Package com.irurueta.geometry.refiners

Class Point3DRefiner<T extends Point3D>

java.lang.Object

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

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

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

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

Type Parameters:

T - an implementation of a 3D point.

Direct Known Subclasses:

HomogeneousPoint3DRefiner, InhomogeneousPoint3DRefiner

public abstract class Point3DRefiner<T extends Point3D>
extends SamplesAndInliersDataRefiner<T,Plane>

Refines a 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

Modifier and Type	Field	Description
private double	refinementStandardDeviation	Standard deviation used for Levenberg-Marquardt fitting during refinement.

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

Modifier	Constructor	Description
protected	Point3DRefiner()	Constructor.
protected	Point3DRefiner(T initialEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<Plane> samples, double refinementStandardDeviation)	Constructor.
protected	Point3DRefiner(T initialEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<Plane> samples, double refinementStandardDeviation)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	getRefinementStandardDeviation()	Gets standard deviation used for Levenberg-Marquardt fitting during refinement.
protected double	residual(Point3D point, Plane plane)	Computes the residual between a point and a plane as their distance.
void	setRefinementStandardDeviation(double refinementStandardDeviation)	Sets standard deviation used for Levenberg-Marquardt fitting during refinement.
protected double	totalResidual(Point3D point)	Computes total residual among all provided inlier samples.

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, 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

refinementStandardDeviation

private double refinementStandardDeviation

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.

Constructor Details

Point3DRefiner

protected Point3DRefiner()

Constructor.

Point3DRefiner

protected Point3DRefiner(T 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.

Point3DRefiner

protected Point3DRefiner(T 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

getRefinementStandardDeviation

public 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.

Returns:

standard deviation used for refinement.

setRefinementStandardDeviation

public void setRefinementStandardDeviation(double refinementStandardDeviation)
                                    throws LockedException

Sets 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.

Parameters:

refinementStandardDeviation - standard deviation used for refinement.

Throws:

LockedException - if estimator is locked.

residual

protected double residual(Point3D point,
 Plane plane)

Computes the residual between a point and a plane as their distance.

Parameters:

point - a point.

plane - a plane.

Returns:

residual (distance between provided point and plane).

totalResidual

protected double totalResidual(Point3D point)

Computes total residual among all provided inlier samples.

Parameters:

point - a point.

Returns:

total residual.