StablePose1DModel Class Reference

A stable pose with 1 DoF model. More...

#include <StablePose1DModel.hpp>

Inherits RANSACModel< StablePose1DModel, rw::math::Rotation3D<> >.

Public Types
typedef rw::core::Ptr< StablePose1DModel >	Ptr
	Smart pointer type to this class.
Public Types inherited from RANSACModel< StablePose1DModel, rw::math::Rotation3D<> >
typedef rw::core::Ptr< RANSACModel< StablePose1DModel, rw::math::Rotation3D<> > >	Ptr
	Smart pointer type to this class.

Public Member Functions
	StablePose1DModel ()
	Constructor.
	StablePose1DModel (const rw::math::Vector3D<> &normal, const rw::math::Vector3D<> distances)
	Constructor. More...
virtual	~StablePose1DModel ()
	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 StablePose1DModel &model, double threshold) const
	Tests whether the model is same to a threshold of another model. More...
rw::math::Vector3D	normal () const
	Get stable pose normal.
rw::math::Vector3D	d () const
	Get stable pose plane distances.
Public Member Functions inherited from RANSACModel< StablePose1DModel, rw::math::Rotation3D<> >
	RANSACModel ()
	Constructor.
virtual StablePose1DModel	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 StablePose1DModel &model) const
	'Worse than' operator. More...
bool	operator> (const StablePose1DModel &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...

Static Public Member Functions
static StablePose1DModel	fromAxes (const rw::math::Vector3D<> &local, const rw::math::Vector3D<> &global)
	Constructs stable pose from an axis of rotation described in the object frame of reference, and a placement of that axis in global frame of reference. More...
Static Public Member Functions inherited from RANSACModel< StablePose1DModel, rw::math::Rotation3D<> >
static std::vector< StablePose1DModel >	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 StablePose1DModel	bestModel (const std::vector< StablePose1DModel > &models)
	Select the model with the largest number of inliers. More...
static StablePose1DModel	likelyModel (const std::vector< StablePose1DModel > &models)
	Select a model randomly, with a chance based on the number of inliers. More...

Protected Attributes
rw::math::Vector3D	_normal
double	_dx
double	_dy
double	_dz
bool	_invalid
Protected Attributes inherited from RANSACModel< StablePose1DModel, rw::math::Rotation3D<> >
std::vector< rw::math::Rotation3D<> >	_data
double	_quality
std::vector< size_t >	_indices

Friends
std::ostream &	operator<< (std::ostream &out, const StablePose1DModel &model)
	Streaming operator.

Detailed Description

A stable pose with 1 DoF model.

Models a stable pose with 1 DoF, i.e. a set of rotations allowed for object with 1 axis of rotation possible (e.g. a box on a surface). For a case of coordinate frame rotating around single arbitrary axis, the points at the ends of x, y, and z versors fall into parallel planes on a unit sphere. A stable pose with 1 DoF freedom is represented by a normal vector for the planes, and distances Dx, Dy, and Dz to respective planes, measured from the point {0, 0, 0}. For some cases, only two planes are defined, omitting the third coordinate (NaN). If only one plane was found, the model is considered invalid.

At least 4 samples are required for this model.

Constructor & Destructor Documentation

StablePose1DModel()

StablePose1DModel ( const rw::math::Vector3D<> &  normal, const rw::math::Vector3D<>  distances  )

inline

Constructor.

Parameters

normal	[in] normal for x, y and z planes
distances	[in] Dx, Dy and Dz distances for the respective planes

Member Function Documentation

fitError()

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

virtual

Calculates the fitting error of a sample.

Fit error for the stable pose is calculated as norm2 of distances of its x, y and z versor end points to respective planes. In case the particular plane was not found (i.e. Di = NaN), distance to this plane is assumed to be 0.

Implements RANSACModel< StablePose1DModel, rw::math::Rotation3D<> >.

fromAxes()

static StablePose1DModel fromAxes ( const rw::math::Vector3D<> &  local, const rw::math::Vector3D<> &  global  )

inlinestatic

Constructs stable pose from an axis of rotation described in the object frame of reference, and a placement of that axis in global frame of reference.

Parameters

local	[in] rotation axis in the body frame of reference
global	[in] location of the axis of rotation in the world coordinate frame

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.

StablePose1DModel requires at least 4 samples.

Implements RANSACModel< StablePose1DModel, rw::math::Rotation3D<> >.

invalid()

virtual bool invalid ( ) const

virtual

Checks whether the model is invalid.

Implements RANSACModel< StablePose1DModel, 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 StablePose1DModel &  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< StablePose1DModel, rw::math::Rotation3D<> >.

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

• StablePose1DModel.hpp