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RobWorkProject
23.9.11-
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RobWorkProject
23.9.11-
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A model for points placed along a line with regular intervals. More...
#include <StructuredLineModel.hpp>
Inherits RANSACModel< StructuredLineModel, rw::math::Vector3D<> >.
Public Types | |
| typedef rw::core::Ptr< StructuredLineModel > | Ptr |
| Smart pointer type to this class. | |
 Public Types inherited from RANSACModel< StructuredLineModel, rw::math::Vector3D<> > | |
| typedef rw::core::Ptr< RANSACModel< StructuredLineModel, rw::math::Vector3D<> > > | Ptr |
| Smart pointer type to this class. | |
Public Member Functions | |
| StructuredLineModel () | |
| Constructor. | |
| StructuredLineModel (const rw::geometry::Line &line, const rw::math::Vector3D<> &start, double interval) | |
| Constructor. | |
| virtual | ~StructuredLineModel () |
| 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 StructuredLineModel &model, double threshold) const |
| Tests whether the model is same to a threshold of another model. More... | |
| double | testInterval (const std::vector< rw::math::Vector3D<>> &samples, double interval, rw::math::Vector3D<> start, double maxDist) const |
| Test if interval matches the dataset. More... | |
| rw::geometry::Line | line () const |
| Get line. | |
| rw::math::Vector3D | start () const |
| Get starting point. | |
| double | getInterval () const |
| Get interval. | |
| Public Member Functions inherited from RANSACModel< StructuredLineModel, rw::math::Vector3D<> > | |
| RANSACModel () | |
| Constructor. | |
| virtual StructuredLineModel | 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 StructuredLineModel &model) const |
| 'Worse than' operator. More... | |
| bool | operator> (const StructuredLineModel &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::Line | _line |
| rw::math::Vector3D | _start |
| double | _interval |
| Protected Attributes inherited from RANSACModel< StructuredLineModel, rw::math::Vector3D<> > | |
| std::vector< rw::math::Vector3D<> > | _data |
| double | _quality |
| std::vector< size_t > | _indices |
Friends | |
| std::ostream & | operator<< (std::ostream &out, const StructuredLineModel &model) |
| Streaming operator. | |
Additional Inherited Members | |
| Static Public Member Functions inherited from RANSACModel< StructuredLineModel, rw::math::Vector3D<> > | |
| static std::vector< StructuredLineModel > | 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 StructuredLineModel | bestModel (const std::vector< StructuredLineModel > &models) |
| Select the model with the largest number of inliers. More... | |
| static StructuredLineModel | likelyModel (const std::vector< StructuredLineModel > &models) |
| Select a model randomly, with a chance based on the number of inliers. More... | |
A model for points placed along a line with regular intervals.
Structured line is defined using a line in 3D, a starting point which is chosen as the data point with lowest (x+y+z) value, and an interval.
Structured line model requires at least two samples to create.
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virtual |
Calculates the fitting error of a sample.
Implements RANSACModel< StructuredLineModel, rw::math::Vector3D<> >.
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inlinevirtual |
Returns the number of samples required to create the model.
No model will be found, if data size is less than this amount.
StructuredLineModel requires at least 2 sample.
Implements RANSACModel< StructuredLineModel, rw::math::Vector3D<> >.
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virtual |
Checks whether the model is invalid.
Implements RANSACModel< StructuredLineModel, rw::math::Vector3D<> >.
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virtual |
Recalculates the model based on provided samples.
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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.
StructuredLineModels are the same when the distance between them, according to metric taking into account weighted sum of direction angle difference and the closest separation between lines is lower than specified threshold.
Implements RANSACModel< StructuredLineModel, rw::math::Vector3D<> >.
| double testInterval | ( | const std::vector< rw::math::Vector3D<>> & | samples, |
| double | interval, | ||
| rw::math::Vector3D<> | start, | ||
| double | maxDist | ||
| ) | const |
Test if interval matches the dataset.
This is used to find the interval value for the model when refitting. Returns the total error associated with given interval. We want to minimize this function, trying a range of possible intervals. The procedure is as follows:
1.9.1