Estimates the parameters of a 2D plane in 3D space from a set of points lying on the surface. More...

#include <FitPlane.hpp>

Inheritance diagram for TRTK::FitPlane< T >:

Collaboration diagram for TRTK::FitPlane< T >:

Public Types
typedef super::Vector3T	Vector3T
	3D column vector with value type T.
typedef super::Vector4T	Vector4T
	4D column vector with value type T.
typedef super::VectorXT	VectorXT
	Column vector of arbitrary size with value type T.
typedef super::Matrix3T	Matrix3T
	3 x 3 matrix 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::Vector2T	Vector2T
	2D column vector 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
	FitPlane ()
	Constructs an empty FitPlane object.
	FitPlane (const std::vector< Coordinate< T > > &points)
	Constructs a FitPlane object.
	FitPlane (const std::vector< Vector3T > &points)
	Constructs a FitPlane object.
	FitPlane (const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > &points)
	Constructs an FitPlane object.
virtual	~FitPlane ()
	Destructs the FitPlane 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 > &	getNormal () const
	Returns the normal of the plane.
const Coordinate< T > &	getPointInPlane () const
	Returns a point lying in the plane.
T	getDistanceFromOrigin () const
	Returns the shortest distance between the plane and the origin.
T	getDistanceTo (const Coordinate< T > &point) const
	Returns the shortest distance between the plane and 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::FitPlane< T >

Estimates the parameters of a 2D plane in 3D space from a set of points lying on the surface.

Template Parameters:

T	scalar type of the coordinates

This class allows estimating the normal of a plane as well as a representative position of a point in the plane. The points may be erroneous since a least square fitting is done. If \( x_i \) are the data points, \( \bar{x} \) is a point in the plane and \( n \) is the normal of the plane, then FitPlane tries to minimize the following objective function:

\[ n := \arg\min_{n} \sum_{i=1}^N ( (x_i - \bar{x})^T \cdot n )^2 \]

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

 #include <iostream>

 #include "TRTK/Coordinate.hpp"
 #include "TRTK/FitPlane.hpp"
 #include "TRTK/Tools.hpp"

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

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

     vector<Coordinate> points;

     // Construct points lying on a plane.

     Coordinate v1(3, 2, 4);
     Coordinate v2(1, 0, 5);
     Coordinate origin_point(10.0, 30.0, 50.0);

     for (int i = 0; i < 100; ++i)
     {
         Coordinate point_in_plane = origin_point + rand(-10, 10) * v1 + rand(-10, 10) * v2;

         // Add some noise.

         point_in_plane += Coordinate(randn(), randn(), randn());

         points.push_back(point_in_plane);
     }

     // Estimate the plane parameters.

     FitPlane<double> fitPlane;
     fitPlane.setPoints(points);

     fitPlane.compute();

     // Print the estimated values.

     cout << "Normal vector: " << v1.cross(v2).normalize() << endl;
     cout << "Estimated normal vector: " << fitPlane.getNormal() << endl;
     cout << "Estimated center point: " << fitPlane.getPointInPlane();
 }

Output:

 Normal vector: (0.666667, -0.733333, -0.133333)
 Estimated normal vector: (-0.674243, 0.726738, 0.131331)
 Estimated center point: (9.91952, 30.2422, 47.7684)

Author:: Christoph Haenisch, Fabian Killus

Version:: 0.5.0

Date:: last changed on 2012-03-19

Definition at line 118 of file FitPlane.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::FitPlane< T >::FitPlane ( )

Constructs an empty FitPlane object.

Template Parameters:

T	scalar type of the coordinates

Definition at line 167 of file FitPlane.hpp.

template<class T >

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

Constructs a FitPlane object.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] points Points lying on the surface of a plane. The points can be 3D or 4D homogeneous coordinates.

Definition at line 184 of file FitPlane.hpp.

template<class T >

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

Constructs a FitPlane object.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] points Points lying on the surface of a plane.

Definition at line 201 of file FitPlane.hpp.

template<class T >

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

Constructs an FitPlane object.

Template Parameters:

T	scalar type of the coordinates

Parameters:

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

Definition at line 220 of file FitPlane.hpp.

template<class T >

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

Destructs the FitPlane object.

Template Parameters:

T	scalar type of the coordinates

Definition at line 235 of file FitPlane.hpp.

Member Function Documentation

template<class T >

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

Runs the fitting algorithm.

Template Parameters:

T	scalar type of the coordinates

There must be at least 3 surface points to perform the fitting.

Exceptions:

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

See also:: setPoints(), getPointInPlane() and getNormal()

Implements TRTK::Fit3D< T >.

Definition at line 254 of file FitPlane.hpp.

template<class T >

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

Returns the shortest distance between the plane and the origin.

Template Parameters:

T	scalar type of the coordinates

Definition at line 375 of file FitPlane.hpp.

template<class T >

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

Returns the shortest distance between the plane and the given point.

Template Parameters:

T	scalar type of the coordinates

Implements TRTK::Fit3D< T >.

Definition at line 393 of file FitPlane.hpp.

template<class T >

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

Returns the normal of the plane.

Template Parameters:

T	scalar type of the coordinates

Definition at line 426 of file FitPlane.hpp.

template<class T >

const Coordinate< T > & TRTK::FitPlane< T >::getPointInPlane ( ) const

Returns a point lying in the plane.

Template Parameters:

T	scalar type of the coordinates

Definition at line 445 of file FitPlane.hpp.

template<class T >

T TRTK::FitPlane< 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 457 of file FitPlane.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< 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.

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

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

TRTK::FitPlane< T > Class Template Reference

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<class T> class TRTK::FitPlane< T >

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<class T>
class TRTK::FitPlane< T >