	Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(ProjectiveTransformation3DRobustEstimatorListener listener, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 3D transformation estimator based on 3D point correspondences and using provided robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(ProjectiveTransformation3DRobustEstimatorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 3D transformation estimator based on 3D point correspondences and using provided robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(ProjectiveTransformation3DRobustEstimatorListener listener, List<Point3D> inputPoints, List<Point3D> outputPoints)	Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(ProjectiveTransformation3DRobustEstimatorListener listener, List<Point3D> inputPoints, List<Point3D> outputPoints, double[] qualityScores)	Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(ProjectiveTransformation3DRobustEstimatorListener listener, List<Point3D> inputPoints, List<Point3D> outputPoints, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 3D transformation estimator based on 3D point correspondences and using provided robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(ProjectiveTransformation3DRobustEstimatorListener listener, List<Point3D> inputPoints, List<Point3D> outputPoints, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 3D transformation estimator based on 3D point correspondences and using provided robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 3D transformation estimator based on 2D point correspondences and using provided robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(List<Point3D> inputPoints, List<Point3D> outputPoints)	Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(List<Point3D> inputPoints, List<Point3D> outputPoints, double[] qualityScores)	Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(List<Point3D> inputPoints, List<Point3D> outputPoints, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 3D transformation estimator based on 3D point correspondences and using provided robust estimator method.
static PointCorrespondenceProjectiveTransformation3DRobustEstimator	create(List<Point3D> inputPoints, List<Point3D> outputPoints, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a projective 3D transformation estimator based on 3D point correspondences and using provided robust estimator method.
List<Point3D>	getInputPoints()	Returns list of input points to be used to estimate a projective 3D transformation.
List<Point3D>	getOutputPoints()	Returns list of output points to be used to estimate a projective 3D transformation.
double[]	getQualityScores()	Returns quality scores corresponding to each pair of matched points.
private void	internalSetPoints(List<Point3D> inputPoints, List<Point3D> outputPoints)	Internal method to set lists of points to be used to estimate a projective 3D transformation.
boolean	isReady()	Indicates if estimator is ready to start the projective 3D transformation estimation.
final void	setPoints(List<Point3D> inputPoints, List<Point3D> outputPoints)	Sets lists of points to be used to estimate a projective 3D transformation.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each pair of matched points.

Methods inherited from class com.irurueta.geometry.estimators.ProjectiveTransformation3DRobustEstimator

createFromPlanes, createFromPlanes, createFromPlanes, createFromPlanes, createFromPlanes, createFromPlanes, createFromPlanes, createFromPlanes, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, estimate, getConfidence, getCovariance, getInliersData, getListener, getMaxIterations, getMethod, getProgressDelta, getRefinementStandardDeviation, isCovarianceKept, isListenerAvailable, isLocked, isResultRefined, setConfidence, setCovarianceKept, setListener, setMaxIterations, setProgressDelta, setResultRefined

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

DEFAULT_ROBUST_METHOD

public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD

Default robust estimator method when none is provided.

inputPoints

protected List<Point3D> inputPoints

List of points to be used to estimate a projective 3D transformation. Each point in the list of input points must be matched with the corresponding point in the list of output points located at the same position. Hence, both input points and output points must have the same size, and their size must be greater or equal than MINIMUM_SIZE.

outputPoints

protected List<Point3D> outputPoints

List of points to be used to estimate a projective 3D transformation. Each point in the list of output points must be matched with the corresponding point in the list of input points located at the same position. Hence, both input points and output points must have the same size, and their size must be greater or equal than MINIMUM_SIZE.

Constructor Details

PointCorrespondenceProjectiveTransformation3DRobustEstimator

protected PointCorrespondenceProjectiveTransformation3DRobustEstimator()

Constructor.

PointCorrespondenceProjectiveTransformation3DRobustEstimator

protected PointCorrespondenceProjectiveTransformation3DRobustEstimator(List<Point3D> inputPoints,
 List<Point3D> outputPoints)

Constructor with lists of points to be used to estimate a projective 3D transformation. Points 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:

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

PointCorrespondenceProjectiveTransformation3DRobustEstimator

protected PointCorrespondenceProjectiveTransformation3DRobustEstimator(ProjectiveTransformation3DRobustEstimatorListener listener)

Constructor.

Parameters:

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

PointCorrespondenceProjectiveTransformation3DRobustEstimator

protected PointCorrespondenceProjectiveTransformation3DRobustEstimator(ProjectiveTransformation3DRobustEstimatorListener listener,
 List<Point3D> inputPoints,
 List<Point3D> outputPoints)

Constructor with listener and lists of points to be used to estimate a projective 3D transformation. Points 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.

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

Method Details

getInputPoints

public List<Point3D> getInputPoints()

Returns list of input points to be used to estimate a projective 3D transformation. Each point in the list of input points must be matched with the corresponding point in the list of output points located at the same position. Hence, both input points and output points must have the same size, and their size must be greater or equal than MINIMUM_SIZE.

Returns:

list of input points to be used to estimate a projective 3D transformation.

getOutputPoints

public List<Point3D> getOutputPoints()

Returns list of output points to be used to estimate a projective 3D transformation. Each point in the list of output points must be matched with the corresponding point in the list of input points located at the same position. Hence, both input points and output points must have the same size, and their size must be greater or equal than MINIMUM_SIZE.

Returns:

list of output points to be used to estimate an affine 2D transformation.

setPoints

public final void setPoints(List<Point3D> inputPoints,
 List<Point3D> outputPoints)
                     throws LockedException

Sets lists of points to be used to estimate a projective 3D transformation. Points 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:

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

Throws:

IllegalArgumentException - if provided lists of points 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 projective 3D transformation estimation. This is true when input data (i.e. lists of matched points) are provided and a minimum of MINIMUM_SIZE points are available.

Returns:

true if estimator is ready, false otherwise.

getQualityScores

public double[] getQualityScores()

Returns quality scores corresponding to each pair of matched points. 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 points. 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 PointCorrespondenceProjectiveTransformation3DRobustEstimator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 3D transformation estimator based on 2D point correspondences and using provided robust estimator method.

Parameters:

method - method of a robust estimator algorithm to estimate best projective 3D transformation.

Returns:

an instance of projective 3D transformation estimator.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(List<Point3D> inputPoints,
 List<Point3D> outputPoints,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 3D transformation estimator based on 3D point correspondences and using provided robust estimator method.

Parameters:

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

method - method of a robust estimator algorithm to estimate best projective 3D transformation.

Returns:

an instance of projective 3D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(ProjectiveTransformation3DRobustEstimatorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 3D transformation estimator based on 3D point 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 best projective 3D transformation.

Returns:

an instance of projective 3D transformation estimator.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(ProjectiveTransformation3DRobustEstimatorListener listener,
 List<Point3D> inputPoints,
 List<Point3D> outputPoints,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 3D transformation estimator based on 3D point 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.

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

method - method of a robust estimator algorithm to estimate the best affine 3D transformation.

Returns:

an instance of projective 3D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 3D transformation estimator based on 3D point correspondences and using provided robust estimator method.

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate best projective 3D transformation.

Returns:

an instance of affine 3D transformation estimator.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(List<Point3D> inputPoints,
 List<Point3D> outputPoints,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 3D transformation estimator based on 3D point correspondences and using provided robust estimator method.

Parameters:

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate best projective 3D transformation.

Returns:

an instance of projective 3D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(ProjectiveTransformation3DRobustEstimatorListener listener,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 3D transformation estimator based on 3D point 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 points.

method - method of a robust estimator algorithm to estimate best projective 3D transformation.

Returns:

an instance of projective 3D transformation estimator.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(ProjectiveTransformation3DRobustEstimatorListener listener,
 List<Point3D> inputPoints,
 List<Point3D> outputPoints,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a projective 3D transformation estimator based on 3D point 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.

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate best projective 3D transformation.

Returns:

an instance of projective 3D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create()

Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.

Returns:

an instance of projective 3D transformation estimator.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(List<Point3D> inputPoints,
 List<Point3D> outputPoints)

Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.

Parameters:

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

Returns:

an instance of projective 3D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(ProjectiveTransformation3DRobustEstimatorListener listener)

Creates a projective 3D transformation estimator based on 3D point 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 projective 3D transformation estimator.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(ProjectiveTransformation3DRobustEstimatorListener listener,
 List<Point3D> inputPoints,
 List<Point3D> outputPoints)

Creates a projective 3D transformation estimator based on 3D point 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.

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

Returns:

an instance of projective 3D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(double[] qualityScores)

Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of projective 3D transformation estimator.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(List<Point3D> inputPoints,
 List<Point3D> outputPoints,
 double[] qualityScores)

Creates a projective 3D transformation estimator based on 3D point correspondences and using default robust estimator method.

Parameters:

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of projective 3D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(ProjectiveTransformation3DRobustEstimatorListener listener,
 double[] qualityScores)

Creates a projective 3D transformation estimator based on 3D point 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 projective 3D transformation estimator.

create

public static PointCorrespondenceProjectiveTransformation3DRobustEstimator create(ProjectiveTransformation3DRobustEstimatorListener listener,
 List<Point3D> inputPoints,
 List<Point3D> outputPoints,
 double[] qualityScores)

Creates a projective 3D transformation estimator based on 3D point 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.

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of projective 3D transformation estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.

attemptRefine

protected ProjectiveTransformation3D attemptRefine(ProjectiveTransformation3D 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.

internalSetPoints

private void internalSetPoints(List<Point3D> inputPoints,
 List<Point3D> outputPoints)

Internal method to set lists of points to be used to estimate a projective 3D transformation. This method does not check whether estimator is locked or not.

Parameters:

inputPoints - list of input points to be used to estimate a projective 3D transformation.

outputPoints - list of output points to be used to estimate a projective 3D transformation.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than MINIMUM_SIZE.