221 const Eigen::VectorXf &model_coefficients,
const double threshold)
const
224 if (!isModelValid (model_coefficients))
226 std::size_t nr_p = 0;
228 const auto squared_threshold = threshold * threshold;
230 for (std::size_t i = 0; i < indices_->size (); ++i)
234 Eigen::Vector3d P ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z);
236 Eigen::Vector3d C (model_coefficients[0], model_coefficients[1], model_coefficients[2]);
238 Eigen::Vector3d N (model_coefficients[4], model_coefficients[5], model_coefficients[6]);
240 double r = model_coefficients[3];
242 Eigen::Vector3d helper_vectorPC = P - C;
244 double lambda = (-(helper_vectorPC.dot (N))) / N.dot (N);
247 Eigen::Vector3d P_proj = P + lambda * N;
248 Eigen::Vector3d helper_vectorP_projC = P_proj - C;
251 Eigen::Vector3d
K = C + r * helper_vectorP_projC.normalized ();
252 Eigen::Vector3d distanceVector = P -
K;
254 if (distanceVector.squaredNorm () < squared_threshold)
264 const Eigen::VectorXf &model_coefficients,
265 Eigen::VectorXf &optimized_coefficients)
const
267 optimized_coefficients = model_coefficients;
270 if (!isModelValid (model_coefficients))
272 PCL_ERROR (
"[pcl::SampleConsensusModelCircle3D::optimizeModelCoefficients] Given model is invalid!\n");
277 if (inliers.size () <= sample_size_)
279 PCL_ERROR (
"[pcl::SampleConsensusModelCircle3D::optimizeModelCoefficients] Not enough inliers to refine/optimize the model's coefficients (%lu)! Returning the same coefficients.\n", inliers.size ());
283 OptimizationFunctor functor (
this, inliers);
284 Eigen::NumericalDiff<OptimizationFunctor> num_diff (functor);
285 Eigen::LevenbergMarquardt<Eigen::NumericalDiff<OptimizationFunctor>,
double> lm (num_diff);
286 Eigen::VectorXd coeff;
287 int info = lm.minimize (coeff);
288 for (Eigen::Index i = 0; i < coeff.size (); ++i)
289 optimized_coefficients[i] =
static_cast<float> (coeff[i]);
292 PCL_DEBUG (
"[pcl::SampleConsensusModelCircle3D::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",
293 info, lm.fvec.norm (), model_coefficients[0], model_coefficients[1], model_coefficients[2], model_coefficients[3], 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]);
299 const Indices &inliers,
const Eigen::VectorXf &model_coefficients,
300 PointCloud &projected_points,
bool copy_data_fields)
const
303 if (!isModelValid (model_coefficients))
305 PCL_ERROR (
"[pcl::SampleConsensusModelCircle3D::projectPoints] Given model is invalid!\n");
309 projected_points.header = input_->header;
310 projected_points.is_dense = input_->is_dense;
313 if (copy_data_fields)
316 projected_points.resize (input_->size ());
317 projected_points.width = input_->width;
318 projected_points.height = input_->height;
320 using FieldList =
typename pcl::traits::fieldList<PointT>::type;
322 for (std::size_t i = 0; i < projected_points.size (); ++i)
327 for (std::size_t i = 0; i < inliers.size (); ++i)
331 Eigen::Vector3d P ((*input_)[inliers[i]].x, (*input_)[inliers[i]].y, (*input_)[inliers[i]].z);
333 Eigen::Vector3d C (model_coefficients[0], model_coefficients[1], model_coefficients[2]);
335 Eigen::Vector3d N (model_coefficients[4], model_coefficients[5], model_coefficients[6]);
337 double r = model_coefficients[3];
339 Eigen::Vector3d helper_vectorPC = P - C;
342 double lambda = (-(helper_vectorPC.dot (N))) / N.dot (N);
344 Eigen::Vector3d P_proj = P + lambda * N;
345 Eigen::Vector3d helper_vectorP_projC = P_proj - C;
348 Eigen::Vector3d
K = C + r * helper_vectorP_projC.normalized ();
350 projected_points[i].x =
static_cast<float> (
K[0]);
351 projected_points[i].y =
static_cast<float> (
K[1]);
352 projected_points[i].z =
static_cast<float> (
K[2]);
358 projected_points.resize (inliers.size ());
359 projected_points.width = inliers.size ();
360 projected_points.height = 1;
362 using FieldList =
typename pcl::traits::fieldList<PointT>::type;
364 for (std::size_t i = 0; i < inliers.size (); ++i)
369 for (std::size_t i = 0; i < inliers.size (); ++i)
373 Eigen::Vector3d P ((*input_)[inliers[i]].x, (*input_)[inliers[i]].y, (*input_)[inliers[i]].z);
375 Eigen::Vector3d C (model_coefficients[0], model_coefficients[1], model_coefficients[2]);
377 Eigen::Vector3d N (model_coefficients[4], model_coefficients[5], model_coefficients[6]);
379 double r = model_coefficients[3];
381 Eigen::Vector3d helper_vectorPC = P - C;
383 double lambda = (-(helper_vectorPC.dot (N))) / N.dot (N);
385 Eigen::Vector3d P_proj = P + lambda * N;
386 Eigen::Vector3d helper_vectorP_projC = P_proj - C;
389 Eigen::Vector3d
K = C + r * helper_vectorP_projC.normalized ();
391 projected_points[i].x =
static_cast<float> (
K[0]);
392 projected_points[i].y =
static_cast<float> (
K[1]);
393 projected_points[i].z =
static_cast<float> (
K[2]);
401 const std::set<index_t> &indices,
402 const Eigen::VectorXf &model_coefficients,
403 const double threshold)
const
406 if (!isModelValid (model_coefficients))
408 PCL_ERROR (
"[pcl::SampleConsensusModelCircle3D::doSamplesVerifyModel] Given model is invalid!\n");
412 const auto squared_threshold = threshold * threshold;
413 for (
const auto &index : indices)
420 Eigen::Vector3d P ((*input_)[index].x, (*input_)[index].y, (*input_)[index].z);
422 Eigen::Vector3d C (model_coefficients[0], model_coefficients[1], model_coefficients[2]);
424 Eigen::Vector3d N (model_coefficients[4], model_coefficients[5], model_coefficients[6]);
426 double r = model_coefficients[3];
427 Eigen::Vector3d helper_vectorPC = P - C;
429 double lambda = (-(helper_vectorPC.dot (N))) / N.dot (N);
431 Eigen::Vector3d P_proj = P + lambda * N;
432 Eigen::Vector3d helper_vectorP_projC = P_proj - C;
435 Eigen::Vector3d
K = C + r * helper_vectorP_projC.normalized ();
436 Eigen::Vector3d distanceVector = P -
K;
438 if (distanceVector.squaredNorm () > squared_threshold)