12#include <pcl/sample_consensus/sac_model.h>
13#include <pcl/sample_consensus/model_types.h>
40 template <
typename Po
intT>
54 using Ptr = shared_ptr<SampleConsensusModelEllipse3D<PointT> >;
55 using ConstPtr = shared_ptr<const SampleConsensusModelEllipse3D<PointT> >;
114 Eigen::VectorXf &model_coefficients)
const override;
122 std::vector<double> &distances)
const override;
131 const double threshold,
142 const double threshold)
const override;
152 const Eigen::VectorXf &model_coefficients,
153 Eigen::VectorXf &optimized_coefficients)
const override;
163 const Eigen::VectorXf &model_coefficients,
165 bool copy_data_fields =
true)
const override;
174 const Eigen::VectorXf &model_coefficients,
175 const double threshold)
const override;
189 isModelValid (
const Eigen::VectorXf &model_coefficients)
const override;
206 pcl::
Functor<double> (indices.size ()), model_ (model), indices_ (indices) {}
213 int operator() (
const Eigen::VectorXd &x, Eigen::VectorXd &fvec)
const
216 const Eigen::Vector3f c(x[0], x[1], x[2]);
218 const Eigen::Vector3f n_axis(x[5], x[6], x[7]);
220 const Eigen::Vector3f x_axis(x[8], x[9], x[10]);
222 const Eigen::Vector3f y_axis = n_axis.cross(x_axis).normalized();
224 const float par_a(x[3]);
226 const float par_b(x[4]);
229 const Eigen::Matrix3f Rot = (Eigen::Matrix3f(3,3)
230 << x_axis(0), y_axis(0), n_axis(0),
231 x_axis(1), y_axis(1), n_axis(1),
232 x_axis(2), y_axis(2), n_axis(2))
234 const Eigen::Matrix3f Rot_T = Rot.transpose();
236 for (
int i = 0; i <
values (); ++i)
240 const Eigen::Vector3f p = (*model_->input_)[indices_[i]].getVector3fMap().template cast<float>();
243 const Eigen::Vector3f p_ = Rot_T * (p - c);
249 const Eigen::VectorXf params = (Eigen::VectorXf(5) << par_a, par_b, 0.0, 0.0, 0.0).finished();
251 const Eigen::Vector2f distanceVector = dvec2ellipse(params, p_(0), p_(1), th_opt);
252 fvec[i] = distanceVector.norm();
262 get_ellipse_point(
const Eigen::VectorXf& par,
float th,
float& x,
float& y);
264 static Eigen::Vector2f
265 dvec2ellipse(
const Eigen::VectorXf& par,
float u,
float v,
float& th_opt);
268 golden_section_search(
269 const Eigen::VectorXf& par,
278#ifdef PCL_NO_PRECOMPILE
279#include <pcl/sample_consensus/impl/sac_model_ellipse3d.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
SampleConsensusModelEllipse3D defines a model for 3D ellipse segmentation.
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the 3d ellipse coefficients using the given inlier set and return them to the user.
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_ELLIPSE3D).
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.
SampleConsensusModelEllipse3D(const SampleConsensusModelEllipse3D &source)
Copy constructor.
shared_ptr< const SampleConsensusModelEllipse3D< PointT > > ConstPtr
SampleConsensusModelEllipse3D & operator=(const SampleConsensusModelEllipse3D &source)
Copy constructor.
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 3d ellipse model.
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid 3D ellipse model, compute the model coefficien...
SampleConsensusModelEllipse3D(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelEllipse3D.
~SampleConsensusModelEllipse3D() override=default
Empty destructor.
typename SampleConsensusModel< PointT >::PointCloud PointCloud
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 3d ellipse model coefficients.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Compute all distances from the cloud data to a given 3D ellipse model.
SampleConsensusModelEllipse3D(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelEllipse3D.
bool isSampleGood(const Indices &samples) const override
Check if a sample of indices results in a good sample of points indices.
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given 3D ellipse model.
shared_ptr< SampleConsensusModelEllipse3D< PointT > > Ptr
SampleConsensusModel represents the base model class.
double radius_min_
The minimum and maximum radius limits for the model.
unsigned int sample_size_
The size of a sample from which the model is computed.
typename PointCloud::ConstPtr PointCloudConstPtr
IndicesPtr indices_
A pointer to the vector of point indices to use.
PointCloudConstPtr input_
A boost shared pointer to the point cloud data array.
std::string model_name_
The model name.
unsigned int model_size_
The number of coefficients in the model.
typename PointCloud::Ptr PointCloudPtr
IndicesAllocator<> Indices
Type used for indices in PCL.
Base functor all the models that need non linear optimization must define their own one and implement...
int values() const
Get the number of values.
A point structure representing Euclidean xyz coordinates, and the RGB color.