Package georegression.fitting

Class ShapeFittingRobustOps

java.lang.Object

georegression.fitting.ShapeFittingRobustOps

public class ShapeFittingRobustOps
extends Object

High level API for fitting points and related to shapes. Different robust fitting algorithms are applied

Field Summary

Fields

Modifier and Type	Field	Description
boolean	forceSingleThread	If true it will always use a single threaded implementation
double	lsmedInlierFraction	Inlier fraction for LMedS
double	lsmedMaxAllowedError	LMedS will return else if the inlier error is more than this value
int	maxIterations	Either the maximum number of iterations or the number of iterations, depending on implementation
double	outputFitQuality	How good the fit was according to the robust algorithm
long	randomSeed	Random number generator used by robust fitter.
double	ransacThreshold	Inlier threshold used by RANSAC
int	thresholdConcurrent	If it's fewer than this number of points it will use single threaded versions

Constructor Summary

Constructors

Constructor	Description
ShapeFittingRobustOps()

Method Summary

Modifier and Type	Method	Description
void	configRansac(int iterations, double threshold)	Configures RANSAC parameters
protected <Model, Point> Model	fitWithLMedS(List<Point> points, ModelManager<Model> modelManager, Factory<ModelGenerator<Model,Point>> factoryGenerator, Factory<DistanceFromModel<Model,Point>> factoryDistance)
protected <Model, Point> Model	fitWithRansac(List<Point> points, ModelManager<Model> modelManager, Factory<ModelGenerator<Model,Point>> factoryGenerator, Factory<DistanceFromModel<Model,Point>> factoryDistance)
Cylinder3D_F64	lmedsCylinderFromPointNormals(List<PlaneNormal3D_F64> points)	Estimates a plane from points with surface normals
PlaneGeneral3D_F64	lmedsPlaneFromPointNormals(List<PlaneNormal3D_F64> points)	Estimates a plane from points with surface normals
PlaneGeneral3D_F64	lmedsPlaneFromPoints(List<Point3D_F64> points)	Estimates a plane from points
Cylinder3D_F64	ransacCylinderFromPointNormals(List<PlaneNormal3D_F64> points)	Estimates a plane from points with surface normals
PlaneGeneral3D_F64	ransacPlaneFromPointNormals(List<PlaneNormal3D_F64> points)	Estimates a plane from points with surface normals
PlaneGeneral3D_F64	ransacPlaneFromPoints(List<Point3D_F64> points)	Estimates a plane from points
protected boolean	useConcurrent(List<?> inputs)	Checks to see if it should use a concurrent or single thread algorithm

Methods inherited from class java.lang.Object

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

Field Details

thresholdConcurrent

public int thresholdConcurrent

If it's fewer than this number of points it will use single threaded versions

forceSingleThread

public boolean forceSingleThread

If true it will always use a single threaded implementation

randomSeed

public long randomSeed

Random number generator used by robust fitter. Same seed is used each time it's called

maxIterations

public int maxIterations

Either the maximum number of iterations or the number of iterations, depending on implementation

ransacThreshold

public double ransacThreshold

Inlier threshold used by RANSAC

lsmedMaxAllowedError

public double lsmedMaxAllowedError

LMedS will return else if the inlier error is more than this value

lsmedInlierFraction

public double lsmedInlierFraction

Inlier fraction for LMedS

outputFitQuality

public double outputFitQuality

How good the fit was according to the robust algorithm

Constructor Details

ShapeFittingRobustOps

public ShapeFittingRobustOps()

Method Details

configRansac

public void configRansac(int iterations,
 double threshold)

Configures RANSAC parameters

ransacPlaneFromPoints

public PlaneGeneral3D_F64 ransacPlaneFromPoints(List<Point3D_F64> points)

Estimates a plane from points

ransacPlaneFromPointNormals

public PlaneGeneral3D_F64 ransacPlaneFromPointNormals(List<PlaneNormal3D_F64> points)

Estimates a plane from points with surface normals

lmedsPlaneFromPoints

public PlaneGeneral3D_F64 lmedsPlaneFromPoints(List<Point3D_F64> points)

Estimates a plane from points

lmedsPlaneFromPointNormals

public PlaneGeneral3D_F64 lmedsPlaneFromPointNormals(List<PlaneNormal3D_F64> points)

Estimates a plane from points with surface normals

ransacCylinderFromPointNormals

public Cylinder3D_F64 ransacCylinderFromPointNormals(List<PlaneNormal3D_F64> points)

Estimates a plane from points with surface normals

lmedsCylinderFromPointNormals

public Cylinder3D_F64 lmedsCylinderFromPointNormals(List<PlaneNormal3D_F64> points)

Estimates a plane from points with surface normals

fitWithLMedS

protected <Model,
Point> Model fitWithLMedS(List<Point> points,
 ModelManager<Model> modelManager,
 Factory<ModelGenerator<Model,Point>> factoryGenerator,
 Factory<DistanceFromModel<Model,Point>> factoryDistance)

fitWithRansac

protected <Model,
Point> Model fitWithRansac(List<Point> points,
 ModelManager<Model> modelManager,
 Factory<ModelGenerator<Model,Point>> factoryGenerator,
 Factory<DistanceFromModel<Model,Point>> factoryDistance)

useConcurrent

protected boolean useConcurrent(List<?> inputs)

Checks to see if it should use a concurrent or single thread algorithm