PlaneCorrespondenceAffineTransformation3DRefiner.java
/*
* Copyright (C) 2017 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.refiners;
import com.irurueta.algebra.AlgebraException;
import com.irurueta.algebra.Matrix;
import com.irurueta.geometry.AffineTransformation3D;
import com.irurueta.geometry.Plane;
import com.irurueta.geometry.estimators.LockedException;
import com.irurueta.geometry.estimators.NotReadyException;
import com.irurueta.numerical.EvaluationException;
import com.irurueta.numerical.GradientEstimator;
import com.irurueta.numerical.fitting.LevenbergMarquardtMultiDimensionFitter;
import com.irurueta.numerical.fitting.LevenbergMarquardtMultiDimensionFunctionEvaluator;
import com.irurueta.numerical.robust.InliersData;
import java.util.BitSet;
import java.util.List;
/**
* A 3D affine transformation refiner using plane correspondences.
* This class takes into account an initial estimation, inlier line matches
* and their residuals 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.
*/
@SuppressWarnings("DuplicatedCode")
public class PlaneCorrespondenceAffineTransformation3DRefiner extends AffineTransformation3DRefiner<Plane, Plane> {
/**
* Plane to be reused when computing residuals.
*/
private final Plane residualTestPlane = new Plane();
/**
* Constructor.
*/
public PlaneCorrespondenceAffineTransformation3DRefiner() {
}
/**
* Constructor.
*
* @param initialEstimation initial estimation to be set.
* @param keepCovariance true if covariance of estimation must be kept after
* refinement, false otherwise.
* @param inliers set indicating which of the provided matches are inliers.
* @param residuals residuals for matched samples.
* @param numInliers number of inliers on initial estimation.
* @param samples1 1st set of paired samples.
* @param samples2 2nd set of paired samples.
* @param refinementStandardDeviation standard deviation used for
* Levenberg-Marquardt fitting.
*/
public PlaneCorrespondenceAffineTransformation3DRefiner(
final AffineTransformation3D initialEstimation, final boolean keepCovariance,
final BitSet inliers, final double[] residuals, final int numInliers, final List<Plane> samples1,
final List<Plane> samples2, final double refinementStandardDeviation) {
super(initialEstimation, keepCovariance, inliers, residuals, numInliers, samples1, samples2,
refinementStandardDeviation);
}
/**
* Constructor.
*
* @param initialEstimation initial estimation to be set.
* @param keepCovariance true if covariance of estimation must be kept after
* refinement, false otherwise.
* @param inliersData inlier data, typically obtained from a robust
* estimator.
* @param samples1 1st set of paired samples.
* @param samples2 2nd set of paired samples.
* @param refinementStandardDeviation standard deviation used for
* Levenberg-Marquardt fitting.
*/
public PlaneCorrespondenceAffineTransformation3DRefiner(
final AffineTransformation3D initialEstimation, final boolean keepCovariance, final InliersData inliersData,
final List<Plane> samples1, final List<Plane> samples2, final double refinementStandardDeviation) {
super(initialEstimation, keepCovariance, inliersData, samples1, samples2, refinementStandardDeviation);
}
/**
* Refines provided initial estimation.
* This method always sets a value into provided result instance regardless
* of the fact that error has actually improved in LMSE terms or not.
*
* @param result instance where refined estimation will be stored.
* @return true if result improves (error decreases) in LMSE terms respect
* to initial estimation, false if no improvement has been achieved.
* @throws NotReadyException if not enough input data has been provided.
* @throws LockedException if estimator is locked because refinement is
* already in progress.
* @throws RefinerException if refinement fails for some reason (e.g. unable
* to converge to a result).
*/
@Override
public boolean refine(final AffineTransformation3D result) throws NotReadyException, LockedException,
RefinerException {
if (isLocked()) {
throw new LockedException();
}
if (!isReady()) {
throw new NotReadyException();
}
locked = true;
if (listener != null) {
listener.onRefineStart(this, initialEstimation);
}
final var initialTotalResidual = totalResidual(initialEstimation);
try {
final var initParams = new double[AffineTransformation3D.INHOM_COORDS * AffineTransformation3D.INHOM_COORDS
+ AffineTransformation3D.NUM_TRANSLATION_COORDS];
// copy values for A matrix
System.arraycopy(initialEstimation.getA().getBuffer(), 0, initParams, 0,
AffineTransformation3D.INHOM_COORDS * AffineTransformation3D.INHOM_COORDS);
// copy values for translation
System.arraycopy(initialEstimation.getTranslation(), 0, initParams,
AffineTransformation3D.INHOM_COORDS * AffineTransformation3D.INHOM_COORDS,
AffineTransformation3D.NUM_TRANSLATION_COORDS);
// output values to be fitted/optimized will contain residuals
final var y = new double[numInliers];
// input values will contain 2 sets of 2D points to compute residuals
final var nDims = 2 * Plane.PLANE_NUMBER_PARAMS;
final var x = new Matrix(numInliers, nDims);
final var nSamples = inliers.length();
var pos = 0;
for (var i = 0; i < nSamples; i++) {
if (inliers.get(i)) {
// sample is inlier
final var inputPlane = samples1.get(i);
final var outputPlane = samples2.get(i);
inputPlane.normalize();
outputPlane.normalize();
x.setElementAt(pos, 0, inputPlane.getA());
x.setElementAt(pos, 1, inputPlane.getB());
x.setElementAt(pos, 2, inputPlane.getC());
x.setElementAt(pos, 3, inputPlane.getD());
x.setElementAt(pos, 4, outputPlane.getA());
x.setElementAt(pos, 5, outputPlane.getB());
x.setElementAt(pos, 6, outputPlane.getC());
x.setElementAt(pos, 7, outputPlane.getD());
y[pos] = residuals[i];
pos++;
}
}
final var evaluator = new LevenbergMarquardtMultiDimensionFunctionEvaluator() {
private final Plane inputPlane = new Plane();
private final Plane outputPlane = new Plane();
private final AffineTransformation3D transformation = new AffineTransformation3D();
private final GradientEstimator gradientEstimator = new GradientEstimator(params -> {
// copy values for A matrix
System.arraycopy(params, 0, transformation.getA().getBuffer(), 0,
AffineTransformation3D.INHOM_COORDS * AffineTransformation3D.INHOM_COORDS);
// copy values for translation
System.arraycopy(params,
AffineTransformation3D.INHOM_COORDS * AffineTransformation3D.INHOM_COORDS,
transformation.getTranslation(), 0, AffineTransformation3D.NUM_TRANSLATION_COORDS);
return residual(transformation, inputPlane, outputPlane);
});
@Override
public int getNumberOfDimensions() {
return nDims;
}
@Override
public double[] createInitialParametersArray() {
return initParams;
}
@Override
public double evaluate(final int i, final double[] point, final double[] params,
final double[] derivatives) throws EvaluationException {
inputPlane.setParameters(point[0], point[1], point[2], point[3]);
outputPlane.setParameters(point[4], point[5], point[6], point[7]);
// copy values for A matrix
System.arraycopy(params, 0, transformation.getA().getBuffer(), 0,
AffineTransformation3D.INHOM_COORDS * AffineTransformation3D.INHOM_COORDS);
// copy values for translation
System.arraycopy(params,
AffineTransformation3D.INHOM_COORDS * AffineTransformation3D.INHOM_COORDS,
transformation.getTranslation(), 0, AffineTransformation3D.NUM_TRANSLATION_COORDS);
final var y = residual(transformation, inputPlane, outputPlane);
gradientEstimator.gradient(params, derivatives);
return y;
}
};
final var fitter = new LevenbergMarquardtMultiDimensionFitter(evaluator, x, y,
getRefinementStandardDeviation());
fitter.fit();
// obtain estimated params
final var params = fitter.getA();
// update transformation
// copy values for A matrix
System.arraycopy(params, 0, result.getA().getBuffer(), 0,
AffineTransformation3D.INHOM_COORDS * AffineTransformation3D.INHOM_COORDS);
// copy values for translation
System.arraycopy(params, AffineTransformation3D.INHOM_COORDS * AffineTransformation3D.INHOM_COORDS,
result.getTranslation(), 0, AffineTransformation3D.NUM_TRANSLATION_COORDS);
if (keepCovariance) {
// keep covariance
covariance = fitter.getCovar();
}
final var finalTotalResidual = totalResidual(result);
final var errorDecreased = finalTotalResidual < initialTotalResidual;
if (listener != null) {
listener.onRefineEnd(this, initialEstimation, result, errorDecreased);
}
return errorDecreased;
} catch (final Exception e) {
throw new RefinerException(e);
} finally {
locked = false;
}
}
/**
* Computes the residual between the affine transformation and a pair of
* matched planes.
*
* @param transformation a transformation.
* @param inputPlane input 3D plane.
* @param outputPlane output 3D plane.
* @return residual.
*/
private double residual(final AffineTransformation3D transformation, final Plane inputPlane,
final Plane outputPlane) {
try {
inputPlane.normalize();
outputPlane.normalize();
transformation.transform(inputPlane, residualTestPlane);
return 1.0 - Math.abs(outputPlane.dotProduct(residualTestPlane));
} catch (final AlgebraException e) {
return 1.0;
}
}
/**
* Computes total residual among all provided inlier samples.
*
* @param transformation a transformation.
* @return total residual.
*/
private double totalResidual(final AffineTransformation3D transformation) {
var result = 0.0;
final var nSamples = inliers.length();
for (var i = 0; i < nSamples; i++) {
if (inliers.get(i)) {
// sample is inlier
final var inputPlane = samples1.get(i);
final var outputPlane = samples2.get(i);
inputPlane.normalize();
outputPlane.normalize();
result += residual(transformation, inputPlane, outputPlane);
}
}
return result;
}
}