221 const float sqr_inner_radius = (model_coefficients[2] <= threshold ? 0.0f : (model_coefficients[2] - threshold) * (model_coefficients[2] - threshold));
222 const float sqr_outer_radius = (model_coefficients[2] + threshold) * (model_coefficients[2] + threshold);
224 for (; i < indices_->size (); ++i)
228 const float sqr_dist = ( (*input_)[(*indices_)[i]].x - model_coefficients[0] ) *
229 ( (*input_)[(*indices_)[i]].x - model_coefficients[0] ) +
230 ( (*input_)[(*indices_)[i]].y - model_coefficients[1] ) *
231 ( (*input_)[(*indices_)[i]].y - model_coefficients[1] );
232 if ((sqr_dist <= sqr_outer_radius) && (sqr_dist >= sqr_inner_radius))
239#if defined (__SSE__) && defined (__SSE2__) && defined (__SSE4_1__)
240template <
typename Po
intT> std::size_t
242 const Eigen::VectorXf &model_coefficients,
const double threshold, std::size_t i)
const
244 std::size_t nr_p = 0;
245 const __m128 a_vec = _mm_set1_ps (model_coefficients[0]);
246 const __m128 b_vec = _mm_set1_ps (model_coefficients[1]);
248 const __m128 sqr_inner_radius = _mm_set1_ps ((model_coefficients[2] <= threshold ? 0.0 : (model_coefficients[2]-threshold)*(model_coefficients[2]-threshold)));
249 const __m128 sqr_outer_radius = _mm_set1_ps ((model_coefficients[2]+threshold)*(model_coefficients[2]+threshold));
250 __m128i res = _mm_set1_epi32(0);
251 for (; (i + 4) <= indices_->size (); i += 4)
253 const __m128 sqr_dist = sqr_dist4 (i, a_vec, b_vec);
254 const __m128 mask = _mm_and_ps (_mm_cmplt_ps (sqr_inner_radius, sqr_dist), _mm_cmplt_ps (sqr_dist, sqr_outer_radius));
255 res = _mm_add_epi32 (res, _mm_and_si128 (_mm_set1_epi32 (1), _mm_castps_si128 (mask)));
262 nr_p += _mm_extract_epi32 (res, 0);
263 nr_p += _mm_extract_epi32 (res, 1);
264 nr_p += _mm_extract_epi32 (res, 2);
265 nr_p += _mm_extract_epi32 (res, 3);
268 nr_p += countWithinDistanceStandard (model_coefficients, threshold, i);
274#if defined (__AVX__) && defined (__AVX2__)
275template <
typename Po
intT> std::size_t
277 const Eigen::VectorXf &model_coefficients,
const double threshold, std::size_t i)
const
279 std::size_t nr_p = 0;
280 const __m256 a_vec = _mm256_set1_ps (model_coefficients[0]);
281 const __m256 b_vec = _mm256_set1_ps (model_coefficients[1]);
283 const __m256 sqr_inner_radius = _mm256_set1_ps ((model_coefficients[2] <= threshold ? 0.0 : (model_coefficients[2]-threshold)*(model_coefficients[2]-threshold)));
284 const __m256 sqr_outer_radius = _mm256_set1_ps ((model_coefficients[2]+threshold)*(model_coefficients[2]+threshold));
285 __m256i res = _mm256_set1_epi32(0);
286 for (; (i + 8) <= indices_->size (); i += 8)
288 const __m256 sqr_dist = sqr_dist8 (i, a_vec, b_vec);
289 const __m256 mask = _mm256_and_ps (_mm256_cmp_ps (sqr_inner_radius, sqr_dist, _CMP_LT_OQ), _mm256_cmp_ps (sqr_dist, sqr_outer_radius, _CMP_LT_OQ));
290 res = _mm256_add_epi32 (res, _mm256_and_si256 (_mm256_set1_epi32 (1), _mm256_castps_si256 (mask)));
301 nr_p += _mm256_extract_epi32 (res, 0);
302 nr_p += _mm256_extract_epi32 (res, 1);
303 nr_p += _mm256_extract_epi32 (res, 2);
304 nr_p += _mm256_extract_epi32 (res, 3);
305 nr_p += _mm256_extract_epi32 (res, 4);
306 nr_p += _mm256_extract_epi32 (res, 5);
307 nr_p += _mm256_extract_epi32 (res, 6);
308 nr_p += _mm256_extract_epi32 (res, 7);
311 nr_p += countWithinDistanceStandard (model_coefficients, threshold, i);
317template <
typename Po
intT>
void
319 const Indices &inliers,
const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
const
321 optimized_coefficients = model_coefficients;
324 if (!isModelValid (model_coefficients))
326 PCL_ERROR (
"[pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients] Given model is invalid!\n");
331 if (inliers.size () <= sample_size_)
333 PCL_ERROR (
"[pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients] Not enough inliers to refine/optimize the model's coefficients (%lu)! Returning the same coefficients.\n", inliers.size ());
337 OptimizationFunctor functor (
this, inliers);
338 Eigen::NumericalDiff<OptimizationFunctor> num_diff (functor);
339 Eigen::LevenbergMarquardt<Eigen::NumericalDiff<OptimizationFunctor>,
float> lm (num_diff);
340 int info = lm.minimize (optimized_coefficients);
343 PCL_DEBUG (
"[pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients] LM solver finished with exit code %i, having a residual norm of %g. \nInitial solution: %g %g %g \nFinal solution: %g %g %g\n",
344 info, lm.fvec.norm (), model_coefficients[0], model_coefficients[1], model_coefficients[2], optimized_coefficients[0], optimized_coefficients[1], optimized_coefficients[2]);
348template <
typename Po
intT>
void
350 const Indices &inliers,
const Eigen::VectorXf &model_coefficients,
351 PointCloud &projected_points,
bool copy_data_fields)
const
354 if (!isModelValid (model_coefficients))
356 PCL_ERROR (
"[pcl::SampleConsensusModelCircle2D::projectPoints] Given model is invalid!\n");
360 projected_points.header = input_->header;
361 projected_points.is_dense = input_->is_dense;
364 if (copy_data_fields)
367 projected_points.resize (input_->size ());
368 projected_points.width = input_->width;
369 projected_points.height = input_->height;
371 using FieldList =
typename pcl::traits::fieldList<PointT>::type;
373 for (std::size_t i = 0; i < projected_points.size (); ++i)
375 pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> ((*input_)[i], projected_points[i]));
378 for (
const auto &inlier : inliers)
380 float dx = (*input_)[inlier].x - model_coefficients[0];
381 float dy = (*input_)[inlier].y - model_coefficients[1];
382 float a = std::sqrt ( (model_coefficients[2] * model_coefficients[2]) / (dx * dx + dy * dy) );
384 projected_points[inlier].x = a * dx + model_coefficients[0];
385 projected_points[inlier].y = a * dy + model_coefficients[1];
391 projected_points.resize (inliers.size ());
392 projected_points.width = inliers.size ();
393 projected_points.height = 1;
395 using FieldList =
typename pcl::traits::fieldList<PointT>::type;
397 for (std::size_t i = 0; i < inliers.size (); ++i)
399 pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> ((*input_)[inliers[i]], projected_points[i]));
402 for (std::size_t i = 0; i < inliers.size (); ++i)
404 float dx = (*input_)[inliers[i]].x - model_coefficients[0];
405 float dy = (*input_)[inliers[i]].y - model_coefficients[1];
406 float a = std::sqrt ( (model_coefficients[2] * model_coefficients[2]) / (dx * dx + dy * dy) );
408 projected_points[i].x = a * dx + model_coefficients[0];
409 projected_points[i].y = a * dy + model_coefficients[1];
415template <
typename Po
intT>
bool
417 const std::set<index_t> &indices,
const Eigen::VectorXf &model_coefficients,
const double threshold)
const
420 if (!isModelValid (model_coefficients))
422 PCL_ERROR (
"[pcl::SampleConsensusModelCircle2D::doSamplesVerifyModel] Given model is invalid!\n");
426 const float sqr_inner_radius = (model_coefficients[2] <= threshold ? 0.0f : (model_coefficients[2] - threshold) * (model_coefficients[2] - threshold));
427 const float sqr_outer_radius = (model_coefficients[2] + threshold) * (model_coefficients[2] + threshold);
428 for (
const auto &index : indices)
432 const float sqr_dist = ( (*input_)[index].x - model_coefficients[0] ) *
433 ( (*input_)[index].x - model_coefficients[0] ) +
434 ( (*input_)[index].y - model_coefficients[1] ) *
435 ( (*input_)[index].y - model_coefficients[1] );
436 if ((sqr_dist > sqr_outer_radius) || (sqr_dist < sqr_inner_radius))
443template <
typename Po
intT>
bool
449 if (radius_min_ != -std::numeric_limits<double>::max() && model_coefficients[2] < radius_min_)
451 PCL_DEBUG (
"[pcl::SampleConsensusModelCircle2D::isModelValid] Radius of circle is too small: should be larger than %g, but is %g.\n",
452 radius_min_, model_coefficients[2]);
455 if (radius_max_ != std::numeric_limits<double>::max() && model_coefficients[2] > radius_max_)
457 PCL_DEBUG (
"[pcl::SampleConsensusModelCircle2D::isModelValid] Radius of circle is too big: should be smaller than %g, but is %g.\n",
458 radius_max_, model_coefficients[2]);
465#define PCL_INSTANTIATE_SampleConsensusModelCircle2D(T) template class PCL_EXPORTS pcl::SampleConsensusModelCircle2D<T>;