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_cylinder.h 3027 2011-11-01 04:04:27Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_ 00041 #define PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_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 #include <pcl/common/common.h> 00047 #include "pcl/common/distances.h" 00048 00049 namespace pcl 00050 { 00065 template <typename PointT, typename PointNT> 00066 class SampleConsensusModelCylinder : public SampleConsensusModel<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT> 00067 { 00068 using SampleConsensusModel<PointT>::input_; 00069 using SampleConsensusModel<PointT>::indices_; 00070 using SampleConsensusModel<PointT>::radius_min_; 00071 using SampleConsensusModel<PointT>::radius_max_; 00072 using SampleConsensusModelFromNormals<PointT, PointNT>::normals_; 00073 using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_; 00074 00075 public: 00076 typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud; 00077 typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr; 00078 typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 00079 00080 typedef boost::shared_ptr<SampleConsensusModelCylinder> Ptr; 00081 00085 SampleConsensusModelCylinder (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud), eps_angle_ (0) 00086 { 00087 axis_.setZero (); 00088 } 00089 00094 SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices), eps_angle_ (0) 00095 { 00096 axis_.setZero (); 00097 } 00098 00102 inline void 00103 setEpsAngle (const double ea) { eps_angle_ = ea; } 00104 00106 inline double 00107 getEpsAngle () { return (eps_angle_); } 00108 00112 inline void 00113 setAxis (const Eigen::Vector3f &ax) { axis_ = ax; } 00114 00116 inline Eigen::Vector3f 00117 getAxis () { return (axis_); } 00118 00124 void 00125 getSamples (int &iterations, std::vector<int> &samples); 00126 00133 bool 00134 computeModelCoefficients (const std::vector<int> &samples, 00135 Eigen::VectorXf &model_coefficients); 00136 00141 void 00142 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00143 std::vector<double> &distances); 00144 00150 void 00151 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00152 const double threshold, 00153 std::vector<int> &inliers); 00154 00161 virtual int 00162 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00163 const double threshold); 00164 00171 void 00172 optimizeModelCoefficients (const std::vector<int> &inliers, 00173 const Eigen::VectorXf &model_coefficients, 00174 Eigen::VectorXf &optimized_coefficients); 00175 00176 00183 void 00184 projectPoints (const std::vector<int> &inliers, 00185 const Eigen::VectorXf &model_coefficients, 00186 PointCloud &projected_points, 00187 bool copy_data_fields = true); 00188 00194 bool 00195 doSamplesVerifyModel (const std::set<int> &indices, 00196 const Eigen::VectorXf &model_coefficients, 00197 const double threshold); 00198 00200 inline pcl::SacModel 00201 getModelType () const { return (SACMODEL_CYLINDER); } 00202 00203 protected: 00208 double 00209 pointToLineDistance (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients); 00210 00217 inline void 00218 projectPointToLine (const Eigen::Vector4f &pt, 00219 const Eigen::Vector4f &line_pt, 00220 const Eigen::Vector4f &line_dir, 00221 Eigen::Vector4f &pt_proj) 00222 { 00223 double k = (pt.dot (line_dir) - line_pt.dot (line_dir)) / line_dir.dot (line_dir); 00224 // Calculate the projection of the point on the line 00225 pt_proj = line_pt + k * line_dir; 00226 } 00227 00234 void 00235 projectPointToCylinder (const Eigen::Vector4f &pt, 00236 const Eigen::VectorXf &model_coefficients, 00237 Eigen::Vector4f &pt_proj); 00238 00240 std::string 00241 getName () const { return ("SampleConsensusModelCylinder"); } 00242 00243 protected: 00247 bool 00248 isModelValid (const Eigen::VectorXf &model_coefficients); 00249 00254 bool 00255 isSampleGood (const std::vector<int> &samples) const; 00256 00257 private: 00259 Eigen::Vector3f axis_; 00260 00262 double eps_angle_; 00263 00265 boost::mutex tmp_mutex_; 00266 00268 const std::vector<int> *tmp_inliers_; 00269 00271 struct OptimizationFunctor : pcl::Functor<double> 00272 { 00279 OptimizationFunctor(int n, int m, pcl::SampleConsensusModelCylinder<PointT, PointNT> *model) : pcl::Functor<double>(m,n), model_(model) {} 00285 int operator() (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const 00286 { 00287 Eigen::Vector4f line_pt (x[0], x[1], x[2], 0); 00288 Eigen::Vector4f line_dir (x[3], x[4], x[5], 0); 00289 00290 for (int i = 0; i < m_values; ++i) 00291 { 00292 // dist = f - r 00293 Eigen::Vector4f pt (model_->input_->points[(*model_->tmp_inliers_)[i]].x, 00294 model_->input_->points[(*model_->tmp_inliers_)[i]].y, 00295 model_->input_->points[(*model_->tmp_inliers_)[i]].z, 0); 00296 00297 fvec[i] = pcl::sqrPointToLineDistance (pt, line_pt, line_dir) - x[6]*x[6]; 00298 } 00299 return (0); 00300 } 00301 00302 pcl::SampleConsensusModelCylinder<PointT, PointNT> *model_; 00303 }; 00304 }; 00305 } 00306 00307 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_