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_sphere.h 3027 2011-11-01 04:04:27Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_ 00041 #define PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_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 SampleConsensusModelSphere : 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<SampleConsensusModelSphere> Ptr; 00074 00078 SampleConsensusModelSphere (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) { } 00079 00084 SampleConsensusModelSphere (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) { } 00085 00096 void 00097 getSamples (int &iterations, std::vector<int> &samples); 00098 00105 bool 00106 computeModelCoefficients (const std::vector<int> &samples, 00107 Eigen::VectorXf &model_coefficients); 00108 00113 void 00114 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00115 std::vector<double> &distances); 00116 00122 void 00123 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00124 const double threshold, 00125 std::vector<int> &inliers); 00126 00133 virtual int 00134 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00135 const double threshold); 00136 00143 void 00144 optimizeModelCoefficients (const std::vector<int> &inliers, 00145 const Eigen::VectorXf &model_coefficients, 00146 Eigen::VectorXf &optimized_coefficients); 00147 00155 void 00156 projectPoints (const std::vector<int> &inliers, 00157 const Eigen::VectorXf &model_coefficients, 00158 PointCloud &projected_points, 00159 bool copy_data_fields = true); 00160 00166 bool 00167 doSamplesVerifyModel (const std::set<int> &indices, 00168 const Eigen::VectorXf &model_coefficients, 00169 const double threshold); 00170 00172 inline pcl::SacModel getModelType () const { return (SACMODEL_SPHERE); } 00173 00174 protected: 00178 inline bool 00179 isModelValid (const Eigen::VectorXf &model_coefficients) 00180 { 00181 // Needs a valid model coefficients 00182 if (model_coefficients.size () != 4) 00183 { 00184 PCL_ERROR ("[pcl::SampleConsensusModelSphere::isModelValid] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ()); 00185 return (false); 00186 } 00187 00188 if (radius_min_ != -DBL_MAX && model_coefficients[3] < radius_min_) 00189 return (false); 00190 if (radius_max_ != DBL_MAX && model_coefficients[3] > radius_max_) 00191 return (false); 00192 00193 return (true); 00194 } 00195 00200 bool 00201 isSampleGood(const std::vector<int> &samples) const; 00202 00203 private: 00205 boost::mutex tmp_mutex_; 00206 00208 const std::vector<int> *tmp_inliers_; 00209 00210 struct OptimizationFunctor : pcl::Functor<double> 00211 { 00218 OptimizationFunctor(int n, int m, pcl::SampleConsensusModelSphere<PointT> *model) : 00219 pcl::Functor<double>(m,n), model_(model) {} 00225 int operator() (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const 00226 { 00227 Eigen::Vector4d cen_t; 00228 cen_t[3] = 0; 00229 for (int i = 0; i < m_values; ++i) 00230 { 00231 // Compute the difference between the center of the sphere and the datapoint X_i 00232 cen_t[0] = model_->input_->points[(*model_->tmp_inliers_)[i]].x - x[0]; 00233 cen_t[1] = model_->input_->points[(*model_->tmp_inliers_)[i]].y - x[1]; 00234 cen_t[2] = model_->input_->points[(*model_->tmp_inliers_)[i]].z - x[2]; 00235 00236 // g = sqrt ((x-a)^2 + (y-b)^2 + (z-c)^2) - R 00237 fvec[i] = sqrt (cen_t.dot (cen_t)) - x[3]; 00238 } 00239 return (0); 00240 } 00241 00242 pcl::SampleConsensusModelSphere<PointT> *model_; 00243 }; 00244 }; 00245 } 00246 00247 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_