Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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_MODEL_CIRCLE2D_H_ 00042 #define PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_ 00043 00044 #include <pcl/sample_consensus/sac_model.h> 00045 #include <pcl/sample_consensus/model_types.h> 00046 00047 namespace pcl 00048 { 00049 /** \brief SampleConsensusModelCircle2D defines a model for 2D circle segmentation on the X-Y plane. 00050 * 00051 * The model coefficients are defined as: 00052 * - \b center.x : the X coordinate of the circle's center 00053 * - \b center.y : the Y coordinate of the circle's center 00054 * - \b radius : the circle's radius 00055 * 00056 * \author Radu B. Rusu 00057 * \ingroup sample_consensus 00058 */ 00059 template <typename PointT> 00060 class SampleConsensusModelCircle2D : public SampleConsensusModel<PointT> 00061 { 00062 public: 00063 using SampleConsensusModel<PointT>::input_; 00064 using SampleConsensusModel<PointT>::indices_; 00065 using SampleConsensusModel<PointT>::radius_min_; 00066 using SampleConsensusModel<PointT>::radius_max_; 00067 using SampleConsensusModel<PointT>::error_sqr_dists_; 00068 00069 typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud; 00070 typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr; 00071 typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 00072 00073 typedef boost::shared_ptr<SampleConsensusModelCircle2D> Ptr; 00074 00075 /** \brief Constructor for base SampleConsensusModelCircle2D. 00076 * \param[in] cloud the input point cloud dataset 00077 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false) 00078 */ 00079 SampleConsensusModelCircle2D (const PointCloudConstPtr &cloud, bool random = false) 00080 : SampleConsensusModel<PointT> (cloud, random), tmp_inliers_ () 00081 {}; 00082 00083 /** \brief Constructor for base SampleConsensusModelCircle2D. 00084 * \param[in] cloud the input point cloud dataset 00085 * \param[in] indices a vector of point indices to be used from \a cloud 00086 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false) 00087 */ 00088 SampleConsensusModelCircle2D (const PointCloudConstPtr &cloud, 00089 const std::vector<int> &indices, 00090 bool random = false) 00091 : SampleConsensusModel<PointT> (cloud, indices, random), tmp_inliers_ () 00092 {}; 00093 00094 /** \brief Copy constructor. 00095 * \param[in] source the model to copy into this 00096 */ 00097 SampleConsensusModelCircle2D (const SampleConsensusModelCircle2D &source) : 00098 SampleConsensusModel<PointT> (), tmp_inliers_ () 00099 { 00100 *this = source; 00101 } 00102 00103 /** \brief Empty destructor */ 00104 virtual ~SampleConsensusModelCircle2D () {} 00105 00106 /** \brief Copy constructor. 00107 * \param[in] source the model to copy into this 00108 */ 00109 inline SampleConsensusModelCircle2D& 00110 operator = (const SampleConsensusModelCircle2D &source) 00111 { 00112 SampleConsensusModel<PointT>::operator=(source); 00113 tmp_inliers_ = source.tmp_inliers_; 00114 return (*this); 00115 } 00116 00117 /** \brief Check whether the given index samples can form a valid 2D circle model, compute the model coefficients 00118 * from these samples and store them in model_coefficients. The circle coefficients are: x, y, R. 00119 * \param[in] samples the point indices found as possible good candidates for creating a valid model 00120 * \param[out] model_coefficients the resultant model coefficients 00121 */ 00122 bool 00123 computeModelCoefficients (const std::vector<int> &samples, 00124 Eigen::VectorXf &model_coefficients); 00125 00126 /** \brief Compute all distances from the cloud data to a given 2D circle model. 00127 * \param[in] model_coefficients the coefficients of a 2D circle model that we need to compute distances to 00128 * \param[out] distances the resultant estimated distances 00129 */ 00130 void 00131 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00132 std::vector<double> &distances); 00133 00134 /** \brief Compute all distances from the cloud data to a given 2D circle model. 00135 * \param[in] model_coefficients the coefficients of a 2D circle model that we need to compute distances to 00136 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers 00137 * \param[out] inliers the resultant model inliers 00138 */ 00139 void 00140 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00141 const double threshold, 00142 std::vector<int> &inliers); 00143 00144 /** \brief Count all the points which respect the given model coefficients as inliers. 00145 * 00146 * \param[in] model_coefficients the coefficients of a model that we need to compute distances to 00147 * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers 00148 * \return the resultant number of inliers 00149 */ 00150 virtual int 00151 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00152 const double threshold); 00153 00154 /** \brief Recompute the 2d circle coefficients using the given inlier set and return them to the user. 00155 * @note: these are the coefficients of the 2d circle model after refinement (eg. after SVD) 00156 * \param[in] inliers the data inliers found as supporting the model 00157 * \param[in] model_coefficients the initial guess for the optimization 00158 * \param[out] optimized_coefficients the resultant recomputed coefficients after non-linear optimization 00159 */ 00160 void 00161 optimizeModelCoefficients (const std::vector<int> &inliers, 00162 const Eigen::VectorXf &model_coefficients, 00163 Eigen::VectorXf &optimized_coefficients); 00164 00165 /** \brief Create a new point cloud with inliers projected onto the 2d circle model. 00166 * \param[in] inliers the data inliers that we want to project on the 2d circle model 00167 * \param[in] model_coefficients the coefficients of a 2d circle model 00168 * \param[out] projected_points the resultant projected points 00169 * \param[in] copy_data_fields set to true if we need to copy the other data fields 00170 */ 00171 void 00172 projectPoints (const std::vector<int> &inliers, 00173 const Eigen::VectorXf &model_coefficients, 00174 PointCloud &projected_points, 00175 bool copy_data_fields = true); 00176 00177 /** \brief Verify whether a subset of indices verifies the given 2d circle model coefficients. 00178 * \param[in] indices the data indices that need to be tested against the 2d circle model 00179 * \param[in] model_coefficients the 2d circle model coefficients 00180 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers 00181 */ 00182 bool 00183 doSamplesVerifyModel (const std::set<int> &indices, 00184 const Eigen::VectorXf &model_coefficients, 00185 const double threshold); 00186 00187 /** \brief Return an unique id for this model (SACMODEL_CIRCLE2D). */ 00188 inline pcl::SacModel 00189 getModelType () const { return (SACMODEL_CIRCLE2D); } 00190 00191 protected: 00192 /** \brief Check whether a model is valid given the user constraints. 00193 * \param[in] model_coefficients the set of model coefficients 00194 */ 00195 bool 00196 isModelValid (const Eigen::VectorXf &model_coefficients); 00197 00198 /** \brief Check if a sample of indices results in a good sample of points indices. 00199 * \param[in] samples the resultant index samples 00200 */ 00201 bool 00202 isSampleGood(const std::vector<int> &samples) const; 00203 00204 private: 00205 /** \brief Temporary pointer to a list of given indices for optimizeModelCoefficients () */ 00206 const std::vector<int> *tmp_inliers_; 00207 00208 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3 00209 #pragma GCC diagnostic ignored "-Weffc++" 00210 #endif 00211 /** \brief Functor for the optimization function */ 00212 struct OptimizationFunctor : pcl::Functor<float> 00213 { 00214 /** \brief Functor constructor 00215 * \param[in] m_data_points the number of data points to evaluate 00216 * \param[in] estimator pointer to the estimator object 00217 * \param[in] distance distance computation function pointer 00218 */ 00219 OptimizationFunctor (int m_data_points, pcl::SampleConsensusModelCircle2D<PointT> *model) : 00220 pcl::Functor<float>(m_data_points), model_ (model) {} 00221 00222 /** Cost function to be minimized 00223 * \param[in] x the variables array 00224 * \param[out] fvec the resultant functions evaluations 00225 * \return 0 00226 */ 00227 int 00228 operator() (const Eigen::VectorXf &x, Eigen::VectorXf &fvec) const 00229 { 00230 for (int i = 0; i < values (); ++i) 00231 { 00232 // Compute the difference between the center of the circle and the datapoint X_i 00233 float xt = model_->input_->points[(*model_->tmp_inliers_)[i]].x - x[0]; 00234 float yt = model_->input_->points[(*model_->tmp_inliers_)[i]].y - x[1]; 00235 00236 // g = sqrt ((x-a)^2 + (y-b)^2) - R 00237 fvec[i] = sqrtf (xt * xt + yt * yt) - x[2]; 00238 } 00239 return (0); 00240 } 00241 00242 pcl::SampleConsensusModelCircle2D<PointT> *model_; 00243 }; 00244 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3 00245 #pragma GCC diagnostic warning "-Weffc++" 00246 #endif 00247 }; 00248 } 00249 00250 #ifdef PCL_NO_PRECOMPILE 00251 #include <pcl/sample_consensus/impl/sac_model_circle.hpp> 00252 #endif 00253 00254 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_