Package com.irurueta.numerical.polynomials.estimators

Class PROSACPolynomialRobustEstimator

java.lang.Object

com.irurueta.numerical.polynomials.estimators.PolynomialRobustEstimator

com.irurueta.numerical.polynomials.estimators.PROSACPolynomialRobustEstimator

public class PROSACPolynomialRobustEstimator
extends PolynomialRobustEstimator

Finds the best polynomial using PROSAC algorithm.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether polynomials are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double[]	qualityScores	Quality scores corresponding to each provided polynomial evaluation.
private double	threshold	Threshold to determine whether polynomial evaluations are inlers or not when testing possible estimation solutions

Fields inherited from class com.irurueta.numerical.polynomials.estimators.PolynomialRobustEstimator

confidence, DEFAULT_CONFIDENCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_ROBUST_METHOD, DEFAULT_USE_GEOMETRIC_DISTANCE, evaluations, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, polynomialEstimator, progressDelta, useGeometricDistance

Constructor Summary

Constructors

Constructor	Description
PROSACPolynomialRobustEstimator()	Constructor.
PROSACPolynomialRobustEstimator(int degree)	Constructor.
PROSACPolynomialRobustEstimator(int degree, PolynomialRobustEstimatorListener listener)	Constructor.
PROSACPolynomialRobustEstimator(int degree, List<PolynomialEvaluation> evaluations)	Constructor.
PROSACPolynomialRobustEstimator(int degree, List<PolynomialEvaluation> evaluations, PolynomialRobustEstimatorListener listener)	Constructor.
PROSACPolynomialRobustEstimator(PolynomialRobustEstimatorListener listener)	Constructor.
PROSACPolynomialRobustEstimator(List<PolynomialEvaluation> evaluations)	Constructor.
PROSACPolynomialRobustEstimator(List<PolynomialEvaluation> evaluations, PolynomialRobustEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
Polynomial	estimate()	Estimates polynomial.
RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double[]	getQualityScores()	Returns quality scores corresponding to each provided point.
double	getThreshold()	Returns threshold to determine whether polynomials are inliers or not when testing possible estimation solutions.
private void	internalSetQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided polynomial evaluation.
boolean	isReady()	Indicates if estimator is ready to start the polynomial estimation.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided point.
void	setThreshold(double threshold)	Sets threshold to determine whether polynomials are inliers or not when testing possible estimation solutions.

Methods inherited from class com.irurueta.numerical.polynomials.estimators.PolynomialRobustEstimator

create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getAlgebraicDistance, getAlgebraicDistance, getAlgebraicDistance, getAlgebraicDistance, getAlgebraicDistance, getConfidence, getDegree, getDistance, getEvaluations, getGeometricDistance, getGeometricOrAlgebraicDistance, getListener, getMaxIterations, getMinNumberOfEvaluations, getProgressDelta, isGeometricDistanceUsed, isLocked, setConfidence, setDegree, setEvaluations, setGeometricDistanceUsed, setListener, setMaxIterations, setProgressDelta

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

DEFAULT_THRESHOLD

public static final double DEFAULT_THRESHOLD

Constant defining default threshold to determine whether polynomials are inliers or not. Threshold will be used to compare either algebraic or geometric distance of estimated polynomial respect each provided evaluation.

See Also:

• Constant Field Values

MIN_THRESHOLD

public static final double MIN_THRESHOLD

Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.

See Also:

• Constant Field Values

threshold

private double threshold

Threshold to determine whether polynomial evaluations are inlers or not when testing possible estimation solutions

qualityScores

private double[] qualityScores

Quality scores corresponding to each provided polynomial evaluation. The larger the score value the better the quality of the sample.

Constructor Details

PROSACPolynomialRobustEstimator

public PROSACPolynomialRobustEstimator()

Constructor.

PROSACPolynomialRobustEstimator

public PROSACPolynomialRobustEstimator(int degree)

Constructor.

Parameters:

degree - degree of polynomial to be estimated.

Throws:

IllegalArgumentException - if provided degree is less than 1.

PROSACPolynomialRobustEstimator

public PROSACPolynomialRobustEstimator(List<PolynomialEvaluation> evaluations)

Constructor.

Parameters:

evaluations - collection of polynomial evaluations.

Throws:

IllegalArgumentException - if provided number of evaluations is less than the required minimum.

PROSACPolynomialRobustEstimator

public PROSACPolynomialRobustEstimator(PolynomialRobustEstimatorListener listener)

Constructor.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

PROSACPolynomialRobustEstimator

public PROSACPolynomialRobustEstimator(int degree,
 List<PolynomialEvaluation> evaluations)

Constructor.

Parameters:

degree - degree of polynomial to be estimated.

evaluations - collection of polynomial evaluations.

Throws:

IllegalArgumentException - if provided degree is less than 1 or if provided number of evaluations is less than the required minimum for provided degree.

PROSACPolynomialRobustEstimator

public PROSACPolynomialRobustEstimator(int degree,
 PolynomialRobustEstimatorListener listener)

Constructor.

Parameters:

degree - degree of polynomial to be estimated.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Throws:

IllegalArgumentException - if provided degree is less than 1.

PROSACPolynomialRobustEstimator

public PROSACPolynomialRobustEstimator(List<PolynomialEvaluation> evaluations,
 PolynomialRobustEstimatorListener listener)

Constructor.

Parameters:

evaluations - collection of polynomial evaluations.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Throws:

IllegalArgumentException - if provided number of evaluations is less than the required minimum.

PROSACPolynomialRobustEstimator

public PROSACPolynomialRobustEstimator(int degree,
 List<PolynomialEvaluation> evaluations,
 PolynomialRobustEstimatorListener listener)

Constructor.

Parameters:

degree - degree of polynomial to be estimated.

evaluations - collection of polynomial evaluations.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Throws:

IllegalArgumentException - if provided degree is less than 1 or if provided number of evaluations is less than the required minimum for provided degree.

Method Details

getThreshold

public double getThreshold()

Returns threshold to determine whether polynomials are inliers or not when testing possible estimation solutions.

Returns:

threshold to determine whether polynomials are inliers or not when testing possible estimation solutions.

setThreshold

public void setThreshold(double threshold)
                  throws LockedException

Sets threshold to determine whether polynomials are inliers or not when testing possible estimation solutions.

Parameters:

threshold - threshold to determine whether polynomials are inliers or not when testing possible estimation solutions.

Throws:

IllegalArgumentException - if provided value is equal or less than zero.

LockedException - if robust estimator is locked.

getQualityScores

public double[] getQualityScores()

Returns quality scores corresponding to each provided point. The larger the score value the betther the quality of the sampled point

Overrides:

getQualityScores in class PolynomialRobustEstimator

Returns:

quality scores corresponding to each point

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws LockedException

Sets quality scores corresponding to each provided point. The larger the score value the better the quality of the sampled point.

Overrides:

setQualityScores in class PolynomialRobustEstimator

Parameters:

qualityScores - quality scores corresponding to each point.

Throws:

LockedException - if robust estimator is locked because an estimation is already in progress.

IllegalArgumentException - if provided quality scores length is smaller than required minimum size.

isReady

public boolean isReady()

Indicates if estimator is ready to start the polynomial estimation. This is true when input data (i.e. polynomial evaluations and quality scores) are provided and enough data is available.

Overrides:

isReady in class PolynomialRobustEstimator

Returns:

true if estimator is ready, false otherwise

estimate

public Polynomial estimate()
                    throws LockedException,
NotReadyException,
RobustEstimatorException

Estimates polynomial.

Specified by:

estimate in class PolynomialRobustEstimator

Returns:

estimated polynomial.

Throws:

LockedException - if robust estimator is locked because an estimation is already in progress.

NotReadyException - if provided input data is not enough to start the estimation.

RobustEstimatorException - if estimation fails for any other reason (i.e. numerical instability, no solution available, etc).

getMethod

public RobustEstimatorMethod getMethod()

Returns method being used for robust estimation.

Specified by:

getMethod in class PolynomialRobustEstimator

Returns:

method being used for robust estimation.

internalSetQualityScores

private void internalSetQualityScores(double[] qualityScores)

Sets quality scores corresponding to each provided polynomial evaluation. This method is used internally and does not check whether instance is locked or not

Parameters:

qualityScores - quality scores to be set

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size.