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

#include <FitLine3D.hpp>

Inheritance diagram for TRTK::FitLine3D< T >:

Collaboration diagram for TRTK::FitLine3D< T >:

Public Types
enum	Error { NOT_ENOUGH_POINTS, UNKNOWN_ERROR, WRONG_POINT_SIZE }
typedef super::Vector3T	Vector3T
	3D column vector with value type T.
typedef super::Vector4T	Vector4T
	4D column vector with value type T.
typedef super::MatrixXT	MatrixXT
	Matrix of arbitrary size with value type T.
typedef super::ArrayXT	ArrayXT
	General-purpose array of arbitrary size with value type T.
typedef super::VectorXT	VectorXT
	Column vector of arbitrary size with value type T.
typedef super::Vector2T	Vector2T
	2D column vector with value type T.
typedef super::Matrix2T	Matrix2T
	2 x 2 matrix with value type T.
typedef super::Matrix3T	Matrix3T
	3 x 3 matrix with value type T.
Public Member Functions
	FitLine3D ()
	Constructs an empty FitLine3D object.
	FitLine3D (const std::vector< Coordinate< T > > &points)
	Constructs a FitLine3D object.
	FitLine3D (const std::vector< Vector3T > &points)
	Constructs a FitLine3D object.
	FitLine3D (const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > &points)
	Constructs an FitLine3D object.
virtual	~FitLine3D ()
	Destructs the FitLine3D object.
unsigned	getNumberPointsRequired () const
	Returns the minimum number of data points required to compute a model.
void	compute ()
	Runs the fitting algorithm.
T	getRMS () const
	Returns the root mean square error.
const Coordinate< T > &	getDirectionVector () const
	Returns the direction vector of the line.
Coordinate< T >	getNormalVector () const
	Returns a normal vector.
const Coordinate< T > &	getPointOnLineSegment () const
	Returns a point on the line.
T	getDistanceFromOrigin () const
	Returns the shortest distance between the line and the origin.
T	getDistanceTo (const Coordinate< T > &point) const
	Returns the shortest distance from the line to the given point.
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::FitLine3D< T >

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

Template Parameters:

T	scalar type of the coordinates

This class allows estimating the direction vector, normal vector, et cetera of a line from a given set of points. The points may be erroneous since a principal component analysis (PCA) is performed; it is assumed, that the line propagates in the direction of largest variance.

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

 #include <iostream>

 #include <TRTK/FitLine3D.hpp>
 #include <TRTK/Tools.hpp>

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

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

     // Construct some points lying on a line.

     vector<Coordinate> points;

     Coordinate direction_vector = Coordinate(4, 0, 3);
     Coordinate point_on_line = Coordinate(1, 3, -1);

     for (int i = 0; i < 100; ++i)
     {
         Coordinate point = point_on_line + rand(-10.0, 10.0) * direction_vector;

         // Add some noise.

         point.x() += 0.1 * randn();
         point.y() += 0.1 * randn();
         point.z() += 0.1 * randn();

         points.push_back(point);
     }

     // Estimate the line parameters.

     FitLine3D<double> fitLine3D(points);
     fitLine3D.compute();

     cout << "The direction vector is: " << fitLine3D.getDirectionVector() << endl;
     cout << "A point on the line is: " << fitLine3D.getPointOnLineSegment() << endl;
     cout << "The distance from the origin is: " << fitLine3D.getDistanceFromOrigin() << endl;

     return 0;
 }

Output:

 The direction vector is: (0.800062, 0.000370052, 0.599917)
 A point on the line is: (2.81097, 3.00661, 0.351312)
 The distance from the origin is: 3.31798

Author:: Christoph Haenisch, Fabian Killus

Version:: 0.4.1

Date:: last changed on 2013-08-20

Definition at line 115 of file FitLine3D.hpp.

Constructor & Destructor Documentation

template<class T >

TRTK::FitLine3D< T >::FitLine3D ( )

Constructs an empty FitLine3D object.

Template Parameters:

T	scalar type of the coordinates

Definition at line 163 of file FitLine3D.hpp.

template<class T >

TRTK::FitLine3D< T >::FitLine3D ( const std::vector< Coordinate< T > > & points )

Constructs a FitLine3D object.

Template Parameters:

T	scalar type of the coordinates

Parameters:

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

Definition at line 179 of file FitLine3D.hpp.

template<class T >

TRTK::FitLine3D< T >::FitLine3D ( const std::vector< Vector3T > & points )

Constructs a FitLine3D object.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] points Points lying on the line.

Definition at line 195 of file FitLine3D.hpp.

template<class T >

TRTK::FitLine3D< T >::FitLine3D ( const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > & points )

Constructs an FitLine3D object.

Template Parameters:

T	scalar type of the coordinates

Parameters:

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

Definition at line 213 of file FitLine3D.hpp.

template<class T >

TRTK::FitLine3D< T >::~FitLine3D ( ) [virtual]

Destructs the FitLine3D object.

Template Parameters:

T	scalar type of the coordinates

Definition at line 227 of file FitLine3D.hpp.

Member Function Documentation

template<class T >

void TRTK::FitLine3D< T >::compute ( ) [virtual]

Runs the fitting algorithm.

Template Parameters:

T	scalar type of the coordinates

There must be at least 2 known points on the line to perform the fitting.

Exceptions:

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

See also:: setPoints(), getPointOnLineSegment() and getGradient()

Implements TRTK::Fit3D< T >.

Definition at line 246 of file FitLine3D.hpp.

template<class T >

const Coordinate< T > & TRTK::FitLine3D< T >::getDirectionVector ( ) const

Returns the direction vector of the line.

Template Parameters:

T	scalar type of the coordinates

Definition at line 319 of file FitLine3D.hpp.

template<class T >

T TRTK::FitLine3D< T >::getDistanceFromOrigin ( ) const

Returns the shortest distance between the line and the origin.

Template Parameters:

T	scalar type of the coordinates

Definition at line 396 of file FitLine3D.hpp.

template<class T >

T TRTK::FitLine3D< T >::getDistanceTo ( const Coordinate< T > & point ) const [virtual]

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

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] point A 3D coordinate.

Implements TRTK::Fit3D< T >.

Definition at line 442 of file FitLine3D.hpp.

template<class T >

Coordinate< T > TRTK::FitLine3D< T >::getNormalVector ( ) const

Returns a normal vector.

Template Parameters:

T	scalar type of the coordinates

The normal is defined such that starting at the origin and running along the normal yields a point on the line.

Definition at line 334 of file FitLine3D.hpp.

template<class T >

const Coordinate< T > & TRTK::FitLine3D< T >::getPointOnLineSegment ( ) const

Returns a point on the line.

Template Parameters:

T	scalar type of the coordinates

Definition at line 480 of file FitLine3D.hpp.

template<class T >

T TRTK::FitLine3D< 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 492 of file FitLine3D.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< 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.

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.

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

D:/Programmierung/C/TRTK/include/TRTK/FitLine3D.hpp

TRTK::FitLine3D< T > Class Template Reference

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<class T> class TRTK::FitLine3D< T >

Constructor & Destructor Documentation

Member Function Documentation

template<class T>
class TRTK::FitLine3D< T >