RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator.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.algebra.AlgebraException;
import com.irurueta.geometry.AffineTransformation3D;
import com.irurueta.geometry.CoincidentPlanesException;
import com.irurueta.geometry.Plane;
import com.irurueta.numerical.robust.RANSACRobustEstimator;
import com.irurueta.numerical.robust.RANSACRobustEstimatorListener;
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 affine 3D transformation for provided collections of matched
* planes using RANSAC algorithm.
*/
@SuppressWarnings("DuplicatedCode")
public class RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator
extends PlaneCorrespondenceAffineTransformation3DRobustEstimator {
/**
* Constant defining default threshold to determine whether planes are
* inliers or not.
* Residuals to determine whether planes are inliers or not are computed by
* comparing two planes algebraically (e.g. doing the dot product of their
* parameters).
* A residual of 0 indicates that dot product was 1 or -1 and planes were
* equal.
* A residual of 1 indicates that dot product was 0 and planes were
* orthogonal.
* If dot product between planes is -1, then although their director vectors
* are opposed, planes are considered equal, since sign changes are not
* taken into account and their residuals will be 0.
*/
public static final double DEFAULT_THRESHOLD = 1e-6;
/**
* Minimum value that can be set as threshold.
* Threshold must be strictly greater than 0.0.
*/
public static final double MIN_THRESHOLD = 0.0;
/**
* Indicates that by default inliers will only be computed but not kept.
*/
public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS = false;
/**
* Indicates that by default residuals will only be computed but not kept.
*/
public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS = false;
/**
* Threshold to determine whether planes are inliers or not when testing
* possible estimation solutions.
* The threshold refers to the amount of error a possible solution has on a
* matched pair of lines.
*/
private double threshold;
/**
* Indicates whether inliers must be computed and kept.
*/
private boolean computeAndKeepInliers;
/**
* Indicates whether residuals must be computed and kept.
*/
private boolean computeAndKeepResiduals;
/**
* Constructor.
*/
public RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator() {
super();
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
}
/**
* Constructor with lists of planes to be used to estimate an affine 3D
* transformation.
* Lines 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 an affine
* 3D transformation.
* @param outputPlanes list of output planes to be used to estimate an affine
* 3D transformation.
* @throws IllegalArgumentException if provided lists of planes don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
public RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator(
final List<Plane> inputPlanes, final List<Plane> outputPlanes) {
super(inputPlanes, outputPlanes);
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
}
/**
* Constructor.
*
* @param listener listener to be notified of events such as when estimation
* starts, ends or its progress significantly changes.
*/
public RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator(
final AffineTransformation3DRobustEstimatorListener listener) {
super(listener);
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
}
/**
* Constructor with listener and lists of planes to be used to estimate an
* affine 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 an affine
* 3D transformation.
* @param outputPlanes list of output planes to be used to estimate an
* affine 3D transformation.
* @throws IllegalArgumentException if provided lists of planes don't have
* the same size or their size is smaller than MINIMUM_SIZE.
*/
public RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator(
final AffineTransformation3DRobustEstimatorListener listener,
final List<Plane> inputPlanes, final List<Plane> outputPlanes) {
super(listener, inputPlanes, outputPlanes);
threshold = DEFAULT_THRESHOLD;
computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
}
/**
* Returns threshold to determine whether planes are inliers or not when
* testing possible estimation solutions.
* Residuals to determine whether planes are inliers or not are computed by
* comparing two planes algebraically (e.g. 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 between planes is -1, then although their director vectors
* are opposed, planes are considered equal, since sign changes are not
* taken into account and their residuals will be 0.
*
* @return threshold to determine whether matched planes are inliers or not.
*/
public double getThreshold() {
return threshold;
}
/**
* Sets threshold to determine whether planes are inliers or not when
* testing possible estimation solutions.
* Residuals to determine whether planes are inliers or not are computed by
* comparing two planes algebraically (e.g. doing the dot product of their
* parameters).
* A residual of 0 indicates that dot product was 1 or -1 and planes were
* equal.
* A residual of 1 indicates that dot product was 0 and planes were
* orthogonal.
* If dot product between planes is -1, then although their director vectors
* are opposed, planes are considered equal, since sign changes are not
* taken into account and their residuals will be 0.
*
* @param threshold threshold to determine whether matched planes are
* inliers or not.
* @throws IllegalArgumentException if provided value is equal or less than
* zero.
* @throws LockedException if robust estimator is locked because an
* estimation is already in progress.
*/
public void setThreshold(final double threshold) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
if (threshold <= MIN_THRESHOLD) {
throw new IllegalArgumentException();
}
this.threshold = threshold;
}
/**
* Indicates whether inliers must be computed and kept.
*
* @return true if inliers must be computed and kept, false if inliers only
* need to be computed but not kept.
*/
public boolean isComputeAndKeepInliersEnabled() {
return computeAndKeepInliers;
}
/**
* Specifies whether inliers must be computed and kept.
*
* @param computeAndKeepInliers true if inliers must be computed and kept,
* false if inliers only need to be computed but not kept.
* @throws LockedException if estimator is locked.
*/
public void setComputeAndKeepInliersEnabled(final boolean computeAndKeepInliers) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
this.computeAndKeepInliers = computeAndKeepInliers;
}
/**
* Indicates whether residuals must be computed and kept.
*
* @return true if residuals must be computed and kept, false if residuals
* only need to be computed but not kept.
*/
public boolean isComputeAndKeepResidualsEnabled() {
return computeAndKeepResiduals;
}
/**
* Specifies whether residuals must be computed and kept.
*
* @param computeAndKeepResiduals true if residuals must be computed and
* kept, false if residuals only need to be computed but not kept.
* @throws LockedException if estimator is locked.
*/
public void setComputeAndKeepResidualsEnabled(final boolean computeAndKeepResiduals) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
this.computeAndKeepResiduals = computeAndKeepResiduals;
}
/**
* Estimates an affine 3D transformation using a robust estimator and
* the best set of matched 3D lines correspondences found using the robust
* estimator.
*
* @return an affine 3D transformation.
* @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 AffineTransformation3D estimate() throws LockedException, NotReadyException, RobustEstimatorException {
if (isLocked()) {
throw new LockedException();
}
if (!isReady()) {
throw new NotReadyException();
}
final var innerEstimator = new RANSACRobustEstimator<>(
new RANSACRobustEstimatorListener<AffineTransformation3D>() {
// plane to be reused when computing residuals
private final Plane testPlane = new Plane();
@Override
public double getThreshold() {
return threshold;
}
@Override
public int getTotalSamples() {
return inputPlanes.size();
}
@Override
public int getSubsetSize() {
return AffineTransformation3DRobustEstimator.MINIMUM_SIZE;
}
@Override
public void estimatePreliminarSolutions(
final int[] samplesIndices, final List<AffineTransformation3D> solutions) {
final var inputPlane1 = inputPlanes.get(samplesIndices[0]);
final var inputPlane2 = inputPlanes.get(samplesIndices[1]);
final var inputPlane3 = inputPlanes.get(samplesIndices[2]);
final var inputPlane4 = inputPlanes.get(samplesIndices[3]);
final var outputPlane1 = outputPlanes.get(samplesIndices[0]);
final var outputPlane2 = outputPlanes.get(samplesIndices[1]);
final var outputPlane3 = outputPlanes.get(samplesIndices[2]);
final var outputPlane4 = outputPlanes.get(samplesIndices[3]);
try {
final var transformation = new AffineTransformation3D(inputPlane1, inputPlane2, inputPlane3,
inputPlane4, outputPlane1, outputPlane2, outputPlane3, outputPlane4);
solutions.add(transformation);
} catch (final CoincidentPlanesException e) {
// if lines are coincident, no solution is added
}
}
@Override
public double computeResidual(final AffineTransformation3D currentEstimation, final int i) {
final var inputPlane = inputPlanes.get(i);
final var outputPlane = outputPlanes.get(i);
// transform input plane and store result in mTestPlane
try {
currentEstimation.transform(inputPlane, testPlane);
return getResidual(outputPlane, testPlane);
} catch (final AlgebraException e) {
// this happens when internal matrix of affine transformation
// cannot be reversed (i.e. transformation is not well-defined,
// numerical instabilities, etc.)
return Double.MAX_VALUE;
}
}
@Override
public boolean isReady() {
return RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator.this.isReady();
}
@Override
public void onEstimateStart(final RobustEstimator<AffineTransformation3D> estimator) {
if (listener != null) {
listener.onEstimateStart(
RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator.this);
}
}
@Override
public void onEstimateEnd(final RobustEstimator<AffineTransformation3D> estimator) {
if (listener != null) {
listener.onEstimateEnd(
RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator.this);
}
}
@Override
public void onEstimateNextIteration(
final RobustEstimator<AffineTransformation3D> estimator, final int iteration) {
if (listener != null) {
listener.onEstimateNextIteration(
RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator.this,
iteration);
}
}
@Override
public void onEstimateProgressChange(
final RobustEstimator<AffineTransformation3D> estimator, final float progress) {
if (listener != null) {
listener.onEstimateProgressChange(
RANSACPlaneCorrespondenceAffineTransformation3DRobustEstimator.this,
progress);
}
}
});
try {
locked = true;
inliersData = null;
innerEstimator.setComputeAndKeepInliersEnabled(computeAndKeepInliers || refineResult);
innerEstimator.setComputeAndKeepResidualsEnabled(computeAndKeepResiduals || refineResult);
innerEstimator.setConfidence(confidence);
innerEstimator.setMaxIterations(maxIterations);
innerEstimator.setProgressDelta(progressDelta);
final var transformation = innerEstimator.estimate();
inliersData = innerEstimator.getInliersData();
return attemptRefine(transformation);
} 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.RANSAC;
}
/**
* 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.
*
* @return standard deviation used for refinement.
*/
@Override
protected double getRefinementStandardDeviation() {
return threshold;
}
}