Package com.irurueta.geometry.refiners

Class PointCorrespondenceAffineTransformation3DRefiner

java.lang.Object

com.irurueta.geometry.refiners.Refiner<AffineTransformation3D>

com.irurueta.geometry.refiners.InliersDataRefiner<AffineTransformation3D>

com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner<AffineTransformation3D,Point3D,Point3D>

com.irurueta.geometry.refiners.AffineTransformation3DRefiner<Point3D,Point3D>

com.irurueta.geometry.refiners.PointCorrespondenceAffineTransformation3DRefiner

public class PointCorrespondenceAffineTransformation3DRefiner
extends AffineTransformation3DRefiner<Point3D,Point3D>

A 3D affine transformation refiner using point correspondences. This class takes into account an initial estimation, inlier point 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 Point3D	residualTestPoint	Point 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
PointCorrespondenceAffineTransformation3DRefiner()	Constructor.
PointCorrespondenceAffineTransformation3DRefiner(AffineTransformation3D initialEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<Point3D> samples1, List<Point3D> samples2, double refinementStandardDeviation)	Constructor.
PointCorrespondenceAffineTransformation3DRefiner(AffineTransformation3D initialEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<Point3D> samples1, List<Point3D> samples2, double refinementStandardDeviation)	Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	refine(AffineTransformation3D result)	Refines provide initial estimation.
private double	residual(AffineTransformation3D transformation, Point3D inputPoint, Point3D outputPoint)	Computes the residual between the affine transformation and a pair of matched points.
private double	totalResidual(AffineTransformation3D transformation)	Computes total residual among all provided inlier samples.

Methods inherited from class com.irurueta.geometry.refiners.AffineTransformation3DRefiner

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

residualTestPoint

private final Point3D residualTestPoint

Point to be reused when computing residuals.

Constructor Details

PointCorrespondenceAffineTransformation3DRefiner

public PointCorrespondenceAffineTransformation3DRefiner()

Constructor.

PointCorrespondenceAffineTransformation3DRefiner

public PointCorrespondenceAffineTransformation3DRefiner(AffineTransformation3D initialEstimation,
 boolean keepCovariance,
 BitSet inliers,
 double[] residuals,
 int numInliers,
 List<Point3D> samples1,
 List<Point3D> 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.

PointCorrespondenceAffineTransformation3DRefiner

public PointCorrespondenceAffineTransformation3DRefiner(AffineTransformation3D initialEstimation,
 boolean keepCovariance,
 com.irurueta.numerical.robust.InliersData inliersData,
 List<Point3D> samples1,
 List<Point3D> 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(AffineTransformation3D result)
               throws NotReadyException,
LockedException,
RefinerException

Refines provide 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<AffineTransformation3D>

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(AffineTransformation3D transformation,
 Point3D inputPoint,
 Point3D outputPoint)

Computes the residual between the affine transformation and a pair of matched points.

Parameters:

transformation - a transformation.

inputPoint - input 3D point.

outputPoint - output 3D point.

Returns:

residual.

totalResidual

private double totalResidual(AffineTransformation3D transformation)

Computes total residual among all provided inlier samples.

Parameters:

transformation - a transformation.

Returns:

total residual.