Package com.irurueta.geometry.estimators

Class RANSACDualQuadricRobustEstimator

java.lang.Object
com.irurueta.geometry.estimators.DualQuadricRobustEstimator
com.irurueta.geometry.estimators.RANSACDualQuadricRobustEstimator
public class RANSACDualQuadricRobustEstimator extends DualQuadricRobustEstimator
Finds the best dual quadric for provided collection of 3D planes using RANSAC algorithm.

  • Field Details

    • DEFAULT_THRESHOLD

      public static final double DEFAULT_THRESHOLD
      Constant defining default threshold to determine whether planes are inliers or not. Threshold is defined by the equation abs(trans(P) * dQ * P) < t, where trans is the transposition, P is a plane, dQ is a dual quadric and t is a threshold. This equation determines the planes P belonging to the locus of a dual quadric dQ up to a certain threshold.
      See Also:

    • 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:

    • 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 algebraic error a possible solution has on a given line.

  • Constructor Details

    • RANSACDualQuadricRobustEstimator

      public RANSACDualQuadricRobustEstimator()
      Constructor.

    • RANSACDualQuadricRobustEstimator

      public RANSACDualQuadricRobustEstimator(List<Plane> planes)
      Constructor with points.
      Parameters:
      planes - 3D planes to estimate a dual quadric.
      Throws:
      IllegalArgumentException - if provided list of planes don't have a size greater or equal than MINIMUM_SIZE.

    • RANSACDualQuadricRobustEstimator

      public RANSACDualQuadricRobustEstimator(DualQuadricRobustEstimatorListener listener)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • RANSACDualQuadricRobustEstimator

      public RANSACDualQuadricRobustEstimator(DualQuadricRobustEstimatorListener 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 dual quadric.
      Throws:
      IllegalArgumentException - if provided list of planes don't have a size 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 algebraic 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.

    • estimate

      public DualQuadric estimate() throws LockedException, NotReadyException, com.irurueta.numerical.robust.RobustEstimatorException
      Estimates a dual quadric using a robust estimator and the best set of 3D planes that fit into the locus of the estimated dual quadric found using the robust estimator.
      Specified by:
      estimate in class DualQuadricRobustEstimator
      Returns:
      a dual 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 DualQuadricRobustEstimator
      Returns:
      method being used for robust estimation.