Package com.irurueta.geometry.refiners

Class PairMatchesAndInliersDataRefiner<T,S1,S2>

java.lang.Object

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

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

com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner<T,S1,S2>

Type Parameters:

T - type of instance to be refined.

S1 - type of matched samples in 1st set.

S2 - type of matched samples in 2nd set.

Direct Known Subclasses:

AffineTransformation2DRefiner, AffineTransformation3DRefiner, EuclideanTransformation2DRefiner, EuclideanTransformation3DRefiner, MetricTransformation2DRefiner, MetricTransformation3DRefiner, PinholeCameraRefiner, ProjectiveTransformation2DRefiner, ProjectiveTransformation3DRefiner

public abstract class PairMatchesAndInliersDataRefiner<T,S1,S2>
extends InliersDataRefiner<T>

Refines an instance of type T by taking into account an initial estimation, inlier matches, their residuals and pairs of matches samples. 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

Modifier and Type	Field	Description
protected List<S1>	samples1	1st set of paired samples.
protected List<S2>	samples2	2nd set of paired 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

Modifier	Constructor	Description
protected	PairMatchesAndInliersDataRefiner()	Constructor.
protected	PairMatchesAndInliersDataRefiner(T initialEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<S1> samples1, List<S2> samples2)	Constructor.
protected	PairMatchesAndInliersDataRefiner(T initialEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<S1> samples1, List<S2> samples2)	Constructor.

Method Summary

Modifier and Type	Method	Description
List<S1>	getSamples1()	Gets 1st set of paired samples.
List<S2>	getSamples2()	Gets 2nd set of paired samples.
boolean	isReady()	Indicates whether this refiner is ready to start refinement computation.
void	setSamples1(List<S1> samples1)	Sets 1st set of paired samples.
void	setSamples2(List<S2> samples2)	Sets 2nd set of paired samples.

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, refine, refine, setCovarianceKept, setInitialEstimation, setListener

Methods inherited from class java.lang.Object

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

Field Details

samples1

protected List<S1> samples1

1st set of paired samples.

samples2

protected List<S2> samples2

2nd set of paired samples.

Constructor Details

PairMatchesAndInliersDataRefiner

protected PairMatchesAndInliersDataRefiner()

Constructor.

PairMatchesAndInliersDataRefiner

protected PairMatchesAndInliersDataRefiner(T initialEstimation,
 boolean keepCovariance,
 BitSet inliers,
 double[] residuals,
 int numInliers,
 List<S1> samples1,
 List<S2> samples2)

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.

samples1 - 1st set of paired samples.

samples2 - 2nd set of paired samples.

PairMatchesAndInliersDataRefiner

protected PairMatchesAndInliersDataRefiner(T initialEstimation,
 boolean keepCovariance,
 com.irurueta.numerical.robust.InliersData inliersData,
 List<S1> samples1,
 List<S2> samples2)

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.

samples1 - 1st set of paired samples.

samples2 - 2nd set of paired samples.

Method Details

getSamples1

public List<S1> getSamples1()

Gets 1st set of paired samples.

Returns:

1st set of paired samples.

setSamples1

public void setSamples1(List<S1> samples1)
                 throws LockedException

Sets 1st set of paired samples.

Parameters:

samples1 - 1st set of paired samples.

Throws:

LockedException - if estimator is locked.

getSamples2

public List<S2> getSamples2()

Gets 2nd set of paired samples.

Returns:

2nd set of paired samples.

setSamples2

public void setSamples2(List<S2> samples2)
                 throws LockedException

Sets 2nd set of paired samples.

Parameters:

samples2 - 2nd set of paired samples.

Throws:

LockedException - if estimator is locked.

isReady

public boolean isReady()

Indicates whether this refiner is ready to start refinement computation.

Specified by:

isReady in class Refiner<T>

Returns:

true if refiner is ready, false otherwise.