41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_
42 #define PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_
44 #include <pcl/sample_consensus/sac_model.h>
45 #include <pcl/sample_consensus/model_types.h>
46 #include <pcl/common/common.h>
47 #include <pcl/common/distances.h>
64 template <
typename Po
intT,
typename Po
intNT>
80 typedef boost::shared_ptr<SampleConsensusModelCylinder>
Ptr;
89 , axis_ (Eigen::Vector3f::Zero ())
101 const std::vector<int> &indices,
105 , axis_ (Eigen::Vector3f::Zero ())
117 axis_ (Eigen::Vector3f::Zero ()),
134 axis_ = source.axis_;
135 eps_angle_ = source.eps_angle_;
136 tmp_inliers_ = source.tmp_inliers_;
154 setAxis (
const Eigen::Vector3f &ax) { axis_ = ax; }
157 inline Eigen::Vector3f
168 Eigen::VectorXf &model_coefficients);
176 std::vector<double> &distances);
185 const double threshold,
186 std::vector<int> &inliers);
196 const double threshold);
206 const Eigen::VectorXf &model_coefficients,
207 Eigen::VectorXf &optimized_coefficients);
218 const Eigen::VectorXf &model_coefficients,
220 bool copy_data_fields =
true);
229 const Eigen::VectorXf &model_coefficients,
230 const double threshold);
242 pointToLineDistance (
const Eigen::Vector4f &pt,
const Eigen::VectorXf &model_coefficients);
252 const Eigen::Vector4f &line_pt,
253 const Eigen::Vector4f &line_dir,
254 Eigen::Vector4f &pt_proj)
256 float k = (pt.dot (line_dir) - line_pt.dot (line_dir)) / line_dir.dot (line_dir);
258 pt_proj = line_pt + k * line_dir;
269 const Eigen::VectorXf &model_coefficients,
270 Eigen::Vector4f &pt_proj);
274 getName ()
const {
return (
"SampleConsensusModelCylinder"); }
281 isModelValid (
const Eigen::VectorXf &model_coefficients);
292 Eigen::Vector3f axis_;
298 const std::vector<int> *tmp_inliers_;
300 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
301 #pragma GCC diagnostic ignored "-Weffc++"
312 pcl::
Functor<float> (m_data_points), model_ (model) {}
320 operator() (
const Eigen::VectorXf &x, Eigen::VectorXf &fvec)
const
322 Eigen::Vector4f line_pt (x[0], x[1], x[2], 0);
323 Eigen::Vector4f line_dir (x[3], x[4], x[5], 0);
325 for (
int i = 0; i < values (); ++i)
328 Eigen::Vector4f pt (model_->input_->points[(*model_->tmp_inliers_)[i]].x,
329 model_->input_->points[(*model_->tmp_inliers_)[i]].y,
330 model_->input_->points[(*model_->tmp_inliers_)[i]].z, 0);
339 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
340 #pragma GCC diagnostic warning "-Weffc++"
345 #ifdef PCL_NO_PRECOMPILE
346 #include <pcl/sample_consensus/impl/sac_model_cylinder.hpp>
349 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_