Point Cloud Library (PCL)
1.3.1
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: sac_model_normal_parallel_plane.hpp 2328 2011-08-31 08:11:00Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_ 00039 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_ 00040 00041 #include "pcl/sample_consensus/sac_model_normal_parallel_plane.h" 00042 00044 template <typename PointT, typename PointNT> void 00045 pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::selectWithinDistance ( 00046 const Eigen::VectorXf &model_coefficients, const double threshold, std::vector<int> &inliers) 00047 { 00048 if (!normals_) 00049 { 00050 PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::selectWithinDistance] No input dataset containing normals was given!\n"); 00051 return; 00052 } 00053 00054 // Check if the model is valid given the user constraints 00055 if (!isModelValid (model_coefficients)) 00056 { 00057 inliers.clear (); 00058 return; 00059 } 00060 00061 // Obtain the plane normal 00062 Eigen::Vector4f coeff = model_coefficients; 00063 coeff[3] = 0; 00064 00065 int nr_p = 0; 00066 inliers.resize (indices_->size ()); 00067 // Iterate through the 3d points and calculate the distances from them to the plane 00068 for (size_t i = 0; i < indices_->size (); ++i) 00069 { 00070 // Calculate the distance from the point to the plane normal as the dot product 00071 // D = (P-A).N/|N| 00072 Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 0); 00073 Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0); 00074 double d_euclid = fabs (coeff.dot (p) + model_coefficients[3]); 00075 00076 // Calculate the angular distance between the point normal and the plane normal 00077 double d_normal = fabs (getAngle3D (n, coeff)); 00078 d_normal = (std::min) (d_normal, M_PI - d_normal); 00079 00080 if (fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid) < threshold) 00081 { 00082 // Returns the indices of the points whose distances are smaller than the threshold 00083 inliers[nr_p] = (*indices_)[i]; 00084 nr_p++; 00085 } 00086 } 00087 inliers.resize (nr_p); 00088 } 00089 00091 template <typename PointT, typename PointNT> int 00092 pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::countWithinDistance ( 00093 const Eigen::VectorXf &model_coefficients, const double threshold) 00094 { 00095 if (!normals_) 00096 { 00097 PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::countWithinDistance] No input dataset containing normals was given!\n"); 00098 return (0); 00099 } 00100 00101 // Check if the model is valid given the user constraints 00102 if (!isModelValid (model_coefficients)) 00103 return (0); 00104 00105 // Obtain the plane normal 00106 Eigen::Vector4f coeff = model_coefficients; 00107 coeff[3] = 0; 00108 00109 int nr_p = 0; 00110 00111 // Iterate through the 3d points and calculate the distances from them to the plane 00112 for (size_t i = 0; i < indices_->size (); ++i) 00113 { 00114 // Calculate the distance from the point to the plane normal as the dot product 00115 // D = (P-A).N/|N| 00116 Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 0); 00117 Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0); 00118 double d_euclid = fabs (coeff.dot (p) + model_coefficients[3]); 00119 00120 // Calculate the angular distance between the point normal and the plane normal 00121 double d_normal = fabs (getAngle3D (n, coeff)); 00122 d_normal = (std::min) (d_normal, M_PI - d_normal); 00123 00124 if (fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid) < threshold) 00125 nr_p++; 00126 } 00127 return (nr_p); 00128 } 00129 00130 00132 template <typename PointT, typename PointNT> void 00133 pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::getDistancesToModel ( 00134 const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) 00135 { 00136 if (!normals_) 00137 { 00138 PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::getDistancesToModel] No input dataset containing normals was given!\n"); 00139 return; 00140 } 00141 00142 // Check if the model is valid given the user constraints 00143 if (!isModelValid (model_coefficients)) 00144 { 00145 distances.clear (); 00146 return; 00147 } 00148 00149 // Obtain the plane normal 00150 Eigen::Vector4f coeff = model_coefficients; 00151 coeff[3] = 0; 00152 00153 distances.resize (indices_->size ()); 00154 00155 // Iterate through the 3d points and calculate the distances from them to the plane 00156 for (size_t i = 0; i < indices_->size (); ++i) 00157 { 00158 // Calculate the distance from the point to the plane normal as the dot product 00159 // D = (P-A).N/|N| 00160 Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 0); 00161 Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0); 00162 double d_euclid = fabs (coeff.dot (p) + model_coefficients[3]); 00163 00164 // Calculate the angular distance between the point normal and the plane normal 00165 double d_normal = fabs (getAngle3D (n, coeff)); 00166 d_normal = (std::min) (d_normal, M_PI - d_normal); 00167 00168 distances[i] = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid); 00169 } 00170 } 00171 00173 template <typename PointT, typename PointNT> bool 00174 pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients) 00175 { 00176 // Needs a valid model coefficients 00177 if (model_coefficients.size () != 4) 00178 { 00179 PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::isModelValid] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ()); 00180 return (false); 00181 } 00182 00183 // Check against template, if given 00184 if (eps_angle_ > 0.0) 00185 { 00186 // Obtain the plane normal 00187 Eigen::Vector4f coeff = model_coefficients; 00188 coeff[3] = 0; 00189 00190 Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0); 00191 double angle_deviation_from_90 = fabs (getAngle3D (axis, coeff)); 00192 angle_deviation_from_90 = fabs (angle_deviation_from_90 - (M_PI/2.0)); 00193 // Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis 00194 if (angle_deviation_from_90 > eps_angle_) 00195 return (false); 00196 } 00197 00198 if (eps_dist_ > 0.0) 00199 { 00200 if (fabs (-model_coefficients[3] - distance_from_origin_) > eps_dist_) 00201 return (false); 00202 } 00203 00204 return (true); 00205 } 00206 00207 #define PCL_INSTANTIATE_SampleConsensusModelNormalParallelPlane(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>; 00208 00209 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_ 00210 00211