PROMedSQuadricRobustEstimator.java
/*
* Copyright (C) 2015 Alberto Irurueta Carro (alberto@irurueta.com)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.geometry.estimators;
import com.irurueta.geometry.CoincidentPointsException;
import com.irurueta.geometry.Point3D;
import com.irurueta.geometry.Quadric;
import com.irurueta.numerical.robust.PROMedSRobustEstimator;
import com.irurueta.numerical.robust.PROMedSRobustEstimatorListener;
import com.irurueta.numerical.robust.RobustEstimator;
import com.irurueta.numerical.robust.RobustEstimatorException;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.List;
/**
* Finds the best quadric for provided collection of 3D points using PROMedS
* algorithm.
*/
@SuppressWarnings("DuplicatedCode")
public class PROMedSQuadricRobustEstimator extends QuadricRobustEstimator {
/**
* Default value to be used for stop threshold. Stop threshold can be used
* to keep the algorithm iterating in case that best estimated threshold
* using median of residuals is not small enough. Once a solution is found
* that generates a threshold below this value, the algorithm will stop.
* The stop threshold can be used to prevent the LMedS algorithm iterating
* too many times in cases where samples have a very similar accuracy.
* For instance, in cases where proportion of outliers is very small (close
* to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
* iterate for a long time trying to find the best solution when indeed
* there is no need to do that if a reasonable threshold has already been
* reached.
* Because of this behaviour the stop threshold can be set to a value much
* lower than the one typically used in RANSAC, and yet the algorithm could
* still produce even smaller thresholds in estimated results.
*/
public static final double DEFAULT_STOP_THRESHOLD = 1e-6;
/**
* Minimum allowed stop threshold value.
*/
public static final double MIN_STOP_THRESHOLD = 0.0;
/**
* Threshold to be used to keep the algorithm iterating in case that best
* estimated threshold using median of residuals is not small enough. Once
* a solution is found that generates a threshold below this value, the
* algorithm will stop.
* The stop threshold can be used to prevent the LMedS algorithm iterating
* too many times in cases where samples have a very similar accuracy.
* For instance, in cases where proportion of outliers is very small (close
* to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
* iterate for a long time trying to find the best solution when indeed
* there is no need to do that if a reasonable threshold has already been
* reached.
* Because of this behaviour the stop threshold can be set to a value much
* lower than the one typically used in RANSAC, and yet the algorithm could
* still produce even smaller thresholds in estimated results.
*/
private double stopThreshold;
/**
* Quality scores corresponding to each pair of matched points.
* The larger the score value the better the quality of the matching.
*/
private double[] qualityScores;
/**
* Constructor.
*/
public PROMedSQuadricRobustEstimator() {
super();
stopThreshold = DEFAULT_STOP_THRESHOLD;
}
/**
* Constructor with points.
*
* @param points 3D points to estimate a quadric.
* @throws IllegalArgumentException if provided list of points don't have
* a size greater or equal than MINIMUM_SIZE.
*/
public PROMedSQuadricRobustEstimator(final List<Point3D> points) {
super(points);
stopThreshold = DEFAULT_STOP_THRESHOLD;
}
/**
* Constructor.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
*/
public PROMedSQuadricRobustEstimator(final QuadricRobustEstimatorListener listener) {
super(listener);
stopThreshold = DEFAULT_STOP_THRESHOLD;
}
/**
* Constructor.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param points 3D points to estimate a quadric.
* @throws IllegalArgumentException if provided list of points don't have
* a size greater or equal than MINIMUM_SIZE.
*/
public PROMedSQuadricRobustEstimator(final QuadricRobustEstimatorListener listener, final List<Point3D> points) {
super(listener, points);
stopThreshold = DEFAULT_STOP_THRESHOLD;
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided point.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than MINIMUM_SIZE (i.e. 5 points).
*/
public PROMedSQuadricRobustEstimator(final double[] qualityScores) {
super();
stopThreshold = DEFAULT_STOP_THRESHOLD;
internalSetQualityScores(qualityScores);
}
/**
* Constructor with points.
*
* @param points 3D points to estimate a quadric.
* @param qualityScores quality scores corresponding to each provided point.
* @throws IllegalArgumentException if provided list of points don't have
* the same size as the list of provided quality scores, or it their size
* is not greater or equal than MINIMUM_SIZE.
*/
public PROMedSQuadricRobustEstimator(final List<Point3D> points, final double[] qualityScores) {
super(points);
if (qualityScores.length != points.size()) {
throw new IllegalArgumentException();
}
stopThreshold = DEFAULT_STOP_THRESHOLD;
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param qualityScores quality scores corresponding to each provided point.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than MINIMUM_SIZE (i.e. 9 points).
*/
public PROMedSQuadricRobustEstimator(final QuadricRobustEstimatorListener listener, final double[] qualityScores) {
super(listener);
stopThreshold = DEFAULT_STOP_THRESHOLD;
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param points 3D points to estimate a quadric.
* @param qualityScores quality scores corresponding to each provided point.
* @throws IllegalArgumentException if provided list of points don't have
* the same size as the list of provided quality scores, or it their size
* is not greater or equal than MINIMUM_SIZE.
*/
public PROMedSQuadricRobustEstimator(
final QuadricRobustEstimatorListener listener, final List<Point3D> points, final double[] qualityScores) {
super(listener, points);
if (qualityScores.length != points.size()) {
throw new IllegalArgumentException();
}
stopThreshold = DEFAULT_STOP_THRESHOLD;
internalSetQualityScores(qualityScores);
}
/**
* Returns threshold to be used to keep the algorithm iterating in case that
* best estimated threshold using median of residuals is not small enough.
* Once a solution is found that generates a threshold below this value, the
* algorithm will stop.
* As in LMedS, the stop threshold can be used to prevent the PROMedS
* algorithm iterating too many times in cases where samples have a very
* similar accuracy.
* For instance, in cases where proportion of outliers is very small (close
* to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
* iterate for a long time trying to find the best solution when indeed
* there is no need to do that if a reasonable threshold has already been
* reached.
* Because of this behaviour the stop threshold can be set to a value much
* lower than the one typically used in RANSAC, and yet the algorithm could
* still produce even smaller thresholds in estimated results.
*
* @return stop threshold to stop the algorithm prematurely when a certain
* accuracy has been reached.
*/
public double getStopThreshold() {
return stopThreshold;
}
/**
* Sets threshold to be used to keep the algorithm iterating in case that
* best estimated threshold using median of residuals is not small enough.
* Once a solution is found that generates a threshold below this value, the
* algorithm will stop.
* As in LMedS, the stop threshold can be used to prevent the PROMedS
* algorithm iterating too many times in cases where samples have a very
* similar accuracy.
* For instance, in cases where proportion of outliers is very small (close
* to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
* iterate for a long time trying to find the best solution when indeed
* there is no need to do that if a reasonable threshold has already been
* reached.
* Because of this behaviour the stop threshold can be set to a value much
* lower than the one typically used in RANSAC, and yet the algorithm could
* still produce even smaller thresholds in estimated results.
*
* @param stopThreshold stop threshold to stop the algorithm prematurely
* when a certain accuracy has been reached.
* @throws IllegalArgumentException if provided value is zero or negative.
* @throws LockedException if robust estimator is locked because an
* estimation is already in progress.
*/
public void setStopThreshold(final double stopThreshold) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
if (stopThreshold <= MIN_STOP_THRESHOLD) {
throw new IllegalArgumentException();
}
this.stopThreshold = stopThreshold;
}
/**
* Returns quality scores corresponding to each provided point.
* The larger the score value the better the quality of the sampled point.
*
* @return quality scores corresponding to each point.
*/
@Override
public double[] getQualityScores() {
return qualityScores;
}
/**
* Sets quality scores corresponding to each provided point.
* The larger the score value the better the quality of the sampled point.
*
* @param qualityScores quality scores corresponding to each point.
* @throws LockedException if robust estimator is locked because an
* estimation is already in progress.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than MINIMUM_SIZE (i.e. 5 samples).
*/
@Override
public void setQualityScores(final double[] qualityScores) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetQualityScores(qualityScores);
}
/**
* Indicates if estimator is ready to start the quadric estimation.
* This is true when input data (i.e. 3D points and quality scores) are
* provided and a minimum of MINIMUM_SIZE points are available.
*
* @return true if estimator is ready, false otherwise.
*/
@Override
public boolean isReady() {
return super.isReady() && qualityScores != null && qualityScores.length == points.size();
}
/**
* Estimates a quadric using a robust estimator and the best set of 3D points
* that fit into the locus of the estimated quadric found using the robust
* estimator.
*
* @return a quadric.
* @throws LockedException if robust estimator is locked because an
* estimation is already in progress.
* @throws NotReadyException if provided input data is not enough to start
* the estimation.
* @throws RobustEstimatorException if estimation fails for any reason
* (i.e. numerical instability, no solution available, etc).
*/
@Override
public Quadric estimate() throws LockedException, NotReadyException, RobustEstimatorException {
if (isLocked()) {
throw new LockedException();
}
if (!isReady()) {
throw new NotReadyException();
}
final var innerEstimator = new PROMedSRobustEstimator<>(new PROMedSRobustEstimatorListener<Quadric>() {
@Override
public double getThreshold() {
return stopThreshold;
}
@Override
public int getTotalSamples() {
return points.size();
}
@Override
public int getSubsetSize() {
return QuadricRobustEstimator.MINIMUM_SIZE;
}
@Override
public void estimatePreliminarSolutions(final int[] samplesIndices, final List<Quadric> solutions) {
final var point1 = points.get(samplesIndices[0]);
final var point2 = points.get(samplesIndices[1]);
final var point3 = points.get(samplesIndices[2]);
final var point4 = points.get(samplesIndices[3]);
final var point5 = points.get(samplesIndices[4]);
final var point6 = points.get(samplesIndices[5]);
final var point7 = points.get(samplesIndices[6]);
final var point8 = points.get(samplesIndices[7]);
final var point9 = points.get(samplesIndices[8]);
try {
final var quadric = new Quadric(point1, point2, point3, point4, point5, point6, point7, point8,
point9);
solutions.add(quadric);
} catch (final CoincidentPointsException e) {
// if points are coincident, no solution is added
}
}
@Override
public double computeResidual(final Quadric currentEstimation, final int i) {
return residual(currentEstimation, points.get(i));
}
@Override
public boolean isReady() {
return PROMedSQuadricRobustEstimator.this.isReady();
}
@Override
public void onEstimateStart(final RobustEstimator<Quadric> estimator) {
if (listener != null) {
listener.onEstimateStart(PROMedSQuadricRobustEstimator.this);
}
}
@Override
public void onEstimateEnd(final RobustEstimator<Quadric> estimator) {
if (listener != null) {
listener.onEstimateEnd(PROMedSQuadricRobustEstimator.this);
}
}
@Override
public void onEstimateNextIteration(final RobustEstimator<Quadric> estimator, final int iteration) {
if (listener != null) {
listener.onEstimateNextIteration(PROMedSQuadricRobustEstimator.this, iteration);
}
}
@Override
public void onEstimateProgressChange(final RobustEstimator<Quadric> estimator, final float progress) {
if (listener != null) {
listener.onEstimateProgressChange(PROMedSQuadricRobustEstimator.this, progress);
}
}
@Override
public double[] getQualityScores() {
return qualityScores;
}
});
try {
locked = true;
innerEstimator.setConfidence(confidence);
innerEstimator.setMaxIterations(maxIterations);
innerEstimator.setProgressDelta(progressDelta);
return innerEstimator.estimate();
} catch (final com.irurueta.numerical.LockedException e) {
throw new LockedException(e);
} catch (final com.irurueta.numerical.NotReadyException e) {
throw new NotReadyException(e);
} finally {
locked = false;
}
}
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
@Override
public RobustEstimatorMethod getMethod() {
return RobustEstimatorMethod.PROMEDS;
}
/**
* Sets quality scores corresponding to each provided point.
* This method is used internally and does not check whether instance is
* locked or not.
*
* @param qualityScores quality scores to be set.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than MINIMUM_SIZE.
*/
private void internalSetQualityScores(final double[] qualityScores) {
if (qualityScores.length < MINIMUM_SIZE) {
throw new IllegalArgumentException();
}
this.qualityScores = qualityScores;
}
}