Estimates the parameters of a circle in 3D space from a set of points lying on the circle. More...

#include <FitCircle3D.hpp>

Inheritance diagram for TRTK::FitCircle3D< T >:

Collaboration diagram for TRTK::FitCircle3D< T >:

Public Types
typedef super::Vector2T	Vector2T
	2D column vector with value type T.
typedef super::Vector3T	Vector3T
	3D column vector with value type T.
typedef super::Vector4T	Vector4T
	4D column vector with value type T.
typedef super::Matrix3T	Matrix3T
	3 x 3 matrix with value type T.
typedef super::ArrayXT	ArrayXT
	General-purpose array of arbitrary size with value type T.
typedef super::MatrixXT	MatrixXT
	Matrix of arbitrary size with value type T.
typedef super::VectorXT	VectorXT
	Column vector of arbitrary size with value type T.
typedef super::Matrix2T	Matrix2T
	2 x 2 matrix with value type T.
enum	Error { DATA_POINTS_TOO_SIMILAR, INFINITY_NOT_AVAILABLE, NAN_NOT_AVAILABLE, NOT_ENOUGH_POINTS, UNKNOWN_ERROR, WRONG_POINT_SIZE }
Public Member Functions
	FitCircle3D ()
	Constructs an empty FitCircle3D object.
	FitCircle3D (const std::vector< Coordinate< T > > &points)
	Constructs a FitCircle3D object.
	FitCircle3D (const std::vector< Vector3T > &points)
	Constructs a FitCircle3D object.
	FitCircle3D (const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > &points)
	Constructs an FitCircle3D object.
virtual	~FitCircle3D ()
	Destructs the FitCircle3D object.
void	compute ()
	Runs the fitting algorithm.
const Coordinate< T > &	getCenterPoint () const
	Returns the center point of the circle.
T	getDistanceTo (const Coordinate< T > &point) const
	Returns the shortest distance from the circle to the given point.
const Coordinate< T > &	getNormal () const
	Returns the normal of the plane the circle lies in.
unsigned	getNumberPointsRequired () const
	Returns the minimum number of data points required to compute a model.
T	getRadius () const
	Returns the radius of the circle.
T	getRMS () const
	Returns the root mean square error.
void	setPoints (const std::vector< Coordinate< T > > &)
	Sets the point set.
void	setPoints (const std::vector< Vector3T > &)
	Sets the point set.
void	setPoints (const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > &)
	Sets the point set.
Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef T	value_type
	Internally used value type (should be a floating point type).
Protected Attributes
MatrixXT	m_points

Detailed Description

template<class T>
class TRTK::FitCircle3D< T >

Estimates the parameters of a circle in 3D space from a set of points lying on the circle.

Template Parameters:

T	scalar type of the coordinates

This class allows estimating the center point, the radius and the normal vector of a circle in 3D space from known points on the circle.

Here is an more elaborate example to see how to use the class:

 #include <iostream>

 #include <TRTK/FitCircle3D.hpp>
 #include <TRTK/Tools.hpp>

 using namespace std;
 using namespace TRTK;
 using namespace TRTK::Tools;

 int main()
 {
     typedef Coordinate<double> Coordinate;

     double pi = 3.1415926535;

     double radius = 10;
     Coordinate center_point = Coordinate(2, -1, 0);

     // Create some noisy points lying on a circle in the x-y-plane.

     vector<Coordinate> points;

     for (double phi = 0.0; phi < 2.0 * pi; phi += 0.1)
     {
         double x = radius * cos(phi) + 0.1 * randn();
         double y = radius * sin(phi) + 0.1 * randn();

         points.push_back(Coordinate(x, y, 0));
     }

     // Rotate the circle and move it to the above center point.

     Transform3D<double> transform;

     transform.rotateY(pi/2).rotateX(pi/2).translate(center_point);

     for (unsigned i = 0; i < points.size(); ++i)
     {
         points[i] = transform * points[i];
     }

     // Estimate the circle's parameters.

     FitCircle3D<double> fitCircle3D(points);
     fitCircle3D.compute();

     cout << "Center point: " << fitCircle3D.getCenterPoint() << endl;
     cout << "Normal:       " << fitCircle3D.getNormal() << endl;
     cout << "Radius:       " << fitCircle3D.getRadius() << endl;
 }

Output:

 Center point: (2, -0.94518, -0.0189328)
 Normal:       (-1, 4.50982e-011, 5.1715e-014)
 Radius:       9.99913

Author:: Christoph Haenisch, Fabian Killus

Version:: 0.2.0

Date:: last changed on 2012-03-20

Definition at line 118 of file FitCircle3D.hpp.

Member Enumeration Documentation

template<class T>

enum TRTK::Fit::Error [inherited]

Enumerator:

DATA_POINTS_TOO_SIMILAR	The data points are to similar.
INFINITY_NOT_AVAILABLE	The type T cannot represent infinity (see `std::numeric_limits<T>`).
NAN_NOT_AVAILABLE	The type T cannot represent NaN (see `std::numeric_limits<T>`).
NOT_ENOUGH_POINTS	More points are required to estimate the transformation.
UNKNOWN_ERROR	An unknown error occured.
WRONG_POINT_SIZE	One or more points have a wrong size.

Definition at line 69 of file Fit.hpp.

Constructor & Destructor Documentation

template<class T >

TRTK::FitCircle3D< T >::FitCircle3D ( )

Constructs an empty FitCircle3D object.

Template Parameters:

T	scalar type of the coordinates

Definition at line 165 of file FitCircle3D.hpp.

template<class T >

TRTK::FitCircle3D< T >::FitCircle3D ( const std::vector< Coordinate< T > > & points )

Constructs a FitCircle3D object.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] points Points lying on the circle. The points can be 3D or 4D homogeneous coordinates.

Definition at line 182 of file FitCircle3D.hpp.

template<class T >

TRTK::FitCircle3D< T >::FitCircle3D ( const std::vector< Vector3T > & points )

Constructs a FitCircle3D object.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] points Points lying on the circle.

Definition at line 199 of file FitCircle3D.hpp.

template<class T >

TRTK::FitCircle3D< T >::FitCircle3D ( const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > & points )

Constructs an FitCircle3D object.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] points Points lying on the circle. The points are assumed to be homogeneous coordinates, whose fourth coordinate entry is equal to one.

Definition at line 218 of file FitCircle3D.hpp.

template<class T >

TRTK::FitCircle3D< T >::~FitCircle3D ( ) [virtual]

Destructs the FitCircle3D object.

Template Parameters:

T	scalar type of the coordinates

Definition at line 233 of file FitCircle3D.hpp.

Member Function Documentation

template<class T >

void TRTK::FitCircle3D< T >::compute ( ) [virtual]

Runs the fitting algorithm.

Template Parameters:

T	scalar type of the coordinates

There must be at least 3 known points on the circle to perform the fitting.

Exceptions:

ErrorObj If there are not enough points to fit the circle, an error object is thrown and its error code is set to NOT_ENOUGH_POINTS.

See also:: setPoints(), getCenterPoint() and getRadius()

Implements TRTK::Fit3D< T >.

Definition at line 252 of file FitCircle3D.hpp.

template<class T >

const Coordinate< T > & TRTK::FitCircle3D< T >::getCenterPoint ( ) const

Returns the center point of the circle.

Template Parameters:

T	scalar type of the coordinates

Definition at line 350 of file FitCircle3D.hpp.

template<class T >

T TRTK::FitCircle3D< T >::getDistanceTo ( const Coordinate< T > & point ) const [virtual]

Returns the shortest distance from the circle to the given point.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] point A 2D coordinate.

Implements TRTK::Fit3D< T >.

Definition at line 364 of file FitCircle3D.hpp.

template<class T >

const Coordinate< T > & TRTK::FitCircle3D< T >::getNormal ( ) const

Returns the normal of the plane the circle lies in.

Template Parameters:

T	scalar type of the coordinates

Definition at line 404 of file FitCircle3D.hpp.

template<class T >

T TRTK::FitCircle3D< T >::getRadius ( ) const

Returns the radius of the circle.

Template Parameters:

T	scalar type of the coordinates

Definition at line 423 of file FitCircle3D.hpp.

template<class T >

T TRTK::FitCircle3D< T >::getRMS ( ) const [virtual]

Returns the root mean square error.

Template Parameters:

T	scalar type of the coordinates

Implements TRTK::Fit3D< T >.

Definition at line 435 of file FitCircle3D.hpp.

template<class T >

void TRTK::Fit3D< T >::setPoints ( const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > & points ) [inherited]

Sets the point set.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] points 4D homogeneous coordinates.

Definition at line 187 of file Fit3D.hpp.

template<class T >

void TRTK::Fit3D< T >::setPoints ( const std::vector< Vector3T > & points ) [inherited]

Sets the point set.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] points 3D coordinates.

Definition at line 168 of file Fit3D.hpp.

template<class T >

void TRTK::Fit3D< T >::setPoints ( const std::vector< Coordinate< T > > & points ) [virtual, inherited]

Sets the point set.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] points The points can either be plain 3D or 4D homogeneous coordinates.

Exceptions:

ErrorObj If there are any coordinates other than 3D or 4D coordinates, an error object is thrown and its error code is set to WRONG_POINT_SIZE.

Implements TRTK::Fit< T >.

Definition at line 135 of file Fit3D.hpp.

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

D:/Programmierung/C/TRTK/include/TRTK/FitCircle3D.hpp

TRTK::FitCircle3D< T > Class Template Reference

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<class T> class TRTK::FitCircle3D< T >

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<class T>
class TRTK::FitCircle3D< T >