Package com.irurueta.geometry.estimators

Class SphereRobustEstimator

java.lang.Object
com.irurueta.geometry.estimators.SphereRobustEstimator
Direct Known Subclasses:
LMedSSphereRobustEstimator, MSACSphereRobustEstimator, PROMedSSphereRobustEstimator, PROSACSphereRobustEstimator, RANSACSphereRobustEstimator
public abstract class SphereRobustEstimator extends Object
This is an abstract class for algorithms to robustly find the best sphere that fits in a collection of 3D points. Implementations of this class should be able to detect and discard outliers in order to find the best solution.

  • Field Details

    • MINIMUM_SIZE

      public static final int MINIMUM_SIZE
      Minimum number of 3D points required to estimate a sphere.
      See Also:

    • DEFAULT_PROGRESS_DELTA

      public static final float DEFAULT_PROGRESS_DELTA
      Default amount of progress variation before notifying a change in estimation progress. By default, this is set to 5%.
      See Also:

    • MIN_PROGRESS_DELTA

      public static final float MIN_PROGRESS_DELTA
      Minimum allowed value for progress delta.
      See Also:

    • MAX_PROGRESS_DELTA

      public static final float MAX_PROGRESS_DELTA
      Maximum allowed value for progress delta.
      See Also:

    • DEFAULT_CONFIDENCE

      public static final double DEFAULT_CONFIDENCE
      Constant defining default confidence of the estimated result, which is 99%. This means that with a probability of 99% estimation will be accurate because chosen sub-samples will be inliers.
      See Also:

    • DEFAULT_MAX_ITERATIONS

      public static final int DEFAULT_MAX_ITERATIONS
      Default maximum allowed number of iterations.
      See Also:

    • MIN_CONFIDENCE

      public static final double MIN_CONFIDENCE
      Minimum allowed confidence value.
      See Also:

    • MAX_CONFIDENCE

      public static final double MAX_CONFIDENCE
      Maximum allowed confidence value.
      See Also:

    • MIN_ITERATIONS

      public static final int MIN_ITERATIONS
      Minimum allowed number of iterations.
      See Also:

    • DEFAULT_ROBUST_METHOD

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

    • listener

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

    • locked

      protected volatile boolean locked
      Indicates if this estimator is locked because an estimation is being computed.

    • progressDelta

      protected float progressDelta
      Amount of progress variation before notifying a progress change during estimation.

    • confidence

      protected double confidence
      Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.

    • maxIterations

      protected int maxIterations
      Maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.

    • points

      protected List<Point3D> points
      List of points to be used to estimate a sphere. Provided list must have a size greater or equal than MINIMUM_SIZE.

  • Constructor Details

    • SphereRobustEstimator

      protected SphereRobustEstimator()
      Constructor.

    • SphereRobustEstimator

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

    • SphereRobustEstimator

      protected SphereRobustEstimator(List<Point3D> points)
      Constructor with points.
      Parameters:
      points - 3D points to estimate a sphere.
      Throws:
      IllegalArgumentException - if provided list of points don't have a size greater or equal than MINIMUM_SIZE.

    • SphereRobustEstimator

      protected SphereRobustEstimator(SphereRobustEstimatorListener 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 sphere.
      Throws:
      IllegalArgumentException - if provided list of points don't have a size greater or equal than MINIMUM_SIZE.

  • Method Details

    • getListener

      public SphereRobustEstimatorListener getListener()
      Returns reference to listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Returns:
      listener to be notified of events.

    • setListener

      public void setListener(SphereRobustEstimatorListener listener) throws LockedException
      Sets listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Parameters:
      listener - listener to be notified of events.
      Throws:
      LockedException - if robust estimator is locked.

    • isListenerAvailable

      public boolean isListenerAvailable()
      Indicates whether listener has been provided and is available for retrieval.
      Returns:
      true if available, false otherwise.

    • isLocked

      public boolean isLocked()
      Indicates if this instance is locked because estimation is being computed
      Returns:
      true if locked, false otherwise.

    • getProgressDelta

      public float getProgressDelta()
      Returns amount of progress variation before notifying a progress change during estimation.
      Returns:
      amount of progress variation before notifying a progress change during estimation.

    • setProgressDelta

      public void setProgressDelta(float progressDelta) throws LockedException
      Sets amount of progress variation before notifying a progress change during estimation.
      Parameters:
      progressDelta - amount of progress variation before notifying a progress change during estimation.
      Throws:
      IllegalArgumentException - if progress delta is less than zero or greater than 1.
      LockedException - if this estimator is locked because an estimation is being computed.

    • getConfidence

      public double getConfidence()
      Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
      Returns:
      amount of confidence as a value between 0.0 and 1.0.

    • setConfidence

      public void setConfidence(double confidence) throws LockedException
      Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
      Parameters:
      confidence - confidence to be set as a value between 0.0 and 1.0.
      Throws:
      IllegalArgumentException - if provided value is not between 0.0 and 1.0.
      LockedException - if this estimator is locked because an estimator is being computed.

    • getMaxIterations

      public int getMaxIterations()
      Returns maximum allowed number of iterations. If maximum allowed number of iterations is achieved without converging to a result when calling estimate(), a RobustEstimatorException will be raised.
      Returns:
      maximum allowed number of iterations.

    • setMaxIterations

      public void setMaxIterations(int maxIterations) throws LockedException
      Sets maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
      Parameters:
      maxIterations - maximum allowed number of iterations to be set.
      Throws:
      IllegalArgumentException - if provided value is less than 1.
      LockedException - if this estimator is locked because an estimation is being computed.

    • getPoints

      public List<Point3D> getPoints()
      Returns list of points to be used to estimate a sphere. Provided list must have a size greater or equal than MINIMUM_SIZE.
      Returns:
      list of points to be used to estimate a sphere.

    • setPoints

      public void setPoints(List<Point3D> points) throws LockedException
      Sets list of points to be used to estimate a sphere. Provided list must have a size greater or equal than MINIMUM_SIZE.
      Parameters:
      points - list of points to be used to estimate a sphere.
      Throws:
      IllegalArgumentException - if provided list of points don't have a size greater or equal 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 sphere estimation. This is true when a minimum if MINIMUM_SIZE points are available.
      Returns:
      true if estimator is ready, false otherwise.

    • getQualityScores

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

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws LockedException
      Sets quality scores corresponding to each point. 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. 4 samples).

    • create

      public static SphereRobustEstimator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a sphere robust estimator based on 3D point samples and using provided robust estimator method.
      Parameters:
      method - method of a robust estimator algorithm to estimate the best sphere.
      Returns:
      an instance of a sphere robust estimator.

    • create

      public static SphereRobustEstimator create(List<Point3D> points, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a sphere robust estimator based on 3D point samples and using provided points and robust estimator method.
      Parameters:
      points - 3D points to estimate a sphere.
      method - method of a robust estimator algorithm to estimate the best sphere.
      Returns:
      an instance of a sphere robust estimator.
      Throws:
      IllegalArgumentException - if provided list of points don't have a size greater or equal than MINIMUM_SIZE.

    • create

      public static SphereRobustEstimator create(SphereRobustEstimatorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a sphere robust estimator based on 3D point samples and using provided listener.
      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 sphere.
      Returns:
      an instance of a sphere robust estimator.

    • create

      public static SphereRobustEstimator create(SphereRobustEstimatorListener listener, List<Point3D> points, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a sphere robust estimator based on 3D point samples and using provided listener and points.
      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 sphere.
      method - method of a robust estimator algorithm to estimate the best sphere.
      Returns:
      an instance of a sphere robust estimator.
      Throws:
      IllegalArgumentException - if provided list of points don't have a size greater or equal than MINIMUM_SIZE.

    • create

      public static SphereRobustEstimator create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a sphere robust estimator based on 3D point samples and using provided robust estimator method.
      Parameters:
      qualityScores - quality scores corresponding to each provided point.
      method - method of a robust estimator algorithm to estimate the best sphere.
      Returns:
      an instance of a sphere robust estimator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 4 points).

    • create

      public static SphereRobustEstimator create(List<Point3D> points, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a sphere robust estimator based on 3D point samples and using provided points and robust estimator method.
      Parameters:
      points - 3D points to estimate a sphere.
      qualityScores - quality scores corresponding to each provided point.
      method - method of a robust estimator algorithm to estimate the best sphere.
      Returns:
      an instance of a sphere robust estimator.
      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.

    • create

      public static SphereRobustEstimator create(SphereRobustEstimatorListener listener, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a sphere robust estimator based on 3D point samples and using provided listener.
      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.
      method - method of a robust estimator algorithm to estimate the best sphere.
      Returns:
      an instance of a sphere robust estimator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 4 points).

    • create

      public static SphereRobustEstimator create(SphereRobustEstimatorListener listener, List<Point3D> points, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a sphere robust estimator based on 3D point samples and using provided listener and points.
      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 sphere.
      qualityScores - quality scores corresponding to each provided point.
      method - method of a robust estimator algorithm to estimate the best sphere.
      Returns:
      an instance of a sphere robust estimator.
      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.

    • create

      public static SphereRobustEstimator create()
      Creates a sphere robust estimator based on 3D point samples and using default robust estimator method.
      Returns:
      an instance of a sphere robust estimator.

    • create

      public static SphereRobustEstimator create(List<Point3D> points)
      Creates a sphere robust estimator based on 3D point samples and using provided points and default robust estimator method.
      Parameters:
      points - 3D points to estimate a sphere.
      Returns:
      an instance of a sphere robust estimator.
      Throws:
      IllegalArgumentException - if provided list of points don't have a size greater or equal than MINIMUM_SIZE.

    • create

      public static SphereRobustEstimator create(SphereRobustEstimatorListener listener)
      Creates a sphere robust estimator based on 3D point samples and using provided listener and 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 a sphere robust estimator.

    • create

      public static SphereRobustEstimator create(SphereRobustEstimatorListener listener, List<Point3D> points)
      Creates a sphere robust estimator based on 3D point samples and using provided listener and points and default robust estimator method.
      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 sphere.
      Returns:
      an instance of a sphere robust estimator.
      Throws:
      IllegalArgumentException - if provided list of points don't have a size greater or equal than MINIMUM_SIZE.

    • create

      public static SphereRobustEstimator create(double[] qualityScores)
      Creates a sphere robust estimator based on 3D point samples and using default robust estimator method.
      Parameters:
      qualityScores - quality scores corresponding to each provided point.
      Returns:
      an instance of a sphere robust estimator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 4 points).

    • create

      public static SphereRobustEstimator create(List<Point3D> points, double[] qualityScores)
      Creates a sphere robust estimator based on 3D point samples and using provided points and default estimator method.
      Parameters:
      points - 3D points to estimate a sphere.
      qualityScores - quality scores corresponding to each provided point.
      Returns:
      an instance of a sphere robust estimator.
      Throws:
      IllegalArgumentException - if provided list of points don't have the same size as the list of provided quality scores, or if their size is not greater or equal than MINIMUM_SIZE.

    • create

      public static SphereRobustEstimator create(SphereRobustEstimatorListener listener, double[] qualityScores)
      Creates a sphere robust estimator based on 3D point samples and using provided listener and default 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 provided point.
      Returns:
      an instance of a sphere robust estimator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than MINIMUM_SIZE (i.e. 4 points).

    • create

      public static SphereRobustEstimator create(SphereRobustEstimatorListener listener, List<Point3D> points, double[] qualityScores)
      Creates a sphere robust estimator based on 3D point samples and using provided listener and points and default estimator method.
      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 sphere.
      qualityScores - quality scores corresponding to each provided point.
      Returns:
      an instance of a sphere robust estimator.
      Throws:
      IllegalArgumentException - if provided list of points don't have the same size as the list of provided quality scores, or if their size is not greater or equal than MINIMUM_SIZE.

    • estimate

      public abstract Sphere estimate() throws LockedException, NotReadyException, com.irurueta.numerical.robust.RobustEstimatorException
      Estimates a sphere using a robust estimator and the best set of 3D points that fit into the locus of the estimated sphere found using the robust estimator.
      Returns:
      a sphere.
      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 abstract com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
      Returns method being used for robust estimation.
      Returns:
      method being used for robust estimation.

    • internalSetPoints

      private void internalSetPoints(List<Point3D> points)
      Internal method to set lists of points to be used to estimate a sphere. This method does not check whether estimator is locked or not
      Parameters:
      points - list of points to be used to estimate a sphere
      Throws:
      IllegalArgumentException - if provided list of points doesn't have a size greater or equal than MINIMUM_SIZE

    • residual

      protected double residual(Sphere c, Point3D point)
      Computes the residual between a sphere and a point.
      Parameters:
      c - a sphere.
      point - a 3D point.
      Returns:
      residual.