Package com.irurueta.geometry.estimators

Class RANSACPointCorrespondenceAffineTransformation3DRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.AffineTransformation3DRobustEstimator

com.irurueta.geometry.estimators.PointCorrespondenceAffineTransformation3DRobustEstimator

com.irurueta.geometry.estimators.RANSACPointCorrespondenceAffineTransformation3DRobustEstimator

public class RANSACPointCorrespondenceAffineTransformation3DRobustEstimator
extends PointCorrespondenceAffineTransformation3DRobustEstimator

Finds the best affine 3D transformation for provided collection of matched 3D points using RANSAC 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	threshold	Threshold to determine whether points are inliers or not when testing possible estimation solutions.

Fields inherited from class com.irurueta.geometry.estimators.PointCorrespondenceAffineTransformation3DRobustEstimator

DEFAULT_ROBUST_METHOD, inputPoints, outputPoints

Fields inherited from class com.irurueta.geometry.estimators.AffineTransformation3DRobustEstimator

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

Constructor	Description
RANSACPointCorrespondenceAffineTransformation3DRobustEstimator()	Constructor.
RANSACPointCorrespondenceAffineTransformation3DRobustEstimator(AffineTransformation3DRobustEstimatorListener listener)	Constructor.
RANSACPointCorrespondenceAffineTransformation3DRobustEstimator(AffineTransformation3DRobustEstimatorListener listener, List<Point3D> inputPoints, List<Point3D> outputPoints)	Constructor with listener and lists of points to be used to estimate an affine 3D transformation.
RANSACPointCorrespondenceAffineTransformation3DRobustEstimator(List<Point3D> inputPoints, List<Point3D> outputPoints)	Constructor with lists of points to be used to estimate an affine 3D transformation.

Method Summary

Modifier and Type	Method	Description
AffineTransformation3D	estimate()	Estimates an affine 3D transformation using a robust estimator and the best set of matched 3D point correspondences found using the robust estimator.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
protected double	getRefinementStandardDeviation()	Gets standard deviation used for Levenberg-Marquardt fitting during refinement.
double	getThreshold()	Returns threshold to determine whether points are inliers or not when testing possible estimation solutions.
boolean	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResidualsEnabled()	Indicates whether residuals must be computed and kept.
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	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.PointCorrespondenceAffineTransformation3DRobustEstimator

attemptRefine, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getInputPoints, getOutputPoints, getQualityScores, isReady, setPoints, setQualityScores

Methods inherited from class com.irurueta.geometry.estimators.AffineTransformation3DRobustEstimator

createFromPlanes, createFromPlanes, createFromPlanes, createFromPlanes, createFromPlanes, createFromPlanes, createFromPlanes, createFromPlanes, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, getConfidence, getCovariance, getInliersData, getListener, getMaxIterations, getProgressDelta, 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_THRESHOLD

public static final double DEFAULT_THRESHOLD

Constant defining default threshold to determine whether points are inliers or not. By default, 1.0 is considered a good value for cases where measures are done on voxels, since typically the minimum resolution is 1 voxel (the equivalent of a pixel in 3D).

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 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.

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

RANSACPointCorrespondenceAffineTransformation3DRobustEstimator

public RANSACPointCorrespondenceAffineTransformation3DRobustEstimator()

Constructor.

RANSACPointCorrespondenceAffineTransformation3DRobustEstimator

public RANSACPointCorrespondenceAffineTransformation3DRobustEstimator(List<Point3D> inputPoints,
 List<Point3D> outputPoints)

Constructor with lists of points to be used to estimate an affine 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 an affine 3D transformation.

outputPoints - list of output points to be used to estimate an affine 3D transformation.

Throws:

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

RANSACPointCorrespondenceAffineTransformation3DRobustEstimator

public RANSACPointCorrespondenceAffineTransformation3DRobustEstimator(AffineTransformation3DRobustEstimatorListener listener)

Constructor.

Parameters:

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

RANSACPointCorrespondenceAffineTransformation3DRobustEstimator

public RANSACPointCorrespondenceAffineTransformation3DRobustEstimator(AffineTransformation3DRobustEstimatorListener listener,
 List<Point3D> inputPoints,
 List<Point3D> outputPoints)

Constructor with listener and lists of points to be used to estimate an affine 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 an affine 3D transformation.

outputPoints - list of output points to be used to estimate an affine 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

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 (i.e. Euclidean distance) a possible solution has on a matched pair of points.

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 (i.e. Euclidean distance) a possible solution has on a matched pair of points.

Parameters:

threshold - threshold to determine whether points are inliers or not when testing possible estimation solutions.

Throws:

IllegalArgumentException - if provided value is equal or less than zero.

LockedException - if robust estimator is locked because an estimation is already in progress.

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 AffineTransformation3D estimate()
                                throws LockedException,
NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Estimates an affine 3D transformation using a robust estimator and the best set of matched 3D point correspondences found using the robust estimator.

Specified by:

estimate in class AffineTransformation3DRobustEstimator

Returns:

an affine 3D transformation.

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 AffineTransformation3DRobustEstimator

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 AffineTransformation3DRobustEstimator

Returns:

standard deviation used for refinement.