RANSACRobustRssiPositionEstimator3D.java
/*
* Copyright (C) 2018 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.navigation.indoor.position;
import com.irurueta.geometry.Point3D;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.indoor.RadioSource;
import com.irurueta.navigation.indoor.RadioSourceLocated;
import com.irurueta.navigation.indoor.RssiFingerprint;
import com.irurueta.navigation.indoor.RssiReading;
import com.irurueta.navigation.lateration.RANSACRobustLateration3DSolver;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.List;
/**
* Robustly estimates 3D position using located RSSI radio sources and their
* RSSI readings at unknown locations and using RANSAC algorithm to discard outliers.
* This kind of estimator can be used to robustly determine the 3D position of a given
* device by getting readings at an unknown location of different radio sources whose
* 3D locations are known.
*/
public class RANSACRobustRssiPositionEstimator3D extends RobustRssiPositionEstimator3D {
/**
* Constructor.
*/
public RANSACRobustRssiPositionEstimator3D() {
super();
init();
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public RANSACRobustRssiPositionEstimator3D(final List<? extends RadioSourceLocated<Point3D>> sources) {
super();
init();
internalSetSources(sources);
}
/**
* Constructor.
*
* @param fingerprint fingerprint containing RSSI readings at an unknown location for
* provided located radio sources.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public RANSACRobustRssiPositionEstimator3D(
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint) {
super();
init();
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing readings at an unknown location for
* provided located radio sources.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public RANSACRobustRssiPositionEstimator3D(
final List<? extends RadioSourceLocated<Point3D>> sources,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint) {
super();
init();
internalSetSources(sources);
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param listener listener in charge of handling events.
*/
public RANSACRobustRssiPositionEstimator3D(final RobustRssiPositionEstimatorListener<Point3D> listener) {
super(listener);
init();
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public RANSACRobustRssiPositionEstimator3D(
final List<? extends RadioSourceLocated<Point3D>> sources,
final RobustRssiPositionEstimatorListener<Point3D> listener) {
super(listener);
init();
internalSetSources(sources);
}
/**
* Constructor.
*
* @param fingerprint fingerprint containing RSSI readings at an unknown location
* for provided located radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public RANSACRobustRssiPositionEstimator3D(
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint,
final RobustRssiPositionEstimatorListener<Point3D> listener) {
super(listener);
init();
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing readings at an unknown location for
* provided located radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if either provided sources or fingerprint is
* null or the number of provided sources is less than the required minimum.
*/
public RANSACRobustRssiPositionEstimator3D(
final List<? extends RadioSourceLocated<Point3D>> sources,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint,
final RobustRssiPositionEstimatorListener<Point3D> listener) {
super(listener);
init();
internalSetSources(sources);
internalSetFingerprint(fingerprint);
}
/**
* Gets threshold to determine whether samples are inliers or not when testing
* possible solutions.
* The threshold refers to the amount of error on distance between estimated
* position and distances provided for each sample.
*
* @return threshold to determine whether samples are inliers or not.
*/
public double getThreshold() {
return ((RANSACRobustLateration3DSolver) laterationSolver).getThreshold();
}
/**
* Sets threshold to determine whether samples are inliers or not when testing
* possible solutions.
* The threshold refers to the amount of error on distance between estimated position
* and distances provided for each sample.
*
* @param threshold threshold to determine whether samples are inliers or not.
* @throws IllegalArgumentException if provided value is equal or less than zero.
* @throws LockedException if this estimator is locked.
*/
public void setThreshold(final double threshold) throws LockedException {
((RANSACRobustLateration3DSolver) laterationSolver).setThreshold(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 ((RANSACRobustLateration3DSolver) laterationSolver).isComputeAndKeepInliersEnabled();
}
/**
* 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 this estimator is locked.
*/
public void setComputeAndKeepInliersEnabled(final boolean computeAndKeepInliers) throws LockedException {
((RANSACRobustLateration3DSolver) laterationSolver).setComputeAndKeepInliersEnabled(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 isComputeAndKeepResiduals() {
return ((RANSACRobustLateration3DSolver) laterationSolver).isComputeAndKeepResiduals();
}
/**
* 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 this estimator is locked.
*/
public void setComputeAndKeepResidualsEnabled(final boolean computeAndKeepResiduals) throws LockedException {
((RANSACRobustLateration3DSolver) laterationSolver).setComputeAndKeepResidualsEnabled(computeAndKeepResiduals);
}
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
@Override
public RobustEstimatorMethod getMethod() {
return RobustEstimatorMethod.RANSAC;
}
/**
* Initializes robust lateration solver.
*/
private void init() {
laterationSolver = new RANSACRobustLateration3DSolver(trilaterationSolverListener);
}
}