Package com.irurueta.geometry.refiners

Class InhomogeneousPoint3DRefiner

java.lang.Object

com.irurueta.geometry.refiners.Refiner<InhomogeneousPoint3D>

com.irurueta.geometry.refiners.InliersDataRefiner<InhomogeneousPoint3D>

com.irurueta.geometry.refiners.SamplesAndInliersDataRefiner<InhomogeneousPoint3D,Plane>

com.irurueta.geometry.refiners.Point3DRefiner<InhomogeneousPoint3D>

com.irurueta.geometry.refiners.InhomogeneousPoint3DRefiner

public class InhomogeneousPoint3DRefiner
extends Point3DRefiner<InhomogeneousPoint3D>

Refines an inhomogeneous 3D point by taking into account an initial estimation, inlier samples and their residuals. This class can be used to find a solution that minimizes error of inliers in LMSE terms. Typically, a refiner is used by a robust estimator, however it can also be useful in some other situations.

Field Summary

Fields inherited from class com.irurueta.geometry.refiners.SamplesAndInliersDataRefiner

samples

Fields inherited from class com.irurueta.geometry.refiners.InliersDataRefiner

inliers, numInliers, residuals

Fields inherited from class com.irurueta.geometry.refiners.Refiner

covariance, DEFAULT_KEEP_COVARIANCE, initialEstimation, keepCovariance, listener, locked

Constructor Summary

Constructors

Constructor	Description
InhomogeneousPoint3DRefiner()	Constructor.
InhomogeneousPoint3DRefiner(InhomogeneousPoint3D initialEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<Plane> samples, double refinementStandardDeviation)	Constructor.
InhomogeneousPoint3DRefiner(InhomogeneousPoint3D initialEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<Plane> samples, double refinementStandardDeviation)	Constructor.

Method Summary

Modifier and Type	Method	Description
InhomogeneousPoint3D	refine()	Refines provided initial estimation.
boolean	refine(InhomogeneousPoint3D result)	Refines provided initial estimation.

Methods inherited from class com.irurueta.geometry.refiners.Point3DRefiner

getRefinementStandardDeviation, residual, setRefinementStandardDeviation, totalResidual

Methods inherited from class com.irurueta.geometry.refiners.SamplesAndInliersDataRefiner

getSamples, isReady, setSamples

Methods inherited from class com.irurueta.geometry.refiners.InliersDataRefiner

getInliers, getNumInliers, getResiduals, getTotalSamples, setInliers, setInliersData, setNumInliers, setResiduals

Methods inherited from class com.irurueta.geometry.refiners.Refiner

getCovariance, getInitialEstimation, getListener, isCovarianceKept, isLocked, setCovarianceKept, setInitialEstimation, setListener

Methods inherited from class java.lang.Object

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

Constructor Details

InhomogeneousPoint3DRefiner

public InhomogeneousPoint3DRefiner()

Constructor.

InhomogeneousPoint3DRefiner

public InhomogeneousPoint3DRefiner(InhomogeneousPoint3D initialEstimation,
 boolean keepCovariance,
 BitSet inliers,
 double[] residuals,
 int numInliers,
 List<Plane> samples,
 double refinementStandardDeviation)

Constructor.

Parameters:

initialEstimation - initial estimation to be set.

keepCovariance - true if covariance of estimation must be kept after refinement, false otherwise.

inliers - set indicating which of the provided matches are inliers.

residuals - residuals for matched samples.

numInliers - number of inliers on initial estimation.

samples - collection of samples.

refinementStandardDeviation - standard deviation used for Levenberg-Marquardt fitting.

InhomogeneousPoint3DRefiner

public InhomogeneousPoint3DRefiner(InhomogeneousPoint3D initialEstimation,
 boolean keepCovariance,
 com.irurueta.numerical.robust.InliersData inliersData,
 List<Plane> samples,
 double refinementStandardDeviation)

Constructor.

Parameters:

initialEstimation - initial estimation to be set.

keepCovariance - true if covariance of estimation must be kept after refinement, false otherwise.

inliersData - inlier data, typically obtained from a robust estimator.

samples - collection of samples.

refinementStandardDeviation - standard deviation used for Levenberg-Marquardt fitting.

Method Details

refine

public InhomogeneousPoint3D refine()
                            throws NotReadyException,
LockedException,
RefinerException

Refines provided initial estimation.

Specified by:

refine in class Refiner<InhomogeneousPoint3D>

Returns:

refined estimation.

Throws:

NotReadyException - if not enough input data has been provided.

LockedException - if estimator is locked because refinement is already in progress.

RefinerException - if refinement fails for some reason (e.g. unable to converge to a result).

refine

public boolean refine(InhomogeneousPoint3D result)
               throws NotReadyException,
LockedException,
RefinerException

Refines provided initial estimation. This method always sets a value into provided result instance regardless of the fact that error has actually improved in LMSE terms or not.

Specified by:

refine in class Refiner<InhomogeneousPoint3D>

Parameters:

result - instance where refined estimation will be stored.

Returns:

true if result improved (decreases) in LMSE terms respect to initial estimation, false if no improvement has been achieved.

Throws:

NotReadyException - if not enough input data has been provided.

LockedException - if estimator is locked because refinement is already in progress.

RefinerException - if refinement fails for some reason (e.g. unable to converge to a result).