1 /*
2 * Copyright (C) 2017 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.refiners;
17
18 import com.irurueta.geometry.estimators.LockedException;
19 import com.irurueta.numerical.robust.InliersData;
20
21 import java.util.BitSet;
22 import java.util.List;
23
24 /**
25 * Refines an instance of type T by taking into account an initial estimation,
26 * inlier matches, their residuals and pairs of matches samples.
27 * This class can be used to find a solution that minimizes error of inliers in
28 * LMSE terms.
29 * Typically, a refiner is used by a robust estimator, however it can also be
30 * useful in some other situations.
31 *
32 * @param <T> type of instance to be refined.
33 * @param <S1> type of matched samples in 1st set.
34 * @param <S2> type of matched samples in 2nd set.
35 */
36 public abstract class PairMatchesAndInliersDataRefiner<T, S1, S2> extends InliersDataRefiner<T> {
37
38 /**
39 * 1st set of paired samples.
40 */
41 protected List<S1> samples1;
42
43 /**
44 * 2nd set of paired samples.
45 */
46 protected List<S2> samples2;
47
48 /**
49 * Constructor.
50 */
51 protected PairMatchesAndInliersDataRefiner() {
52 }
53
54 /**
55 * Constructor.
56 *
57 * @param initialEstimation initial estimation to be set.
58 * @param keepCovariance true if covariance of estimation must be kept after
59 * refinement, false otherwise.
60 * @param inliers set indicating which of the provided matches are inliers.
61 * @param residuals residuals for matched samples.
62 * @param numInliers number of inliers on initial estimation.
63 * @param samples1 1st set of paired samples.
64 * @param samples2 2nd set of paired samples.
65 */
66 protected PairMatchesAndInliersDataRefiner(
67 final T initialEstimation, final boolean keepCovariance, final BitSet inliers,
68 final double[] residuals, final int numInliers, final List<S1> samples1, final List<S2> samples2) {
69 super(initialEstimation, keepCovariance, inliers, residuals, numInliers);
70 this.samples1 = samples1;
71 this.samples2 = samples2;
72 }
73
74 /**
75 * Constructor.
76 *
77 * @param initialEstimation initial estimation to be set.
78 * @param keepCovariance true if covariance of estimation must be kept after
79 * refinement, false otherwise.
80 * @param inliersData inlier data, typically obtained from a robust
81 * estimator.
82 * @param samples1 1st set of paired samples.
83 * @param samples2 2nd set of paired samples.
84 */
85 protected PairMatchesAndInliersDataRefiner(
86 final T initialEstimation, final boolean keepCovariance, final InliersData inliersData,
87 final List<S1> samples1, final List<S2> samples2) {
88 super(initialEstimation, keepCovariance, inliersData);
89 this.samples1 = samples1;
90 this.samples2 = samples2;
91 }
92
93 /**
94 * Gets 1st set of paired samples.
95 *
96 * @return 1st set of paired samples.
97 */
98 public List<S1> getSamples1() {
99 return samples1;
100 }
101
102 /**
103 * Sets 1st set of paired samples.
104 *
105 * @param samples1 1st set of paired samples.
106 * @throws LockedException if estimator is locked.
107 */
108 public void setSamples1(final List<S1> samples1) throws LockedException {
109 if (isLocked()) {
110 throw new LockedException();
111 }
112 this.samples1 = samples1;
113 }
114
115 /**
116 * Gets 2nd set of paired samples.
117 *
118 * @return 2nd set of paired samples.
119 */
120 public List<S2> getSamples2() {
121 return samples2;
122 }
123
124 /**
125 * Sets 2nd set of paired samples.
126 *
127 * @param samples2 2nd set of paired samples.
128 * @throws LockedException if estimator is locked.
129 */
130 public void setSamples2(final List<S2> samples2) throws LockedException {
131 if (isLocked()) {
132 throw new LockedException();
133 }
134 this.samples2 = samples2;
135 }
136
137 /**
138 * Indicates whether this refiner is ready to start refinement computation.
139 *
140 * @return true if refiner is ready, false otherwise.
141 */
142 @Override
143 public boolean isReady() {
144 return initialEstimation != null && inliers != null && residuals != null && samples1 != null
145 && samples2 != null && residuals.length == samples1.size() && samples1.size() == samples2.size()
146 && numInliers > 0;
147 }
148 }