Point Cloud Library (PCL)
1.7.0
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IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_ 00042 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_ 00043 00044 #include <pcl/sample_consensus/sac_model_normal_parallel_plane.h> 00045 00046 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00047 template <typename PointT, typename PointNT> void 00048 pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::selectWithinDistance ( 00049 const Eigen::VectorXf &model_coefficients, const double threshold, std::vector<int> &inliers) 00050 { 00051 if (!normals_) 00052 { 00053 PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::selectWithinDistance] No input dataset containing normals was given!\n"); 00054 return; 00055 } 00056 00057 // Check if the model is valid given the user constraints 00058 if (!isModelValid (model_coefficients)) 00059 { 00060 inliers.clear (); 00061 return; 00062 } 00063 00064 // Obtain the plane normal 00065 Eigen::Vector4f coeff = model_coefficients; 00066 00067 int nr_p = 0; 00068 inliers.resize (indices_->size ()); 00069 error_sqr_dists_.resize (indices_->size ()); 00070 00071 // Iterate through the 3d points and calculate the distances from them to the plane 00072 for (size_t i = 0; i < indices_->size (); ++i) 00073 { 00074 // Calculate the distance from the point to the plane normal as the dot product 00075 // D = (P-A).N/|N| 00076 Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 1); 00077 Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0); 00078 double d_euclid = fabs (coeff.dot (p)); 00079 00080 // Calculate the angular distance between the point normal and the plane normal 00081 double d_normal = getAngle3D (n, coeff); 00082 d_normal = (std::min) (d_normal, fabs(M_PI - d_normal)); 00083 00084 double distance = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid); 00085 if (distance < threshold) 00086 { 00087 // Returns the indices of the points whose distances are smaller than the threshold 00088 inliers[nr_p] = (*indices_)[i]; 00089 error_sqr_dists_[nr_p] = distance; 00090 ++nr_p; 00091 } 00092 } 00093 inliers.resize (nr_p); 00094 error_sqr_dists_.resize (nr_p); 00095 } 00096 00097 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00098 template <typename PointT, typename PointNT> int 00099 pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::countWithinDistance ( 00100 const Eigen::VectorXf &model_coefficients, const double threshold) 00101 { 00102 if (!normals_) 00103 { 00104 PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::countWithinDistance] No input dataset containing normals was given!\n"); 00105 return (0); 00106 } 00107 00108 // Check if the model is valid given the user constraints 00109 if (!isModelValid (model_coefficients)) 00110 return (0); 00111 00112 // Obtain the plane normal 00113 Eigen::Vector4f coeff = model_coefficients; 00114 00115 int nr_p = 0; 00116 00117 // Iterate through the 3d points and calculate the distances from them to the plane 00118 for (size_t i = 0; i < indices_->size (); ++i) 00119 { 00120 // Calculate the distance from the point to the plane normal as the dot product 00121 // D = (P-A).N/|N| 00122 Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 1); 00123 Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0); 00124 double d_euclid = fabs (coeff.dot (p)); 00125 00126 // Calculate the angular distance between the point normal and the plane normal 00127 double d_normal = fabs (getAngle3D (n, coeff)); 00128 d_normal = (std::min) (d_normal, fabs(M_PI - d_normal)); 00129 00130 if (fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid) < threshold) 00131 nr_p++; 00132 } 00133 return (nr_p); 00134 } 00135 00136 00137 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00138 template <typename PointT, typename PointNT> void 00139 pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::getDistancesToModel ( 00140 const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) 00141 { 00142 if (!normals_) 00143 { 00144 PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::getDistancesToModel] No input dataset containing normals was given!\n"); 00145 return; 00146 } 00147 00148 // Check if the model is valid given the user constraints 00149 if (!isModelValid (model_coefficients)) 00150 { 00151 distances.clear (); 00152 return; 00153 } 00154 00155 // Obtain the plane normal 00156 Eigen::Vector4f coeff = model_coefficients; 00157 00158 distances.resize (indices_->size ()); 00159 00160 // Iterate through the 3d points and calculate the distances from them to the plane 00161 for (size_t i = 0; i < indices_->size (); ++i) 00162 { 00163 // Calculate the distance from the point to the plane normal as the dot product 00164 // D = (P-A).N/|N| 00165 Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 1); 00166 Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0); 00167 double d_euclid = fabs (coeff.dot (p)); 00168 00169 // Calculate the angular distance between the point normal and the plane normal 00170 double d_normal = getAngle3D (n, coeff); 00171 d_normal = (std::min) (d_normal, fabs (M_PI - d_normal)); 00172 00173 distances[i] = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid); 00174 } 00175 } 00176 00177 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00178 template <typename PointT, typename PointNT> bool 00179 pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients) 00180 { 00181 // Needs a valid model coefficients 00182 if (model_coefficients.size () != 4) 00183 { 00184 PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ()); 00185 return (false); 00186 } 00187 00188 // Check against template, if given 00189 if (eps_angle_ > 0.0) 00190 { 00191 // Obtain the plane normal 00192 Eigen::Vector4f coeff = model_coefficients; 00193 coeff[3] = 0; 00194 coeff.normalize (); 00195 00196 if (fabs (axis_.dot (coeff)) < cos_angle_) 00197 return (false); 00198 } 00199 00200 if (eps_dist_ > 0.0) 00201 { 00202 if (fabs (-model_coefficients[3] - distance_from_origin_) > eps_dist_) 00203 return (false); 00204 } 00205 00206 return (true); 00207 } 00208 00209 #define PCL_INSTANTIATE_SampleConsensusModelNormalParallelPlane(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>; 00210 00211 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_ 00212 00213