PlaneCorrespondenceProjectiveTransformation3DRobustEstimator.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.Plane;
import com.irurueta.geometry.ProjectiveTransformation3D;
import com.irurueta.geometry.refiners.PlaneCorrespondenceProjectiveTransformation3DRefiner;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.List;
/**
* This is an abstract class for algorithms to robustly find the best projective
* 3D transformation for collections of matching planes.
* Implementations of this class should be able to detect and discard outliers
* in order to find the best solution.
*/
public abstract class PlaneCorrespondenceProjectiveTransformation3DRobustEstimator
extends ProjectiveTransformation3DRobustEstimator {
/**
* Default robust estimator method when none is provided.
*/
public static final RobustEstimatorMethod DEFAULT_ROBUST_METHOD = RobustEstimatorMethod.PROMEDS;
/**
* List of planes to be used to estimate a projective 3D transformation.
* Each line in the list of input lines must be matched with the
* corresponding line in the list of output lines located at the same
* position. Hence, both input lines and output lines must have the
* same size, and their size must be greater or equal than MINIMUM_SIZE.
*/
protected List<Plane> inputPlanes;
/**
* List of planes to be used to estimate a projective 3D transformation.
* Each point in the list of output lines must be matched with the
* corresponding line in the list of input lines located at the same
* position. Hence, both input lines and output lines must have the
* same size, and their size must be greater or equal than MINIMUM_SIZE.
*/
protected List<Plane> outputPlanes;
/**
* Constructor.
*/
protected PlaneCorrespondenceProjectiveTransformation3DRobustEstimator() {
super();
}
/**
* Constructor with lists of planes to be used to estimate a projective 3D
* transformation.
* Planes in the list located at the same position are considered to be
* matched. Hence, both lists must have the same size, and their size must
* be greater or equal than MINIMUM_SIZE.
*
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes ot be used to estimate a
* projective 3D transformation.
* @throws IllegalArgumentException if provided lists of planes don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
protected PlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
final List<Plane> inputPlanes, final List<Plane> outputPlanes) {
super();
internalSetPlanes(inputPlanes, outputPlanes);
}
/**
* Constructor.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
*/
protected PlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
final ProjectiveTransformation3DRobustEstimatorListener listener) {
super(listener);
}
/**
* Constructor with listener and lists of planes to be used to estimate
* projective 3D transformation.
* Planes in the list located at the same position are considered to be
* matched. Hence, both lists must have the same size, and their size must
* be greater or equal than MINIMUM_SIZE.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes to be used to estimate a
* projective 3D transformation.
* @throws IllegalArgumentException if provided lists of planes don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
protected PlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
final ProjectiveTransformation3DRobustEstimatorListener listener,
final List<Plane> inputPlanes, final List<Plane> outputPlanes) {
super(listener);
internalSetPlanes(inputPlanes, outputPlanes);
}
/**
* Returns list of input planes to be used to estimate a projective 3D
* transformation.
* Each plane in the list of input planes must be matched with the
* corresponding planes in the list of output planes located at the same
* position. Hence, both input planes and output planes must have the same
* size, and their size must be greater or equal than MINIMUM_SIZE
*
* @return list of input planes to be used to estimate an affine 3D
* transformation.
*/
public List<Plane> getInputPlanes() {
return inputPlanes;
}
/**
* Returns list of output planes to be used to estimate a projective 3D
* transformation.
* Each plane in the list of output planes must be matched with the
* corresponding plane in the list of input planes located at the same
* position. Hence, both input planes and output planes must have the same
* size, and their size must be greater or equal than MINIMUM_SIZE.
*
* @return list of output planes to be used to estimate a projective 3D
* transformation.
*/
public List<Plane> getOutputPlanes() {
return outputPlanes;
}
/**
* Sets lists of planes to be used to estimate a projective 3D
* transformation.
* Planes in the list located at the same position are considered to be
* matched. Hence, both lists must have the same size, and their size must
* be greater or equal than MINIMUM_SIZE.
*
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes to be used to estimate a
* projective 3D transformation.
* @throws IllegalArgumentException if provided lists of planes don't have
* the same size or their size is smaller than MINIMUM_SIZE.
* @throws LockedException if estimator is locked because a computation is
* already in progress.
*/
protected final void setPlanes(final List<Plane> inputPlanes, final List<Plane> outputPlanes)
throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetPlanes(inputPlanes, outputPlanes);
}
/**
* Indicates if estimator is ready to start the projective 3D transformation
* estimation.
* This is true when input data (i.e. lists of matched planes) are provided
* and a minimum of MINIMUM_SIZE lines are available.
*
* @return true if estimator is ready, false otherwise.
*/
public boolean isReady() {
return inputPlanes != null && outputPlanes != null && inputPlanes.size() == outputPlanes.size()
&& inputPlanes.size() >= MINIMUM_SIZE;
}
/**
* Returns quality scores corresponding to each pair of matched planes.
* The larger the score value the better the quality of the matching.
* This implementation always returns null.
* Subclasses using quality scores must implement proper behaviour.
*
* @return quality scores corresponding to each pair of matched points.
*/
public double[] getQualityScores() {
return null;
}
/**
* Sets quality scores corresponding to each pair of matched planes.
* The larger the score value the better the quality of the matching.
* This implementation makes no action.
* Subclasses using quality scores must implement proper behaviour.
*
* @param qualityScores quality scores corresponding to each pair of matched
* points.
* @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. 3 samples).
*/
public void setQualityScores(final double[] qualityScores) throws LockedException {
}
/**
* Creates a projective 3D transformation estimator based on 3D plane
* correspondences and using provided robust estimator method.
*
* @param method method of a robust estimator algorithm to estimate
* best projective 3D transformation.
* @return an instance of projective 3D transformation estimator.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final RobustEstimatorMethod method) {
return switch (method) {
case LMEDS -> new LMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator();
case MSAC -> new MSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator();
case PROSAC -> new PROSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator();
case PROMEDS -> new PROMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator();
default -> new RANSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator();
};
}
/**
* Creates a projective 3D transformation estimator based on 3D plane
* correspondences and using provided robust estimator method.
*
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes to be used to estimate a
* projective 3D transformation.
* @param method method of a robust estimator algorithm to estimate
* best projective 3D transformation.
* @return an instance of projective 3D transformation estimator.
* @throws IllegalArgumentException if provided lists of lines don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final List<Plane> inputPlanes, final List<Plane> outputPlanes, final RobustEstimatorMethod method) {
return switch (method) {
case LMEDS -> new LMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
inputPlanes, outputPlanes);
case MSAC -> new MSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
inputPlanes, outputPlanes);
case PROSAC -> new PROSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
inputPlanes, outputPlanes);
case PROMEDS -> new PROMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
inputPlanes, outputPlanes);
default -> new RANSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
inputPlanes, outputPlanes);
};
}
/**
* Creates a projective 3D transformation estimator based on 3D plane
* correspondences and using provided robust estimator method.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param method method of a robust estimator algorithm to estimate best
* projective 3D transformation.
* @return an instance of projective 3D transformation estimator.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final ProjectiveTransformation3DRobustEstimatorListener listener, final RobustEstimatorMethod method) {
return switch (method) {
case LMEDS -> new LMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(listener);
case MSAC -> new MSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(listener);
case PROSAC -> new PROSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(listener);
case PROMEDS -> new PROMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(listener);
default -> new RANSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(listener);
};
}
/**
* Creates a projective 3D transformation estimator based on 3D line
* correspondences and using provided robust estimator method.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param inputPlanes list of input lines to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output lines to be used to estimate a
* projective 3D transformation.
* @param method method of a robust estimator algorithm to estimate best
* projective 3D transformation.
* @return an instance of projective 3D transformation estimator.
* @throws IllegalArgumentException if provided lists of lines don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final ProjectiveTransformation3DRobustEstimatorListener listener,
final List<Plane> inputPlanes, List<Plane> outputPlanes, final RobustEstimatorMethod method) {
return switch (method) {
case LMEDS -> new LMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, inputPlanes, outputPlanes);
case MSAC -> new MSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, inputPlanes, outputPlanes);
case PROSAC -> new PROSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, inputPlanes, outputPlanes);
case PROMEDS -> new PROMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, inputPlanes, outputPlanes);
default -> new RANSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, inputPlanes, outputPlanes);
};
}
/**
* Creates a projective 3D transformation estimator based on 3D plane
* correspondences and using provided robust estimator method.
*
* @param qualityScores quality scores corresponding to each pair of matched
* planes.
* @param method method of a robust estimator algorithm to estimate best
* projective 3D transformation.
* @return an instance of projective 3D transformation estimator.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final double[] qualityScores, final RobustEstimatorMethod method) {
return switch (method) {
case LMEDS -> new LMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator();
case MSAC -> new MSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator();
case PROSAC -> new PROSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(qualityScores);
case PROMEDS -> new PROMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(qualityScores);
default -> new RANSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator();
};
}
/**
* Creates a projective 3D transformation estimator based on plane
* correspondences and using provided robust estimator method.
*
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes to be used to estimate a
* projective 3D transformation.
* @param qualityScores quality scores corresponding to each pair of matched
* planes.
* @param method method of a robust estimator algorithm to estimate best
* projective 3D transformation.
* @return an instance of projective 3D transformation estimator.
* @throws IllegalArgumentException if provided lists of lines don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final List<Plane> inputPlanes, final List<Plane> outputPlanes, final double[] qualityScores,
final RobustEstimatorMethod method) {
return switch (method) {
case LMEDS -> new LMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
inputPlanes, outputPlanes);
case MSAC -> new MSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
inputPlanes, outputPlanes);
case PROSAC -> new PROSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
inputPlanes, outputPlanes, qualityScores);
case PROMEDS -> new PROMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
inputPlanes, outputPlanes, qualityScores);
default -> new RANSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
inputPlanes, outputPlanes);
};
}
/**
* Creates a projective 3D transformation estimator based on plane
* correspondences and using provided robust estimator method.
*
* @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 pair of matched
* lines.
* @param method method of a robust estimator algorithm to estimate best
* projective 3D transformation.
* @return an instance of projective 3D transformation estimator.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final ProjectiveTransformation3DRobustEstimatorListener listener, final double[] qualityScores,
final RobustEstimatorMethod method) {
return switch (method) {
case LMEDS -> new LMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(listener);
case MSAC -> new MSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(listener);
case PROSAC -> new PROSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, qualityScores);
case PROMEDS -> new PROMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, qualityScores);
default -> new RANSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(listener);
};
}
/**
* Creates a projective 3D transformation estimator based on plane
* correspondences and using provided robust estimator method.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes to be used to estimate a
* projective 3D transformation.
* @param qualityScores quality scores corresponding to each pair of matched
* planes.
* @param method method of a robust estimator algorithm to estimate best
* projective 3D transformation.
* @return an instance of projective 3D transformation estimator.
* @throws IllegalArgumentException if provided lists of lines don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final ProjectiveTransformation3DRobustEstimatorListener listener,
final List<Plane> inputPlanes, final List<Plane> outputPlanes, final double[] qualityScores,
final RobustEstimatorMethod method) {
return switch (method) {
case LMEDS -> new LMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, inputPlanes, outputPlanes);
case MSAC -> new MSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, inputPlanes, outputPlanes);
case PROSAC -> new PROSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, inputPlanes, outputPlanes, qualityScores);
case PROMEDS -> new PROMedSPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, inputPlanes, outputPlanes, qualityScores);
default -> new RANSACPlaneCorrespondenceProjectiveTransformation3DRobustEstimator(
listener, inputPlanes, outputPlanes);
};
}
/**
* Creates a projective 3D transformation estimator based on plane
* correspondences and using default robust estimator method.
*
* @return an instance of projective 3D transformation estimator.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create() {
return create(DEFAULT_ROBUST_METHOD);
}
/**
* Creates a projective 3D transformation estimator based on plane
* correspondences and using default robust estimator method.
*
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes to be used to estimate a
* projective 3D transformation.
* @return an instance of projective 3D transformation estimator.
* @throws IllegalArgumentException if provided lists of planes don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final List<Plane> inputPlanes, final List<Plane> outputPlanes) {
return create(inputPlanes, outputPlanes, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a projective 3D transformation estimator based on plane
* correspondences and using default robust estimator method.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @return an instance of projective 3D transformation estimator.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final ProjectiveTransformation3DRobustEstimatorListener listener) {
return create(listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a projective 3D transformation estimator based on plane
* correspondences and using default robust estimator method.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes to be used to estimate a
* projective 3D transformation.
* @return an instance of projective 3D transformation estimator.
* @throws IllegalArgumentException if provided lists of lines don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final ProjectiveTransformation3DRobustEstimatorListener listener,
final List<Plane> inputPlanes, final List<Plane> outputPlanes) {
return create(listener, inputPlanes, outputPlanes, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a projective 3D transformation estimator based on plane
* correspondences and using default robust estimator method.
*
* @param qualityScores quality scores corresponding to each pair of matched
* planes.
* @return an instance of projective 3D transformation estimator.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(final double[] qualityScores) {
return create(qualityScores, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a projective 3D transformation estimator based on 3D line
* correspondences and using default robust estimator method.
*
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes to be used to estimate a
* projective 3D transformation.
* @param qualityScores quality scores corresponding to each pair of matched
* planes.
* @return an instance of projective 3D transformation estimator.
* @throws IllegalArgumentException if provided lists of lines don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final List<Plane> inputPlanes, final List<Plane> outputPlanes, final double[] qualityScores) {
return create(inputPlanes, outputPlanes, qualityScores, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a projective 3D transformation estimator based on 3D line
* correspondences and using default robust estimator method.
*
* @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 pair of matched
* points.
* @return an instance of projective 3D transformation estimator.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final ProjectiveTransformation3DRobustEstimatorListener listener, final double[] qualityScores) {
return create(listener, qualityScores, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a projective 3D transformation estimator based on plane
* correspondences and using default robust estimator method.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes to be used to estimate a
* projective 3D transformation.
* @param qualityScores quality scores corresponding to each pair of matched
* lines.
* @return an instance of projective 3D transformation estimator.
* @throws IllegalArgumentException if provided lists of lines don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
public static PlaneCorrespondenceProjectiveTransformation3DRobustEstimator create(
final ProjectiveTransformation3DRobustEstimatorListener listener,
final List<Plane> inputPlanes, final List<Plane> outputPlanes, final double[] qualityScores) {
return create(listener, inputPlanes, outputPlanes, qualityScores, DEFAULT_ROBUST_METHOD);
}
/**
* Internal method to set lists of planes to be used to estimate a
* projective 3D transformation.
* This method does not check whether estimator is locked or not
*
* @param inputPlanes list of input planes to be used to estimate a
* projective 3D transformation.
* @param outputPlanes list of output planes to be used to estimate a
* projective 3D transformation.
* @throws IllegalArgumentException if provided lists of lines don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
private void internalSetPlanes(final List<Plane> inputPlanes, final List<Plane> outputPlanes) {
if (inputPlanes.size() < MINIMUM_SIZE) {
throw new IllegalArgumentException();
}
if (inputPlanes.size() != outputPlanes.size()) {
throw new IllegalArgumentException();
}
this.inputPlanes = inputPlanes;
this.outputPlanes = outputPlanes;
}
/**
* Computes residual by comparing two lines algebraically by doing the
* dot product of their parameters.
* A residual of 0 indicates that dot product was 1 or -1 and lines were
* equal.
* A residual of 1 indicates that dot product was 0 and lines were
* orthogonal.
* If dot product was -1, then although their director vectors are opposed,
* lines are considered equal, since sign changes are not taken into account.
*
* @param plane originally sampled output plane.
* @param transformedPlane estimated output plane obtained after using
* estimated transformation.
* @return computed residual.
*/
@SuppressWarnings("DuplicatedCode")
protected static double getResidual(final Plane plane, final Plane transformedPlane) {
return PlaneCorrespondenceAffineTransformation3DRobustEstimator.getResidual(plane, transformedPlane);
}
/**
* Attempts to refine provided solution if refinement is requested.
* This method returns a refined solution of the same provided solution
* if refinement is not requested or has failed.
* If refinement is enabled, and it is requested to keep covariance, this
* method will also keep covariance of refined transformation.
*
* @param transformation transformation estimated by a robust estimator
* without refinement.
* @return solution after refinement (if requested) or the provided
* non-refined solution if not requested or refinement failed.
*/
@SuppressWarnings("DuplicatedCode")
protected ProjectiveTransformation3D attemptRefine(final ProjectiveTransformation3D transformation) {
if (refineResult) {
final var refiner = new PlaneCorrespondenceProjectiveTransformation3DRefiner(transformation,
keepCovariance, getInliersData(), inputPlanes, outputPlanes, getRefinementStandardDeviation());
try {
final var result = new ProjectiveTransformation3D();
final var improved = refiner.refine(result);
if (keepCovariance) {
// keep covariance
covariance = refiner.getCovariance();
}
return improved ? result : transformation;
} catch (final Exception e) {
// refinement failed, so we return input value
return transformation;
}
} else {
return transformation;
}
}
}