Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: sac_model_circle.h 3027 2011-11-01 04:04:27Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_ 00041 #define PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_ 00042 00043 #include <pcl/sample_consensus/sac_model.h> 00044 #include <pcl/sample_consensus/model_types.h> 00045 #include <boost/thread/mutex.hpp> 00046 00047 namespace pcl 00048 { 00060 template <typename PointT> 00061 class SampleConsensusModelCircle2D : public SampleConsensusModel<PointT> 00062 { 00063 using SampleConsensusModel<PointT>::input_; 00064 using SampleConsensusModel<PointT>::indices_; 00065 using SampleConsensusModel<PointT>::radius_min_; 00066 using SampleConsensusModel<PointT>::radius_max_; 00067 00068 public: 00069 typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud; 00070 typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr; 00071 typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 00072 00073 typedef boost::shared_ptr<SampleConsensusModelCircle2D> Ptr; 00074 00078 SampleConsensusModelCircle2D (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) {}; 00079 00084 SampleConsensusModelCircle2D (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) {}; 00085 00091 void 00092 getSamples (int &iterations, std::vector<int> &samples); 00093 00099 bool 00100 computeModelCoefficients (const std::vector<int> &samples, 00101 Eigen::VectorXf &model_coefficients); 00102 00107 void 00108 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00109 std::vector<double> &distances); 00110 00116 void 00117 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00118 const double threshold, 00119 std::vector<int> &inliers); 00120 00127 virtual int 00128 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00129 const double threshold); 00130 00137 void 00138 optimizeModelCoefficients (const std::vector<int> &inliers, 00139 const Eigen::VectorXf &model_coefficients, 00140 Eigen::VectorXf &optimized_coefficients); 00141 00148 void 00149 projectPoints (const std::vector<int> &inliers, 00150 const Eigen::VectorXf &model_coefficients, 00151 PointCloud &projected_points, 00152 bool copy_data_fields = true); 00153 00159 bool 00160 doSamplesVerifyModel (const std::set<int> &indices, 00161 const Eigen::VectorXf &model_coefficients, 00162 const double threshold); 00163 00165 inline pcl::SacModel 00166 getModelType () const { return (SACMODEL_CIRCLE2D); } 00167 00168 protected: 00172 bool 00173 isModelValid (const Eigen::VectorXf &model_coefficients); 00174 00178 bool 00179 isSampleGood(const std::vector<int> &samples) const; 00180 00181 private: 00183 boost::mutex tmp_mutex_; 00184 00186 const std::vector<int> *tmp_inliers_; 00187 00189 struct OptimizationFunctor : pcl::Functor<double> 00190 { 00197 OptimizationFunctor(int n, int m, pcl::SampleConsensusModelCircle2D<PointT> *model) : 00198 pcl::Functor<double>(m,n), model_(model) {} 00204 int operator() (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const 00205 { 00206 for (int i = 0; i < m_values; ++i) 00207 { 00208 // Compute the difference between the center of the circle and the datapoint X_i 00209 double xt = model_->input_->points[(*model_->tmp_inliers_)[i]].x - x[0]; 00210 double yt = model_->input_->points[(*model_->tmp_inliers_)[i]].y - x[1]; 00211 00212 // g = sqrt ((x-a)^2 + (y-b)^2) - R 00213 fvec[i] = sqrt (xt * xt + yt * yt) - x[2]; 00214 } 00215 return (0); 00216 } 00217 00218 pcl::SampleConsensusModelCircle2D<PointT> *model_; 00219 }; 00220 }; 00221 } 00222 00223 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_