1 /*
2 * Copyright (C) 2015 Alberto Irurueta Carro (alberto@irurueta.com)
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16 package com.irurueta.geometry.estimators;
17
18 import com.irurueta.geometry.NoIntersectionException;
19 import com.irurueta.geometry.Plane;
20 import com.irurueta.geometry.Point3D;
21 import com.irurueta.numerical.robust.RANSACRobustEstimator;
22 import com.irurueta.numerical.robust.RANSACRobustEstimatorListener;
23 import com.irurueta.numerical.robust.RobustEstimator;
24 import com.irurueta.numerical.robust.RobustEstimatorException;
25 import com.irurueta.numerical.robust.RobustEstimatorMethod;
26
27 import java.util.List;
28
29 /**
30 * Finds the best 3D point for provided collection of 3D planes using RANSAC
31 * algorithms.
32 */
33 public class RANSACPoint3DRobustEstimator extends Point3DRobustEstimator {
34
35 /**
36 * Constant defining default threshold to determine whether planes are
37 * inliers or not.
38 * Because typical resolution for points is 1 voxel, then default threshold
39 * is defined as 1.
40 */
41 public static final double DEFAULT_THRESHOLD = 1.0;
42
43 /**
44 * Minimum value that can be set as threshold.
45 * Threshold must be strictly greater than 0.0.
46 */
47 public static final double MIN_THRESHOLD = 0.0;
48
49 /**
50 * Indicates that by default inliers will only be computed but not kept.
51 */
52 public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS = false;
53
54 /**
55 * Indicates that by default residuals will only be computed but not kept.
56 */
57 public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS = false;
58
59 /**
60 * Threshold to determine whether planes are inliers or not when testing
61 * possible estimation solutions.
62 * The threshold refers to the amount of error (i.e. distance) a possible
63 * solution has on a sampled line.
64 */
65 private double threshold;
66
67 /**
68 * Indicates whether inliers must be computed and kept.
69 */
70 private boolean computeAndKeepInliers;
71
72 /**
73 * Indicates whether residuals must be computed and kept.
74 */
75 private boolean computeAndKeepResiduals;
76
77 /**
78 * Constructor.
79 */
80 public RANSACPoint3DRobustEstimator() {
81 super();
82 threshold = DEFAULT_THRESHOLD;
83 computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
84 computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
85 }
86
87 /**
88 * Constructor with planes.
89 *
90 * @param planes 3D planes to estimate a 3D point.
91 * @throws IllegalArgumentException if provided list of planes doesn't have
92 * a size greater or equal than MINIMUM_SIZE.
93 */
94 public RANSACPoint3DRobustEstimator(final List<Plane> planes) {
95 super(planes);
96 threshold = DEFAULT_THRESHOLD;
97 computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
98 computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
99 }
100
101 /**
102 * Constructor.
103 *
104 * @param listener listener to be notified of events such as when estimation
105 * starts, ends or its progress significantly changes.
106 */
107 public RANSACPoint3DRobustEstimator(final Point3DRobustEstimatorListener listener) {
108 super(listener);
109 threshold = DEFAULT_THRESHOLD;
110 computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
111 computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
112 }
113
114
115 /**
116 * Constructor.
117 *
118 * @param listener listener to be notified of events such as when estimation
119 * starts, ends or its progress significantly changes.
120 * @param planes 3D planes to estimate a 3D point.
121 * @throws IllegalArgumentException if provided list of planes doesn't have
122 * a size greater or equal than MINIMUM_SIZE.
123 */
124 public RANSACPoint3DRobustEstimator(final Point3DRobustEstimatorListener listener, final List<Plane> planes) {
125 super(listener, planes);
126 threshold = DEFAULT_THRESHOLD;
127 computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
128 computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
129 }
130
131 /**
132 * Returns threshold to determine whether planes are inliers or not when
133 * testing possible estimation solutions.
134 * The threshold refers to the amount of error a possible solution has on a
135 * given plane.
136 *
137 * @return threshold to determine whether planes are inliers or not when
138 * testing possible estimation solutions.
139 */
140 public double getThreshold() {
141 return threshold;
142 }
143
144 /**
145 * Sets threshold to determine whether planes are inliers or not when
146 * testing possible estimation solutions.
147 * The threshold refers to the amount of error a possible solution has on
148 * a given plane.
149 *
150 * @param threshold threshold to be set.
151 * @throws IllegalArgumentException if provided value is equal or less than
152 * zero.
153 * @throws LockedException if robust estimator is locked because an
154 * estimation is already in progress.
155 */
156 public void setThreshold(final double threshold) throws LockedException {
157 if (isLocked()) {
158 throw new LockedException();
159 }
160 if (threshold <= MIN_THRESHOLD) {
161 throw new IllegalArgumentException();
162 }
163 this.threshold = threshold;
164 }
165
166 /**
167 * Indicates whether inliers must be computed and kept.
168 *
169 * @return true if inliers must be computed and kept, false if inliers
170 * only need to be computed but not kept.
171 */
172 public boolean isComputeAndKeepInliersEnabled() {
173 return computeAndKeepInliers;
174 }
175
176 /**
177 * Specifies whether inliers must be computed and kept.
178 *
179 * @param computeAndKeepInliers true if inliers must be computed and kept,
180 * false if inliers only need to be computed but not kept.
181 * @throws LockedException if estimator is locked.
182 */
183 public void setComputeAndKeepInliersEnabled(final boolean computeAndKeepInliers) throws LockedException {
184 if (isLocked()) {
185 throw new LockedException();
186 }
187 this.computeAndKeepInliers = computeAndKeepInliers;
188 }
189
190 /**
191 * Indicates whether residuals must be computed and kept.
192 *
193 * @return true if residuals must be computed and kept, false if residuals
194 * only need to be computed but not kept.
195 */
196 public boolean isComputeAndKeepResidualsEnabled() {
197 return computeAndKeepResiduals;
198 }
199
200 /**
201 * Specifies whether residuals must be computed and kept.
202 *
203 * @param computeAndKeepResiduals true if residuals must be computed and
204 * kept, false if residuals only need to be computed but not kept.
205 * @throws LockedException if estimator is locked.
206 */
207 public void setComputeAndKeepResidualsEnabled(final boolean computeAndKeepResiduals) throws LockedException {
208 if (isLocked()) {
209 throw new LockedException();
210 }
211 this.computeAndKeepResiduals = computeAndKeepResiduals;
212 }
213
214 /**
215 * Estimates a 3D point using a robust estimator and the best set of 3D
216 * planes that intersect into the estimated 3D point.
217 *
218 * @return a 3D point.
219 * @throws LockedException if robust estimator is locked because an
220 * estimation is already in progress.
221 * @throws NotReadyException if provided input data is not enough to start
222 * the estimation.
223 * @throws RobustEstimatorException if estimation fails for any reason
224 * (i.e. numerical instability, no solution available, etc).
225 */
226 @SuppressWarnings("DuplicatedCode")
227 @Override
228 public Point3D estimate() throws LockedException, NotReadyException, RobustEstimatorException {
229 if (isLocked()) {
230 throw new LockedException();
231 }
232 if (!isReady()) {
233 throw new NotReadyException();
234 }
235
236 final var innerEstimator = new RANSACRobustEstimator<>(new RANSACRobustEstimatorListener<Point3D>() {
237
238 @Override
239 public double getThreshold() {
240 return threshold;
241 }
242
243 @Override
244 public int getTotalSamples() {
245 return planes.size();
246 }
247
248 @Override
249 public int getSubsetSize() {
250 return Point3DRobustEstimator.MINIMUM_SIZE;
251 }
252
253 @Override
254 public void estimatePreliminarSolutions(final int[] samplesIndices, final List<Point3D> solutions) {
255 final var plane1 = planes.get(samplesIndices[0]);
256 final var plane2 = planes.get(samplesIndices[1]);
257 final var plane3 = planes.get(samplesIndices[2]);
258
259 try {
260 final var point = plane1.getIntersection(plane2, plane3);
261 solutions.add(point);
262 } catch (final NoIntersectionException e) {
263 // if points are coincident, no solution is added
264 }
265 }
266
267 @Override
268 public double computeResidual(final Point3D currentEstimation, final int i) {
269 return residual(currentEstimation, planes.get(i));
270 }
271
272 @Override
273 public boolean isReady() {
274 return RANSACPoint3DRobustEstimator.this.isReady();
275 }
276
277 @Override
278 public void onEstimateStart(final RobustEstimator<Point3D> estimator) {
279 if (listener != null) {
280 listener.onEstimateStart(RANSACPoint3DRobustEstimator.this);
281 }
282 }
283
284 @Override
285 public void onEstimateEnd(final RobustEstimator<Point3D> estimator) {
286 if (listener != null) {
287 listener.onEstimateEnd(RANSACPoint3DRobustEstimator.this);
288 }
289 }
290
291 @Override
292 public void onEstimateNextIteration(final RobustEstimator<Point3D> estimator, final int iteration) {
293 if (listener != null) {
294 listener.onEstimateNextIteration(RANSACPoint3DRobustEstimator.this, iteration);
295 }
296 }
297
298 @Override
299 public void onEstimateProgressChange(final RobustEstimator<Point3D> estimator, final float progress) {
300 if (listener != null) {
301 listener.onEstimateProgressChange(RANSACPoint3DRobustEstimator.this, progress);
302 }
303 }
304 });
305
306 try {
307 locked = true;
308 inliersData = null;
309 innerEstimator.setComputeAndKeepInliersEnabled(computeAndKeepInliers || refineResult);
310 innerEstimator.setComputeAndKeepResidualsEnabled(computeAndKeepResiduals || refineResult);
311 innerEstimator.setConfidence(confidence);
312 innerEstimator.setMaxIterations(maxIterations);
313 innerEstimator.setProgressDelta(progressDelta);
314 final var result = innerEstimator.estimate();
315 inliersData = innerEstimator.getInliersData();
316 return attemptRefine(result);
317 } catch (final com.irurueta.numerical.LockedException e) {
318 throw new LockedException(e);
319 } catch (final com.irurueta.numerical.NotReadyException e) {
320 throw new NotReadyException(e);
321 } finally {
322 locked = false;
323 }
324 }
325
326 /**
327 * Returns method being used for robust estimation.
328 *
329 * @return method being used for robust estimation.
330 */
331 @Override
332 public RobustEstimatorMethod getMethod() {
333 return RobustEstimatorMethod.RANSAC;
334 }
335
336 /**
337 * Gets standard deviation used for Levenberg-Marquardt fitting during
338 * refinement.
339 * Returned value gives an indication of how much variance each residual
340 * has.
341 * Typically, this value is related to the threshold used on each robust
342 * estimation, since residuals of found inliers are within the range of
343 * such threshold.
344 *
345 * @return standard deviation used for refinement.
346 */
347 @Override
348 protected double getRefinementStandardDeviation() {
349 return threshold;
350 }
351 }