Package com.irurueta.geometry.refiners

Class SamplesAndInliersDataRefiner<T,S>

java.lang.Object

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

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

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

Type Parameters:

T - type of instance to be refined.

S - type of samples.

Direct Known Subclasses:

Point2DRefiner, Point3DRefiner

public abstract class SamplesAndInliersDataRefiner<T,S>
extends InliersDataRefiner<T>

Refines an instance of type T by taking into account an initial estimation, inlier samples, their residuals and a collection of 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<S>	samples	Collection of 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	SamplesAndInliersDataRefiner()	Constructor.
protected	SamplesAndInliersDataRefiner(T initialEstimation, boolean keepCovariance, com.irurueta.numerical.robust.InliersData inliersData, List<S> samples)	Constructor.
protected	SamplesAndInliersDataRefiner(T initialEstimation, boolean keepCovariance, BitSet inliers, double[] residuals, int numInliers, List<S> samples)	Constructor.

Method Summary

Modifier and Type	Method	Description
List<S>	getSamples()	Gets collection of samples.
boolean	isReady()	Indicates whether this refiner is ready to start refinement computation.
void	setSamples(List<S> samples)	Sets collection of 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

samples

protected List<S> samples

Collection of samples.

Constructor Details

SamplesAndInliersDataRefiner

protected SamplesAndInliersDataRefiner()

Constructor.

SamplesAndInliersDataRefiner

protected SamplesAndInliersDataRefiner(T initialEstimation,
 boolean keepCovariance,
 BitSet inliers,
 double[] residuals,
 int numInliers,
 List<S> samples)

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.

SamplesAndInliersDataRefiner

protected SamplesAndInliersDataRefiner(T initialEstimation,
 boolean keepCovariance,
 com.irurueta.numerical.robust.InliersData inliersData,
 List<S> samples)

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.

Method Details

getSamples

public List<S> getSamples()

Gets collection of samples.

Returns:

collection of samples.

setSamples

public void setSamples(List<S> samples)
                throws LockedException

Sets collection of samples.

Parameters:

samples - collection of 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.