Point Cloud Library (PCL) 1.12.0
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sac_model_cone.hpp
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38
39#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CONE_H_
40#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CONE_H_
41
42#include <unsupported/Eigen/NonLinearOptimization> // for LevenbergMarquardt
43#include <pcl/sample_consensus/sac_model_cone.h>
44#include <pcl/common/common.h> // for getAngle3D
45#include <pcl/common/concatenate.h>
46
47//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
48template <typename PointT, typename PointNT> bool
50{
51 if (samples.size () != sample_size_)
52 {
53 PCL_ERROR ("[pcl::SampleConsensusModelCone::isSampleGood] Wrong number of samples (is %lu, should be %lu)!\n", samples.size (), sample_size_);
54 return (false);
55 }
56 return (true);
57}
58
59//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
60template <typename PointT, typename PointNT> bool
62 const Indices &samples, Eigen::VectorXf &model_coefficients) const
63{
64 // Need 3 samples
65 if (samples.size () != sample_size_)
66 {
67 PCL_ERROR ("[pcl::SampleConsensusModelCone::computeModelCoefficients] Invalid set of samples given (%lu)!\n", samples.size ());
68 return (false);
69 }
70
71 if (!normals_)
72 {
73 PCL_ERROR ("[pcl::SampleConsensusModelCone::computeModelCoefficients] No input dataset containing normals was given!\n");
74 return (false);
75 }
76
77 Eigen::Vector4f p1 ((*input_)[samples[0]].x, (*input_)[samples[0]].y, (*input_)[samples[0]].z, 0.0f);
78 Eigen::Vector4f p2 ((*input_)[samples[1]].x, (*input_)[samples[1]].y, (*input_)[samples[1]].z, 0.0f);
79 Eigen::Vector4f p3 ((*input_)[samples[2]].x, (*input_)[samples[2]].y, (*input_)[samples[2]].z, 0.0f);
80
81 Eigen::Vector4f n1 ((*normals_)[samples[0]].normal[0], (*normals_)[samples[0]].normal[1], (*normals_)[samples[0]].normal[2], 0.0f);
82 Eigen::Vector4f n2 ((*normals_)[samples[1]].normal[0], (*normals_)[samples[1]].normal[1], (*normals_)[samples[1]].normal[2], 0.0f);
83 Eigen::Vector4f n3 ((*normals_)[samples[2]].normal[0], (*normals_)[samples[2]].normal[1], (*normals_)[samples[2]].normal[2], 0.0f);
84
85 //calculate apex (intersection of the three planes defined by points and belonging normals
86 Eigen::Vector4f ortho12 = n1.cross3(n2);
87 Eigen::Vector4f ortho23 = n2.cross3(n3);
88 Eigen::Vector4f ortho31 = n3.cross3(n1);
89
90 float denominator = n1.dot(ortho23);
91
92 float d1 = p1.dot (n1);
93 float d2 = p2.dot (n2);
94 float d3 = p3.dot (n3);
95
96 Eigen::Vector4f apex = (d1 * ortho23 + d2 * ortho31 + d3 * ortho12) / denominator;
97
98 //compute axis (normal of plane defined by: { apex+(p1-apex)/(||p1-apex||), apex+(p2-apex)/(||p2-apex||), apex+(p3-apex)/(||p3-apex||)}
99 Eigen::Vector4f ap1 = p1 - apex;
100 Eigen::Vector4f ap2 = p2 - apex;
101 Eigen::Vector4f ap3 = p3 - apex;
102
103 Eigen::Vector4f np1 = apex + (ap1/ap1.norm ());
104 Eigen::Vector4f np2 = apex + (ap2/ap2.norm ());
105 Eigen::Vector4f np3 = apex + (ap3/ap3.norm ());
106
107 Eigen::Vector4f np1np2 = np2 - np1;
108 Eigen::Vector4f np1np3 = np3 - np1;
109
110 Eigen::Vector4f axis_dir = np1np2.cross3 (np1np3);
111 axis_dir.normalize ();
112
113 // normalize the vector (apex->p) for opening angle calculation
114 ap1.normalize ();
115 ap2.normalize ();
116 ap3.normalize ();
117
118 //compute opening angle
119 float opening_angle = ( std::acos (ap1.dot (axis_dir)) + std::acos (ap2.dot (axis_dir)) + std::acos (ap3.dot (axis_dir)) ) / 3.0f;
120
121 model_coefficients.resize (model_size_);
122 // model_coefficients.template head<3> () = line_pt.template head<3> ();
123 model_coefficients[0] = apex[0];
124 model_coefficients[1] = apex[1];
125 model_coefficients[2] = apex[2];
126 // model_coefficients.template segment<3> (3) = line_dir.template head<3> ();
127 model_coefficients[3] = axis_dir[0];
128 model_coefficients[4] = axis_dir[1];
129 model_coefficients[5] = axis_dir[2];
130 // cone radius
131 model_coefficients[6] = opening_angle;
132
133 if (model_coefficients[6] != -std::numeric_limits<double>::max() && model_coefficients[6] < min_angle_)
134 return (false);
135 if (model_coefficients[6] != std::numeric_limits<double>::max() && model_coefficients[6] > max_angle_)
136 return (false);
137
138 PCL_DEBUG ("[pcl::SampleConsensusModelCone::computeModelCoefficients] Model is (%g,%g,%g,%g,%g,%g,%g).\n",
139 model_coefficients[0], model_coefficients[1], model_coefficients[2], model_coefficients[3],
140 model_coefficients[4], model_coefficients[5], model_coefficients[6]);
141 return (true);
142}
143
144//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
145template <typename PointT, typename PointNT> void
147 const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) const
148{
149 // Check if the model is valid given the user constraints
150 if (!isModelValid (model_coefficients))
151 {
152 distances.clear ();
153 return;
154 }
155
156 distances.resize (indices_->size ());
157
158 Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
159 Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
160 float opening_angle = model_coefficients[6];
161
162 float apexdotdir = apex.dot (axis_dir);
163 float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
164 // Iterate through the 3d points and calculate the distances from them to the cone
165 for (std::size_t i = 0; i < indices_->size (); ++i)
166 {
167 Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
168
169 // Calculate the point's projection on the cone axis
170 float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
171 Eigen::Vector4f pt_proj = apex + k * axis_dir;
172
173 // Calculate the actual radius of the cone at the level of the projected point
174 Eigen::Vector4f height = apex - pt_proj;
175 float actual_cone_radius = tanf (opening_angle) * height.norm ();
176
177 // Approximate the distance from the point to the cone as the difference between
178 // dist(point,cone_axis) and actual cone radius
179 const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToAxisDistance (pt, model_coefficients) - actual_cone_radius);
180
181 // Calculate the direction of the point from center
182 Eigen::Vector4f dir = pt - pt_proj;
183 dir.normalize ();
184
185 // Calculate the cones perfect normals
186 height.normalize ();
187 Eigen::Vector4f cone_normal = sinf (opening_angle) * height + std::cos (opening_angle) * dir;
188
189 // Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
190 Eigen::Vector4f n ((*normals_)[(*indices_)[i]].normal[0], (*normals_)[(*indices_)[i]].normal[1], (*normals_)[(*indices_)[i]].normal[2], 0.0f);
191 double d_normal = std::abs (getAngle3D (n, cone_normal));
192 d_normal = (std::min) (d_normal, M_PI - d_normal);
193
194 distances[i] = std::abs (normal_distance_weight_ * d_normal + weighted_euclid_dist);
195 }
196}
197
198//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
199template <typename PointT, typename PointNT> void
201 const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers)
202{
203 // Check if the model is valid given the user constraints
204 if (!isModelValid (model_coefficients))
205 {
206 inliers.clear ();
207 return;
208 }
209
210 inliers.clear ();
211 error_sqr_dists_.clear ();
212 inliers.reserve (indices_->size ());
213 error_sqr_dists_.reserve (indices_->size ());
214
215 Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
216 Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
217 float opening_angle = model_coefficients[6];
218
219 float apexdotdir = apex.dot (axis_dir);
220 float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
221 // Iterate through the 3d points and calculate the distances from them to the cone
222 for (std::size_t i = 0; i < indices_->size (); ++i)
223 {
224 Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
225
226 // Calculate the point's projection on the cone axis
227 float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
228 Eigen::Vector4f pt_proj = apex + k * axis_dir;
229
230 // Calculate the actual radius of the cone at the level of the projected point
231 Eigen::Vector4f height = apex - pt_proj;
232 double actual_cone_radius = tan(opening_angle) * height.norm ();
233
234 // Approximate the distance from the point to the cone as the difference between
235 // dist(point,cone_axis) and actual cone radius
236 const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToAxisDistance (pt, model_coefficients) - actual_cone_radius);
237 if (weighted_euclid_dist > threshold) // Early termination: cannot be an inlier
238 continue;
239
240 // Calculate the direction of the point from center
241 Eigen::Vector4f pp_pt_dir = pt - pt_proj;
242 pp_pt_dir.normalize ();
243
244 // Calculate the cones perfect normals
245 height.normalize ();
246 Eigen::Vector4f cone_normal = sinf (opening_angle) * height + std::cos (opening_angle) * pp_pt_dir;
247
248 // Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
249 Eigen::Vector4f n ((*normals_)[(*indices_)[i]].normal[0], (*normals_)[(*indices_)[i]].normal[1], (*normals_)[(*indices_)[i]].normal[2], 0.0f);
250 double d_normal = std::abs (getAngle3D (n, cone_normal));
251 d_normal = (std::min) (d_normal, M_PI - d_normal);
252
253 double distance = std::abs (normal_distance_weight_ * d_normal + weighted_euclid_dist);
254
255 if (distance < threshold)
256 {
257 // Returns the indices of the points whose distances are smaller than the threshold
258 inliers.push_back ((*indices_)[i]);
259 error_sqr_dists_.push_back (distance);
261 }
262}
263
264//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
265template <typename PointT, typename PointNT> std::size_t
267 const Eigen::VectorXf &model_coefficients, const double threshold) const
268{
269
270 // Check if the model is valid given the user constraints
271 if (!isModelValid (model_coefficients))
272 return (0);
273
274 std::size_t nr_p = 0;
275
276 Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
277 Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
278 float opening_angle = model_coefficients[6];
279
280 float apexdotdir = apex.dot (axis_dir);
281 float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
282 // Iterate through the 3d points and calculate the distances from them to the cone
283 for (std::size_t i = 0; i < indices_->size (); ++i)
284 {
285 Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
286
287 // Calculate the point's projection on the cone axis
288 float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
289 Eigen::Vector4f pt_proj = apex + k * axis_dir;
291 // Calculate the actual radius of the cone at the level of the projected point
292 Eigen::Vector4f height = apex - pt_proj;
293 double actual_cone_radius = tan(opening_angle) * height.norm ();
294
295 // Approximate the distance from the point to the cone as the difference between
296 // dist(point,cone_axis) and actual cone radius
297 const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToAxisDistance (pt, model_coefficients) - actual_cone_radius);
298 if (weighted_euclid_dist > threshold) // Early termination: cannot be an inlier
299 continue;
300
301 // Calculate the direction of the point from center
302 Eigen::Vector4f pp_pt_dir = pt - pt_proj;
303 pp_pt_dir.normalize ();
304
305 // Calculate the cones perfect normals
306 height.normalize ();
307 Eigen::Vector4f cone_normal = sinf (opening_angle) * height + std::cos (opening_angle) * pp_pt_dir;
308
309 // Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
310 Eigen::Vector4f n ((*normals_)[(*indices_)[i]].normal[0], (*normals_)[(*indices_)[i]].normal[1], (*normals_)[(*indices_)[i]].normal[2], 0.0f);
311 double d_normal = std::abs (getAngle3D (n, cone_normal));
312 d_normal = (std::min) (d_normal, M_PI - d_normal);
313
314 if (std::abs (normal_distance_weight_ * d_normal + weighted_euclid_dist) < threshold)
315 nr_p++;
316 }
317 return (nr_p);
318}
319
320//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
321template <typename PointT, typename PointNT> void
323 const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const
324{
325 optimized_coefficients = model_coefficients;
326
327 // Needs a set of valid model coefficients
328 if (!isModelValid (model_coefficients))
329 {
330 PCL_ERROR ("[pcl::SampleConsensusModelCone::optimizeModelCoefficients] Given model is invalid!\n");
331 return;
332 }
333
334 // Need more than the minimum sample size to make a difference
335 if (inliers.size () <= sample_size_)
336 {
337 PCL_ERROR ("[pcl::SampleConsensusModelCone:optimizeModelCoefficients] Not enough inliers found to optimize model coefficients (%lu)! Returning the same coefficients.\n", inliers.size ());
338 return;
339 }
340
341 OptimizationFunctor functor (this, inliers);
342 Eigen::NumericalDiff<OptimizationFunctor > num_diff (functor);
343 Eigen::LevenbergMarquardt<Eigen::NumericalDiff<OptimizationFunctor>, float> lm (num_diff);
344 int info = lm.minimize (optimized_coefficients);
345
346 // Compute the L2 norm of the residuals
347 PCL_DEBUG ("[pcl::SampleConsensusModelCone::optimizeModelCoefficients] LM solver finished with exit code %i, having a residual norm of %g. \nInitial solution: %g %g %g %g %g %g %g \nFinal solution: %g %g %g %g %g %g %g\n",
348 info, lm.fvec.norm (), model_coefficients[0], model_coefficients[1], model_coefficients[2], model_coefficients[3],
349 model_coefficients[4], model_coefficients[5], model_coefficients[6], optimized_coefficients[0], optimized_coefficients[1], optimized_coefficients[2], optimized_coefficients[3], optimized_coefficients[4], optimized_coefficients[5], optimized_coefficients[6]);
350
351 Eigen::Vector3f line_dir (optimized_coefficients[3], optimized_coefficients[4], optimized_coefficients[5]);
352 line_dir.normalize ();
353 optimized_coefficients[3] = line_dir[0];
354 optimized_coefficients[4] = line_dir[1];
355 optimized_coefficients[5] = line_dir[2];
356}
357
358//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
359template <typename PointT, typename PointNT> void
361 const Indices &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields) const
362{
363 // Needs a valid set of model coefficients
364 if (!isModelValid (model_coefficients))
365 {
366 PCL_ERROR ("[pcl::SampleConsensusModelCone::projectPoints] Given model is invalid!\n");
367 return;
368 }
369
370 projected_points.header = input_->header;
371 projected_points.is_dense = input_->is_dense;
372
373 Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
374 Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
375 float opening_angle = model_coefficients[6];
376
377 float apexdotdir = apex.dot (axis_dir);
378 float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
379
380 // Copy all the data fields from the input cloud to the projected one?
381 if (copy_data_fields)
382 {
383 // Allocate enough space and copy the basics
384 projected_points.resize (input_->size ());
385 projected_points.width = input_->width;
386 projected_points.height = input_->height;
387
388 using FieldList = typename pcl::traits::fieldList<PointT>::type;
389 // Iterate over each point
390 for (std::size_t i = 0; i < projected_points.size (); ++i)
391 // Iterate over each dimension
392 pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> ((*input_)[i], projected_points[i]));
393
394 // Iterate through the 3d points and calculate the distances from them to the cone
395 for (const auto &inlier : inliers)
396 {
397 Eigen::Vector4f pt ((*input_)[inlier].x,
398 (*input_)[inlier].y,
399 (*input_)[inlier].z,
400 1);
401
402 float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
403
404 pcl::Vector4fMap pp = projected_points[inlier].getVector4fMap ();
405 pp.matrix () = apex + k * axis_dir;
406
407 Eigen::Vector4f dir = pt - pp;
408 dir.normalize ();
409
410 // Calculate the actual radius of the cone at the level of the projected point
411 Eigen::Vector4f height = apex - pp;
412 float actual_cone_radius = tanf (opening_angle) * height.norm ();
413
414 // Calculate the projection of the point onto the cone
415 pp += dir * actual_cone_radius;
416 }
417 }
418 else
419 {
420 // Allocate enough space and copy the basics
421 projected_points.resize (inliers.size ());
422 projected_points.width = inliers.size ();
423 projected_points.height = 1;
424
425 using FieldList = typename pcl::traits::fieldList<PointT>::type;
426 // Iterate over each point
427 for (std::size_t i = 0; i < inliers.size (); ++i)
428 // Iterate over each dimension
429 pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> ((*input_)[inliers[i]], projected_points[i]));
430
431 // Iterate through the 3d points and calculate the distances from them to the cone
432 for (std::size_t i = 0; i < inliers.size (); ++i)
433 {
434 pcl::Vector4fMap pp = projected_points[i].getVector4fMap ();
435 pcl::Vector4fMapConst pt = (*input_)[inliers[i]].getVector4fMap ();
436
437 float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
438 // Calculate the projection of the point on the line
439 pp.matrix () = apex + k * axis_dir;
440
441 Eigen::Vector4f dir = pt - pp;
442 dir.normalize ();
443
444 // Calculate the actual radius of the cone at the level of the projected point
445 Eigen::Vector4f height = apex - pp;
446 float actual_cone_radius = tanf (opening_angle) * height.norm ();
447
448 // Calculate the projection of the point onto the cone
449 pp += dir * actual_cone_radius;
450 }
451 }
452}
453
454//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
455template <typename PointT, typename PointNT> bool
457 const std::set<index_t> &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const
458{
459 // Needs a valid model coefficients
460 if (!isModelValid (model_coefficients))
461 {
462 PCL_ERROR ("[pcl::SampleConsensusModelCone::doSamplesVerifyModel] Given model is invalid!\n");
463 return (false);
464 }
465
466 Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
467 Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
468 float openning_angle = model_coefficients[6];
469
470 float apexdotdir = apex.dot (axis_dir);
471 float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
472
473 // Iterate through the 3d points and calculate the distances from them to the cone
474 for (const auto &index : indices)
475 {
476 Eigen::Vector4f pt ((*input_)[index].x, (*input_)[index].y, (*input_)[index].z, 0.0f);
477
478 // Calculate the point's projection on the cone axis
479 float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
480 Eigen::Vector4f pt_proj = apex + k * axis_dir;
481 Eigen::Vector4f dir = pt - pt_proj;
482 dir.normalize ();
483
484 // Calculate the actual radius of the cone at the level of the projected point
485 Eigen::Vector4f height = apex - pt_proj;
486 double actual_cone_radius = tan (openning_angle) * height.norm ();
487
488 // Approximate the distance from the point to the cone as the difference between
489 // dist(point,cone_axis) and actual cone radius
490 if (std::abs (static_cast<double>(pointToAxisDistance (pt, model_coefficients) - actual_cone_radius)) > threshold)
491 return (false);
492 }
493
494 return (true);
495}
496
497//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
498template <typename PointT, typename PointNT> double
500 const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const
501{
502 Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
503 Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
504 return sqrt(pcl::sqrPointToLineDistance (pt, apex, axis_dir));
505}
506
507//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
508template <typename PointT, typename PointNT> bool
509pcl::SampleConsensusModelCone<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
510{
511 if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
512 return (false);
513
514 // Check against template, if given
515 if (eps_angle_ > 0.0)
516 {
517 // Obtain the cone direction
518 const Eigen::Vector3f coeff(model_coefficients[3], model_coefficients[4], model_coefficients[5]);
519
520 double angle_diff = std::abs (getAngle3D (axis_, coeff));
521 angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
522 // Check whether the current cone model satisfies our angle threshold criterion with respect to the given axis
523 if (angle_diff > eps_angle_)
524 {
525 PCL_DEBUG ("[pcl::SampleConsensusModelCone::isModelValid] Angle between cone direction and given axis is too large.\n");
526 return (false);
527 }
528 }
529
530 if (model_coefficients[6] != -std::numeric_limits<double>::max() && model_coefficients[6] < min_angle_)
531 {
532 PCL_DEBUG ("[pcl::SampleConsensusModelCone::isModelValid] The opening angle is too small: should be larger than %g, but is %g.\n",
533 min_angle_, model_coefficients[6]);
534 return (false);
535 }
536 if (model_coefficients[6] != std::numeric_limits<double>::max() && model_coefficients[6] > max_angle_)
537 {
538 PCL_DEBUG ("[pcl::SampleConsensusModelCone::isModelValid] The opening angle is too big: should be smaller than %g, but is %g.\n",
539 max_angle_, model_coefficients[6]);
540 return (false);
541 }
542
543 return (true);
544}
545
546#define PCL_INSTANTIATE_SampleConsensusModelCone(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelCone<PointT, PointNT>;
547
548#endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CONE_H_
549
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the cone coefficients using the given inlier set and return them to the user.
void projectPoints(const Indices &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const override
Create a new point cloud with inliers projected onto the cone model.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given cone model.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
bool isSampleGood(const Indices &samples) const override
Check if a sample of indices results in a good sample of points indices.
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid cone model, compute the model coefficients fro...
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
double pointToAxisDistance(const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const
Get the distance from a point to a line (represented by a point and a direction)
bool doSamplesVerifyModel(const std::set< index_t > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const override
Verify whether a subset of indices verifies the given cone model coefficients.
typename SampleConsensusModel< PointT >::PointCloud PointCloud
std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers.
SampleConsensusModel represents the base model class.
Definition sac_model.h:70
Define standard C methods and C++ classes that are common to all methods.
double getAngle3D(const Eigen::Vector4f &v1, const Eigen::Vector4f &v2, const bool in_degree=false)
Compute the smallest angle between two 3D vectors in radians (default) or degree.
Definition common.hpp:47
double sqrPointToLineDistance(const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir)
Get the square distance from a point to a line (represented by a point and a direction)
Definition distances.h:75
Eigen::Map< Eigen::Vector4f, Eigen::Aligned > Vector4fMap
const Eigen::Map< const Eigen::Vector4f, Eigen::Aligned > Vector4fMapConst
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
#define M_PI
Definition pcl_macros.h:201