RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator.java
/*
* Copyright (C) 2022 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.inertial.calibration.magnetometer;
import com.irurueta.algebra.Matrix;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.NotReadyException;
import com.irurueta.navigation.inertial.calibration.CalibrationException;
import com.irurueta.navigation.inertial.calibration.StandardDeviationBodyMagneticFluxDensity;
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;
/**
* Robustly estimates magnetometer hard-iron biases, cross couplings and
* scaling factors using RANSAC algorithm.
* <p>
* To use this calibrator at least 10 measurements with known magnetic field norm at
* an unknown position and instant must be taken at 10 different unknown orientations
* when common z-axis is assumed, otherwise at least 13
* measurements are required.
* <p>
* Measured magnetic flux density is assumed to follow the model shown below:
* <pre>
* mBmeas = bm + (I + Mm) * mBtrue + w
* </pre>
* Where:
* - mBmeas is the measured magnetic flux density. This is a 3x1 vector.
* - bm is magnetometer hard-iron bias. Ideally, on a perfect magnetometer,
* this should be a 3x1 zero vector.
* - I is the 3x3 identity matrix.
* - Mm is the 3x3 soft-iron matrix containing cross-couplings and scaling
* factors. Ideally, on a perfect magnetometer, this should be a 3x3 zero
* matrix.
* - mBtrue is ground-truth magnetic flux density. This is a 3x1 vector.
* - w is measurement noise. This is a 3x1 vector.
* Notice that this calibrator assumes that all measurements are taken in
* a short span of time, where Earth magnetic field can be assumed to be
* constant at provided location and instant.
*/
public class RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator extends
RobustKnownMagneticFluxDensityNormMagnetometerCalibrator {
/**
* Constant defining default threshold to determine whether samples are inliers or not.
*/
public static final double DEFAULT_THRESHOLD = 1e-9;
/**
* 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 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.
*/
private double threshold = DEFAULT_THRESHOLD;
/**
* Indicates whether inliers must be computed and kept.
*/
private boolean computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
/**
* Indicates whether residuals must be computed and kept.
*/
private boolean computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
/**
* Constructor.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator() {
super();
}
/**
* Constructor.
*
* @param listener listener to handle events raised by this calibrator.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(listener);
}
/**
* Constructor.
*
* @param measurements list of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements) {
super(measurements);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(final boolean commonAxisUsed) {
super(commonAxisUsed);
}
/**
* Constructor.
*
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided hard-iron array does
* not have length 3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(final double[] initialHardIron) {
super(initialHardIron);
}
/**
* Constructor.
*
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(final Matrix initialHardIron) {
super(initialHardIron);
}
/**
* Constructor.
*
* @param initialHardIron initial hard-iron to find a solution.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Matrix initialHardIron, final Matrix initialMm) {
super(initialHardIron, initialMm);
}
/**
* Constructor.
*
* @param measurements list of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param listener listener to handle events raised by this calibrator.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed) {
super(measurements, commonAxisUsed);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param listener listener to handle events raised by this calibrator.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, commonAxisUsed, listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided hard-iron array does
* not have length 3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] initialHardIron) {
super(measurements, initialHardIron);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron array does
* not have length 3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] initialHardIron,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, initialHardIron, listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided hard-iron array does
* not have length 3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final double[] initialHardIron) {
super(measurements, commonAxisUsed, initialHardIron);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron array does
* not have length 3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final double[] initialHardIron,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialHardIron, listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron) {
super(measurements, initialHardIron);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, initialHardIron, listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix initialHardIron) {
super(measurements, commonAxisUsed, initialHardIron);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix initialHardIron,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialHardIron, listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
final Matrix initialMm) {
super(measurements, initialHardIron, initialMm);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
final Matrix initialMm, final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, initialHardIron, initialMm, listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix initialHardIron, final Matrix initialMm) {
super(measurements, commonAxisUsed, initialHardIron, initialMm);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final List<StandardDeviationBodyMagneticFluxDensity> measurements,
final boolean commonAxisUsed, final Matrix initialHardIron, final Matrix initialMm,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialHardIron, initialMm, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm) {
super(groundTruthMagneticFluxDensityNorm);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements) {
super(groundTruthMagneticFluxDensityNorm, measurements);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm, final boolean commonAxisUsed) {
super(groundTruthMagneticFluxDensityNorm, commonAxisUsed);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron array does
* not have length 3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm, final double[] initialHardIron) {
super(groundTruthMagneticFluxDensityNorm, initialHardIron);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron matrix is not
* 3x1.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm, final Matrix initialHardIron) {
super(groundTruthMagneticFluxDensityNorm, initialHardIron);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param initialHardIron initial hard-iron to find a solution.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm, final Matrix initialHardIron, final Matrix initialMm) {
super(groundTruthMagneticFluxDensityNorm, initialHardIron, initialMm);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron array does not have length 3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] initialHardIron) {
super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron array does not have length 3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] initialHardIron,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron array does not have length 3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final double[] initialHardIron) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron array does not have length 3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final double[] initialHardIron,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron matrix is not 3x1.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron) {
super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron matrix is not 3x1.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron matrix is not 3x1.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix initialHardIron) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron matrix is not 3x1.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix initialHardIron,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron matrix is not 3x1 or if
* soft-iron matrix is not 3x3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
final Matrix initialMm) {
super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, initialMm);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param initialHardIron initial hard-iron to find a solution.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron matrix is not 3x1 or if
* soft-iron matrix is not 3x3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
final Matrix initialMm, final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, initialMm, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron matrix is not 3x1
* or if soft-iron matrix is not 3x3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix initialHardIron, final Matrix initialMm) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, initialMm);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param initialHardIron initial hard-iron to find a solution.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative,
* or if provided hard-iron matrix is not 3x1
* or if soft-iron matrix is not 3x3.
*/
public RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix initialHardIron, final Matrix initialMm,
final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, initialMm, listener);
}
/**
* Gets threshold to determine whether samples are inliers or not when testing possible solutions.
* The threshold refers to the amount of error on norm between measured specific forces and the
* ones generated with estimated calibration parameters provided for each sample.
*
* @return threshold to determine whether samples are inliers or not.
*/
public double getThreshold() {
return threshold;
}
/**
* Sets threshold to determine whether samples are inliers or not when testing possible solutions.
* The threshold refers to the amount of error on norm between measured specific forces and the
* ones generated with estimated calibration parameters 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 calibrator is currently running.
*/
public void setThreshold(final double threshold) throws LockedException {
if (running) {
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 calibrator is currently running.
*/
public void setComputeAndKeepInliersEnabled(final boolean computeAndKeepInliers) throws LockedException {
if (running) {
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 isComputeAndKeepResiduals() {
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 calibrator is currently running.
*/
public void setComputeAndKeepResidualsEnabled(final boolean computeAndKeepResiduals) throws LockedException {
if (running) {
throw new LockedException();
}
this.computeAndKeepResiduals = computeAndKeepResiduals;
}
/**
* Estimates magnetometer calibration parameters containing hard-iron
* bias and soft-iron scale factors and cross-coupling errors.
*
* @throws LockedException if calibrator is currently running.
* @throws NotReadyException if calibrator is not ready.
* @throws CalibrationException if estimation fails for numerical reasons.
*/
@SuppressWarnings("DuplicatedCode")
@Override
public void calibrate() throws LockedException, NotReadyException, CalibrationException {
if (running) {
throw new LockedException();
}
if (!isReady()) {
throw new NotReadyException();
}
final var innerEstimator = new RANSACRobustEstimator<>(new RANSACRobustEstimatorListener<PreliminaryResult>() {
@Override
public double getThreshold() {
return threshold;
}
@Override
public int getTotalSamples() {
return measurements.size();
}
@Override
public int getSubsetSize() {
return preliminarySubsetSize;
}
@Override
public void estimatePreliminarSolutions(
final int[] samplesIndices, final List<PreliminaryResult> solutions) {
computePreliminarySolutions(samplesIndices, solutions);
}
@Override
public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
return computeError(measurements.get(i), currentEstimation);
}
@Override
public boolean isReady() {
return RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator.super.isReady();
}
@Override
public void onEstimateStart(final RobustEstimator<PreliminaryResult> estimator) {
// no action needed
}
@Override
public void onEstimateEnd(final RobustEstimator<PreliminaryResult> estimator) {
// no action needed
}
@Override
public void onEstimateNextIteration(
final RobustEstimator<PreliminaryResult> estimator, final int iteration) {
if (listener != null) {
listener.onCalibrateNextIteration(
RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator.this, iteration);
}
}
@Override
public void onEstimateProgressChange(
final RobustEstimator<PreliminaryResult> estimator, final float progress) {
if (listener != null) {
listener.onCalibrateProgressChange(
RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator.this, progress);
}
}
});
try {
running = true;
if (listener != null) {
listener.onCalibrateStart(this);
}
inliersData = null;
innerEstimator.setComputeAndKeepInliersEnabled(computeAndKeepInliers || refineResult);
innerEstimator.setComputeAndKeepResidualsEnabled(computeAndKeepResiduals || refineResult);
innerEstimator.setConfidence(confidence);
innerEstimator.setMaxIterations(maxIterations);
innerEstimator.setProgressDelta(progressDelta);
final var preliminaryResult = innerEstimator.estimate();
inliersData = innerEstimator.getInliersData();
attemptRefine(preliminaryResult);
if (listener != null) {
listener.onCalibrateEnd(this);
}
} catch (final com.irurueta.numerical.LockedException e) {
throw new LockedException(e);
} catch (final com.irurueta.numerical.NotReadyException e) {
throw new NotReadyException(e);
} catch (final RobustEstimatorException e) {
throw new CalibrationException(e);
} finally {
running = false;
}
}
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
@Override
public RobustEstimatorMethod getMethod() {
return RobustEstimatorMethod.RANSAC;
}
/**
* Indicates whether this calibrator requires quality scores for each
* measurement or not.
*
* @return true if quality scores are required, false otherwise.
*/
@Override
public boolean isQualityScoresRequired() {
return false;
}
}