Package com.irurueta.geometry.refiners

Class ProjectiveTransformation3DRefiner<S1,S2>

java.lang.Object

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

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

com.irurueta.geometry.refiners.PairMatchesAndInliersDataRefiner<ProjectiveTransformation3D,S1,S2>

com.irurueta.geometry.refiners.ProjectiveTransformation3DRefiner<S1,S2>

Type Parameters:

S1 - type of matched samples in 1st set.

S2 - type of matched samples in 2nd set.

Direct Known Subclasses:

PlaneCorrespondenceProjectiveTransformation3DRefiner, PointCorrespondenceProjectiveTransformation3DRefiner

public abstract class ProjectiveTransformation3DRefiner<S1,S2>
extends PairMatchesAndInliersDataRefiner<ProjectiveTransformation3D,S1,S2>

Base class for ProjectiveTransformation3D refiner. Implementations of this class refine a 3D projective transformation by taking into account an initial estimation, inlier point or plane matches 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.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

Modifier	Constructor	Description
protected	ProjectiveTransformation3DRefiner()	Constructor.
protected	ProjectiveTransformation3DRefiner(ProjectiveTransformation3D initialEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<S1> samples1, List<S2> samples2, double refinementStandardDeviation)	Constructor.
protected	ProjectiveTransformation3DRefiner(ProjectiveTransformation3D initialEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<S1> samples1, List<S2> samples2, double refinementStandardDeviation)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	getRefinementStandardDeviation()	Gets standard deviation used for Levenberg-Marquardt fitting during refinement.
ProjectiveTransformation3D	refine()	Refines provided initial estimation.
void	setRefinementStandardDeviation(double refinementStandardDeviation)	Sets standard deviation used for Levenberg-Marquardt fitting during refinement.

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, 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

ProjectiveTransformation3DRefiner

protected ProjectiveTransformation3DRefiner()

Constructor.

ProjectiveTransformation3DRefiner

protected ProjectiveTransformation3DRefiner(ProjectiveTransformation3D initialEstimation,
 boolean keepCovariance,
 BitSet inliers,
 double[] residuals,
 int numInliers,
 List<S1> samples1,
 List<S2> 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.

ProjectiveTransformation3DRefiner

protected ProjectiveTransformation3DRefiner(ProjectiveTransformation3D initialEstimation,
 boolean keepCovariance,
 com.irurueta.numerical.robust.InliersData inliersData,
 List<S1> samples1,
 List<S2> 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

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.

refine

public ProjectiveTransformation3D refine()
                                  throws NotReadyException,
LockedException,
RefinerException

Refines provided initial estimation.

Specified by:

refine in class Refiner<ProjectiveTransformation3D>

Returns:

refines 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).