tag::PlaneFromPoints Struct Reference

#include <ransac_estimators.h>

Collaboration diagram for tag::PlaneFromPoints:

Public Member Functions
	PlaneFromPoints ()
template<class It >
void	estimate (It begin, It end)
template<class M >
double	score (const M &m) const
template<class M >
bool	isInlier (const M &m, double r) const

Public Attributes
TooN::Vector< 4 >	plane
	the plane equation coefficients as homogeneous vector with unit normal, or (0,0,0,1) More...

Static Public Attributes
static const int	hypothesis_size = 3
	minimal number of correspondences More...

Detailed Description

RANSAC estimator to compute a plane fitting 3 or more points. The points are Vector<3> or similar. The minimal set are three points, in which case a fast method is used to compute the plane. For more correspondences a method using SVD is employed. Pass in iterators where each element is represents a Vector<3>.

The estimated plane will be represented by (n,d), where n is a unit vector representing the plane normal and d the distance to the origin. If n == (0 0 0), then no plane was found.

Constructor & Destructor Documentation

tag::PlaneFromPoints::PlaneFromPoints ( )

inline

Member Function Documentation

template<class It >

void tag::PlaneFromPoints::estimate ( It  begin, It  end  )

inline

References plane.

template<class M >

bool tag::PlaneFromPoints::isInlier ( const M &  m, double  r  ) const

inline

References tag::noise(), and score().

template<class M >

double tag::PlaneFromPoints::score ( const M &  m ) const

inline

References plane.

Referenced by isInlier().

Member Data Documentation

const int tag::PlaneFromPoints::hypothesis_size = 3

static

minimal number of correspondences

TooN::Vector<4> tag::PlaneFromPoints::plane

the plane equation coefficients as homogeneous vector with unit normal, or (0,0,0,1)

Referenced by estimate(), and score().

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

• ransac_estimators.h