PlaneModel Class Reference

A plane model. More...

#include <PlaneModel.hpp>

Inherits RANSACModel< PlaneModel, rw::math::Vector3D<> >.

Public Types
typedef rw::core::Ptr< PlaneModel >	Ptr
	Smart pointer type to this class.
Public Types inherited from RANSACModel< PlaneModel, rw::math::Vector3D<> >
typedef rw::core::Ptr< RANSACModel< PlaneModel, rw::math::Vector3D<> > >	Ptr
	Smart pointer type to this class.

Public Member Functions
	PlaneModel ()
	Constructor.
	PlaneModel (const rw::geometry::Plane &plane)
	Constructor. More...
virtual	~PlaneModel ()
	Destructor.
virtual double	fitError (const rw::math::Vector3D<> &sample) const
	Calculates the fitting error of a sample. More...
virtual bool	invalid () const
	Checks whether the model is invalid. More...
virtual int	getMinReqData () const
	Returns the number of samples required to create the model. More...
virtual double	refit (const std::vector< rw::math::Vector3D<>> &samples)
	Recalculates the model based on provided samples. More...
virtual bool	same (const PlaneModel &model, double threshold) const
	Tests whether the model is same to a threshold of another model. More...
rw::geometry::Plane	plane () const
	Get plane.
rw::math::Vector3D	normal () const
	Get plane normal.
double	d () const
	Get plane distance from {0, 0, 0} along normal.
Public Member Functions inherited from RANSACModel< PlaneModel, rw::math::Vector3D<> >
	RANSACModel ()
	Constructor.
virtual PlaneModel	make (const std::vector< rw::math::Vector3D<> > &data) const
	Creates a new model of this type using provided data.
virtual	~RANSACModel ()
	Destructor.
bool	operator< (const PlaneModel &model) const
	'Worse than' operator. More...
bool	operator> (const PlaneModel &model) const
	'Better than' operator. More...
virtual bool	belongsTo (const rw::math::Vector3D<> &sample, double threshold) const
	Check whether a sample belongs to the model. More...
virtual double	refit (const std::vector< rw::math::Vector3D<> > &data)=0
	Recalculates the model based on provided samples. More...
size_t	getNumberOfInliers () const
	Get the number of inliers.
double	getQuality () const
	Get the model quality. More...
void	setQuality (double quality)
	Set the model quality. More...
std::vector< rw::math::Vector3D<> > &	getData ()
	Access data.
const std::vector< rw::math::Vector3D<> > &	getData () const
	Access data.
std::vector< size_t >	getInlierIndices () const
	Get the vector of inlier indices. More...

Protected Attributes
rw::geometry::Plane	_model
Protected Attributes inherited from RANSACModel< PlaneModel, rw::math::Vector3D<> >
std::vector< rw::math::Vector3D<> >	_data
double	_quality
std::vector< size_t >	_indices

Friends
std::ostream &	operator<< (std::ostream &out, const PlaneModel &plane)
	Streaming operator.

Additional Inherited Members
Static Public Member Functions inherited from RANSACModel< PlaneModel, rw::math::Vector3D<> >
static std::vector< PlaneModel >	findModels (const std::vector< rw::math::Vector3D<> > &data, int maxIterations, int dataRequired, double dataThreshold, double modelThreshold)
	Find models fitting a set of observations. More...
static PlaneModel	bestModel (const std::vector< PlaneModel > &models)
	Select the model with the largest number of inliers. More...
static PlaneModel	likelyModel (const std::vector< PlaneModel > &models)
	Select a model randomly, with a chance based on the number of inliers. More...

Detailed Description

A plane model.

Constructor & Destructor Documentation

PlaneModel()

PlaneModel ( const rw::geometry::Plane &  plane )

inline

Constructor.

Parameters

plane

[in] plane model

Member Function Documentation

fitError()

virtual double fitError ( const rw::math::Vector3D<> &  sample ) const

virtual

Calculates the fitting error of a sample.

Implements RANSACModel< PlaneModel, rw::math::Vector3D<> >.

getMinReqData()

virtual int getMinReqData ( ) const

inlinevirtual

Returns the number of samples required to create the model.

No model will be found, if data size is less than this amount.

PlaneModel requires at least 3 samples.

Implements RANSACModel< PlaneModel, rw::math::Vector3D<> >.

invalid()

virtual bool invalid ( ) const

virtual

Checks whether the model is invalid.

Implements RANSACModel< PlaneModel, rw::math::Vector3D<> >.

refit()

virtual double refit ( const std::vector< rw::math::Vector3D<>> &  samples )

virtual

Recalculates the model based on provided samples.

Returns

Fit error on a set of provided samples.

Returns standard variance of point distances to the plane model (an average of distances squared).

same()

virtual bool same ( const PlaneModel &  model, double  threshold  ) const

virtual

Tests whether the model is same to a threshold of another model.

This is used to filter down (merge) similar models found in the course of RANSAC algorithm execution.

Implements RANSACModel< PlaneModel, rw::math::Vector3D<> >.

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The documentation for this class was generated from the following file:

• src/rwlibs/algorithms/PlaneModel.hpp