Trait SacModel 

pub trait SacModel<'a, P: Copy, T: BasicFloat> {
    type SampleIdxType;
    type CoefficientsType;

    const NB_SAMPLE: usize;
    const NB_COEFFICIENTS: usize;

    // Required methods
    fn set_data(&mut self, data: &'a [P]);
    fn set_coefficient(&mut self, factor: &Self::CoefficientsType);
    fn get_coefficient(&self) -> Self::CoefficientsType;
    fn samples(&self) -> &[P];
    fn compute_point_to_model(p: P, coefficients: &Self::CoefficientsType) -> T;
    fn get_random_samples(&self) -> Self::SampleIdxType;
    fn compute_model_coefficients(
        &self,
        samples: &Self::SampleIdxType,
    ) -> Result<Self::CoefficientsType, String>;

    // Provided methods
    fn data_len(&self) -> usize { ... }
    fn get_random_sample_id(&self) -> Vec<usize> { ... }
    fn get_distance_to_model(
        &self,
        coefficients: &Self::CoefficientsType,
    ) -> Vec<T> { ... }
    fn select_indices_within_tolerance(
        &self,
        coefficients: &Self::CoefficientsType,
        tolerance: T,
    ) -> Vec<usize> { ... }
    fn count_indices_within_tolerance(
        &self,
        coefficients: &Self::CoefficientsType,
        tolerance: T,
    ) -> usize { ... }
}

Represent any model.

Implement this to Customize model. Currently support SacModelPlane, SacModelSphere, SacModelLine, SacModelCircle3d

Required Associated Constants

const NB_SAMPLE: usize

const NB_COEFFICIENTS: usize

Required Associated Types

type SampleIdxType

type CoefficientsType

Required Methods

fn set_data(&mut self, data: &'a [P])

fn set_coefficient(&mut self, factor: &Self::CoefficientsType)

Set NB_COEFFICIENTS array.

fn get_coefficient(&self) -> Self::CoefficientsType

Get NB_COEFFICIENTS array.

fn samples(&self) -> &[P]

Get random sample points.

fn compute_point_to_model(p: P, coefficients: &Self::CoefficientsType) -> T

Return distance between target point and coefficients.

fn get_random_samples(&self) -> Self::SampleIdxType

Get array of indices of samples.

fn compute_model_coefficients( &self, samples: &Self::SampleIdxType, ) -> Result<Self::CoefficientsType, String>

Return CoefficientsType of samples.

Err

• Numbers of data smaller than NB_SAMPLE.
• Samples could not be computed. (ex: samples are overlay or parallel each other.)

Provided Methods

fn data_len(&self) -> usize

Numbers of data

fn get_random_sample_id(&self) -> Vec<usize>

Random numbers of indices by NB_SAMPLE.

fn get_distance_to_model(&self, coefficients: &Self::CoefficientsType) -> Vec<T>

Returns a distance list and uses coefficients to calculate the distance from data to the model.

fn select_indices_within_tolerance( &self, coefficients: &Self::CoefficientsType, tolerance: T, ) -> Vec<usize>

Return indices of distance between point and coefficients smaller than tolerance.

fn count_indices_within_tolerance( &self, coefficients: &Self::CoefficientsType, tolerance: T, ) -> usize

Return numbers which between point and coefficients smaller than tolerance.

Dyn Compatibility

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementors

impl<'a, P, T: BasicFloat> SacModel<'a, P, T> for SacModelCircle3d<'a, P, T>

where P: Into<[T; 3]> + Clone + Copy,

const NB_SAMPLE: usize = 3usize

const NB_COEFFICIENTS: usize = 7usize

type SampleIdxType = [usize; 3]

type CoefficientsType = ([T; 3], [T; 3], T)

impl<'a, P, T: BasicFloat> SacModel<'a, P, T> for SacModelLine<'a, P, T>

where P: Into<[T; 3]> + Clone + Copy,

const NB_SAMPLE: usize = 2usize

const NB_COEFFICIENTS: usize = 6usize

type SampleIdxType = [usize; 2]

type CoefficientsType = ([T; 3], [T; 3])

impl<'a, P, T: BasicFloat> SacModel<'a, P, T> for SacModelPlane<'a, P, T>

where P: Into<[T; 3]> + Clone + Copy,

const NB_SAMPLE: usize = 3usize

const NB_COEFFICIENTS: usize = 4usize

type SampleIdxType = [usize; 3]

type CoefficientsType = [T; 4]

impl<'a, P, T: BasicFloat> SacModel<'a, P, T> for SacModelSphere<'a, P, T>

where P: Into<[T; 3]> + Clone + Copy,

const NB_SAMPLE: usize = 4usize

const NB_COEFFICIENTS: usize = 4usize

type SampleIdxType = [usize; 4]

type CoefficientsType = ([T; 3], T)