StablePose0DModel Class Reference

A stable pose with 0 DoF model. o Models a stable pose with 0 DoF, i.e. essentially a single orientation in SE3. More...

#include <StablePose0DModel.hpp>

Inherits RANSACModel< StablePose0DModel, rw::math::Rotation3D<> >.

Public Types
typedef rw::core::Ptr< StablePose0DModel >	Ptr
	Smart pointer type to this class.
Public Types inherited from RANSACModel< StablePose0DModel, rw::math::Rotation3D<> >
typedef rw::core::Ptr< RANSACModel< StablePose0DModel, rw::math::Rotation3D<> > >	Ptr
	Smart pointer type to this class.

Public Member Functions
	StablePose0DModel ()
	Constructor.
	StablePose0DModel (const rw::math::Rotation3D<> &orientation)
	Constructor. More...
virtual	~StablePose0DModel ()
	Destructor.
virtual double	fitError (const rw::math::Rotation3D<> &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::Rotation3D<>> &samples)
	Recalculates the model based on provided samples. More...
virtual bool	same (const StablePose0DModel &model, double threshold) const
	Tests whether the model is same to a threshold of another model. More...
rw::math::Rotation3D	orientation () const
	Get stable pose orientation.
Public Member Functions inherited from RANSACModel< StablePose0DModel, rw::math::Rotation3D<> >
	RANSACModel ()
	Constructor.
virtual StablePose0DModel	make (const std::vector< rw::math::Rotation3D<> > &data) const
	Creates a new model of this type using provided data.
virtual	~RANSACModel ()
	Destructor.
bool	operator< (const StablePose0DModel &model) const
	'Worse than' operator. More...
bool	operator> (const StablePose0DModel &model) const
	'Better than' operator. More...
virtual bool	belongsTo (const rw::math::Rotation3D<> &sample, double threshold) const
	Check whether a sample belongs to the model. More...
virtual double	refit (const std::vector< rw::math::Rotation3D<> > &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::Rotation3D<> > &	getData ()
	Access data.
const std::vector< rw::math::Rotation3D<> > &	getData () const
	Access data.
std::vector< size_t >	getInlierIndices () const
	Get the vector of inlier indices. More...

Protected Attributes
rw::math::Rotation3D	_rot
Protected Attributes inherited from RANSACModel< StablePose0DModel, rw::math::Rotation3D<> >
std::vector< rw::math::Rotation3D<> >	_data
double	_quality
std::vector< size_t >	_indices

Friends
std::ostream &	operator<< (std::ostream &out, const StablePose0DModel &model)
	Streaming operator.

Additional Inherited Members
Static Public Member Functions inherited from RANSACModel< StablePose0DModel, rw::math::Rotation3D<> >
static std::vector< StablePose0DModel >	findModels (const std::vector< rw::math::Rotation3D<> > &data, int maxIterations, int dataRequired, double dataThreshold, double modelThreshold)
	Find models fitting a set of observations. More...
static StablePose0DModel	bestModel (const std::vector< StablePose0DModel > &models)
	Select the model with the largest number of inliers. More...
static StablePose0DModel	likelyModel (const std::vector< StablePose0DModel > &models)
	Select a model randomly, with a chance based on the number of inliers. More...

Detailed Description

A stable pose with 0 DoF model. o Models a stable pose with 0 DoF, i.e. essentially a single orientation in SE3.

The model requires at least 1 sample.

Constructor & Destructor Documentation

StablePose0DModel()

StablePose0DModel ( const rw::math::Rotation3D<> &  orientation )

inline

Constructor.

Parameters

orientation

[in] orientation for the model

Member Function Documentation

fitError()

virtual double fitError ( const rw::math::Rotation3D<> &  sample ) const

virtual

Calculates the fitting error of a sample.

Implements RANSACModel< StablePose0DModel, rw::math::Rotation3D<> >.

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.

StablePose0DModel requires at least 1 sample.

Implements RANSACModel< StablePose0DModel, rw::math::Rotation3D<> >.

invalid()

virtual bool invalid ( ) const

virtual

Checks whether the model is invalid.

Implements RANSACModel< StablePose0DModel, rw::math::Rotation3D<> >.

refit()

virtual double refit ( const std::vector< rw::math::Rotation3D<>> &  samples )

virtual

Recalculates the model based on provided samples.

Returns

Fit error on a set of provided samples.

same()

virtual bool same ( const StablePose0DModel &  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< StablePose0DModel, rw::math::Rotation3D<> >.

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

• StablePose0DModel.hpp