Package com.irurueta.geometry.refiners

Class PlaneCorrespondenceProjectiveTransformation3DRefiner

java.lang.Object

com.irurueta.geometry.refiners.Refiner<ProjectiveTransformation3D>

com.irurueta.geometry.refiners.InliersDataRefiner<ProjectiveTransformation3D>

com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner<ProjectiveTransformation3D,Plane,Plane>

com.irurueta.geometry.refiners.ProjectiveTransformation3DRefiner<Plane,Plane>

com.irurueta.geometry.refiners.PlaneCorrespondenceProjectiveTransformation3DRefiner

public class PlaneCorrespondenceProjectiveTransformation3DRefiner
extends ProjectiveTransformation3DRefiner<Plane,Plane>

A 3D projective transformation refiner using plane correspondences. This class takes into account an initial estimation, inlier line matches and their residuals 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
private final Plane	residualTestPlane	Plane to be reused when computing residuals.

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

samples1, samples2

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
PlaneCorrespondenceProjectiveTransformation3DRefiner()	Constructor.
PlaneCorrespondenceProjectiveTransformation3DRefiner(ProjectiveTransformation3D initialEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<Plane> samples1, List<Plane> samples2, double refinementStandardDeviation)	Constructor.
PlaneCorrespondenceProjectiveTransformation3DRefiner(ProjectiveTransformation3D initialEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<Plane> samples1, List<Plane> samples2, double refinementStandardDeviation)	Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	refine(ProjectiveTransformation3D result)	Refines provided initial estimation.
private double	residual(ProjectiveTransformation3D transformation, Plane inputPlane, Plane outputPlane)	Computes the residual between the projective transformation and a pair of matched planes.
private double	totalResidual(ProjectiveTransformation3D transformation)	Computes total residual among all provided inlier samples.

Methods inherited from class com.irurueta.geometry.refiners.ProjectiveTransformation3DRefiner

getRefinementStandardDeviation, refine, setRefinementStandardDeviation

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

getSamples1, getSamples2, isReady, setSamples1, setSamples2

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

Field Details

residualTestPlane

private final Plane residualTestPlane

Plane to be reused when computing residuals.

Constructor Details

PlaneCorrespondenceProjectiveTransformation3DRefiner

public PlaneCorrespondenceProjectiveTransformation3DRefiner()

Constructor.

PlaneCorrespondenceProjectiveTransformation3DRefiner

public PlaneCorrespondenceProjectiveTransformation3DRefiner(ProjectiveTransformation3D initialEstimation,
 boolean keepCovariance,
 BitSet inliers,
 double[] residuals,
 int numInliers,
 List<Plane> samples1,
 List<Plane> samples2,
 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.

samples1 - 1st set of paired samples.

samples2 - 2nd set of paired samples.

refinementStandardDeviation - standard deviation used for Levenberg-Marquardt fitting.

PlaneCorrespondenceProjectiveTransformation3DRefiner

public PlaneCorrespondenceProjectiveTransformation3DRefiner(ProjectiveTransformation3D initialEstimation,
 boolean keepCovariance,
 com.irurueta.numerical.robust.InliersData inliersData,
 List<Plane> samples1,
 List<Plane> samples2,
 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.

samples1 - 1st set of paired samples.

samples2 - 2nd set of paired samples.

refinementStandardDeviation - standard deviation used for Levenberg-Marquardt fitting.

Method Details

refine

public boolean refine(ProjectiveTransformation3D 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<ProjectiveTransformation3D>

Parameters:

result - instance where refined estimation will be stored.

Returns:

true if result improves (error 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).

residual

private double residual(ProjectiveTransformation3D transformation,
 Plane inputPlane,
 Plane outputPlane)

Computes the residual between the projective transformation and a pair of matched planes.

Parameters:

transformation - a transformation.

inputPlane - input 3D plane.

outputPlane - output 3D plane.

Returns:

residual.

totalResidual

private double totalResidual(ProjectiveTransformation3D transformation)

Computes total residual among all provided inlier samples.

Parameters:

transformation - a transformation.

Returns:

total residual.