Point Cloud Library (PCL) 1.15.0
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sac_model_cylinder.h
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40
41#pragma once
42
43#include <pcl/sample_consensus/sac_model.h>
44#include <pcl/sample_consensus/model_types.h>
46#include <pcl/pcl_exports.h>
47
48namespace pcl
49{
50 namespace internal {
51 PCL_EXPORTS int optimizeModelCoefficientsCylinder (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z);
52 } // namespace internal
53
54 /** \brief @b SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
55 * The model coefficients are defined as:
56 * - \b point_on_axis.x : the X coordinate of a point located on the cylinder axis
57 * - \b point_on_axis.y : the Y coordinate of a point located on the cylinder axis
58 * - \b point_on_axis.z : the Z coordinate of a point located on the cylinder axis
59 * - \b axis_direction.x : the X coordinate of the cylinder's axis direction
60 * - \b axis_direction.y : the Y coordinate of the cylinder's axis direction
61 * - \b axis_direction.z : the Z coordinate of the cylinder's axis direction
62 * - \b radius : the cylinder's radius
63 *
64 * \author Radu Bogdan Rusu
65 * \ingroup sample_consensus
66 */
67 template <typename PointT, typename PointNT>
69 {
70 public:
79
83
84 using Ptr = shared_ptr<SampleConsensusModelCylinder<PointT, PointNT> >;
85 using ConstPtr = shared_ptr<const SampleConsensusModelCylinder<PointT, PointNT>>;
86
87 /** \brief Constructor for base SampleConsensusModelCylinder.
88 * \param[in] cloud the input point cloud dataset
89 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
90 */
91 SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, bool random = false)
92 : SampleConsensusModel<PointT> (cloud, random)
94 , axis_ (Eigen::Vector3f::Zero ())
95 , eps_angle_ (0)
96 {
97 model_name_ = "SampleConsensusModelCylinder";
98 sample_size_ = 2;
99 model_size_ = 7;
100 }
101
102 /** \brief Constructor for base SampleConsensusModelCylinder.
103 * \param[in] cloud the input point cloud dataset
104 * \param[in] indices a vector of point indices to be used from \a cloud
105 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
106 */
108 const Indices &indices,
109 bool random = false)
110 : SampleConsensusModel<PointT> (cloud, indices, random)
112 , axis_ (Eigen::Vector3f::Zero ())
113 , eps_angle_ (0)
114 {
115 model_name_ = "SampleConsensusModelCylinder";
116 sample_size_ = 2;
117 model_size_ = 7;
118 }
119
120 /** \brief Copy constructor.
121 * \param[in] source the model to copy into this
122 */
126 axis_ (Eigen::Vector3f::Zero ()),
127 eps_angle_ (0)
128 {
129 *this = source;
130 model_name_ = "SampleConsensusModelCylinder";
131 }
132
133 /** \brief Empty destructor */
134 ~SampleConsensusModelCylinder () override = default;
135
136 /** \brief Copy constructor.
137 * \param[in] source the model to copy into this
138 */
141 {
144 axis_ = source.axis_;
145 eps_angle_ = source.eps_angle_;
146 return (*this);
147 }
148
149 /** \brief Set the angle epsilon (delta) threshold.
150 * \param[in] ea the maximum allowed difference between the cylinder axis and the given axis.
151 */
152 inline void
153 setEpsAngle (const double ea) { eps_angle_ = ea; }
154
155 /** \brief Get the angle epsilon (delta) threshold. */
156 inline double
157 getEpsAngle () const { return (eps_angle_); }
158
159 /** \brief Set the axis along which we need to search for a cylinder direction.
160 * \param[in] ax the axis along which we need to search for a cylinder direction
161 */
162 inline void
163 setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
164
165 /** \brief Get the axis along which we need to search for a cylinder direction. */
166 inline Eigen::Vector3f
167 getAxis () const { return (axis_); }
168
169 /** \brief Check whether the given index samples can form a valid cylinder model, compute the model coefficients
170 * from these samples and store them in model_coefficients. The cylinder coefficients are: point_on_axis,
171 * axis_direction, cylinder_radius_R
172 * \param[in] samples the point indices found as possible good candidates for creating a valid model
173 * \param[out] model_coefficients the resultant model coefficients
174 */
175 bool
176 computeModelCoefficients (const Indices &samples,
177 Eigen::VectorXf &model_coefficients) const override;
178
179 /** \brief Compute all distances from the cloud data to a given cylinder model.
180 * \param[in] model_coefficients the coefficients of a cylinder model that we need to compute distances to
181 * \param[out] distances the resultant estimated distances
182 */
183 void
184 getDistancesToModel (const Eigen::VectorXf &model_coefficients,
185 std::vector<double> &distances) const override;
186
187 /** \brief Select all the points which respect the given model coefficients as inliers.
188 * \param[in] model_coefficients the coefficients of a cylinder model that we need to compute distances to
189 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
190 * \param[out] inliers the resultant model inliers
191 */
192 void
193 selectWithinDistance (const Eigen::VectorXf &model_coefficients,
194 const double threshold,
195 Indices &inliers) override;
196
197 /** \brief Count all the points which respect the given model coefficients as inliers.
198 *
199 * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
200 * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
201 * \return the resultant number of inliers
202 */
203 std::size_t
204 countWithinDistance (const Eigen::VectorXf &model_coefficients,
205 const double threshold) const override;
206
207 /** \brief Recompute the cylinder coefficients using the given inlier set and return them to the user.
208 * @note: these are the coefficients of the cylinder model after refinement (e.g. after SVD)
209 * \param[in] inliers the data inliers found as supporting the model
210 * \param[in] model_coefficients the initial guess for the optimization
211 * \param[out] optimized_coefficients the resultant recomputed coefficients after non-linear optimization
212 */
213 void
214 optimizeModelCoefficients (const Indices &inliers,
215 const Eigen::VectorXf &model_coefficients,
216 Eigen::VectorXf &optimized_coefficients) const override;
217
218
219 /** \brief Create a new point cloud with inliers projected onto the cylinder model.
220 * \param[in] inliers the data inliers that we want to project on the cylinder model
221 * \param[in] model_coefficients the coefficients of a cylinder model
222 * \param[out] projected_points the resultant projected points
223 * \param[in] copy_data_fields set to true if we need to copy the other data fields
224 */
225 void
226 projectPoints (const Indices &inliers,
227 const Eigen::VectorXf &model_coefficients,
228 PointCloud &projected_points,
229 bool copy_data_fields = true) const override;
230
231 /** \brief Verify whether a subset of indices verifies the given cylinder model coefficients.
232 * \param[in] indices the data indices that need to be tested against the cylinder model
233 * \param[in] model_coefficients the cylinder model coefficients
234 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
235 */
236 bool
237 doSamplesVerifyModel (const std::set<index_t> &indices,
238 const Eigen::VectorXf &model_coefficients,
239 const double threshold) const override;
240
241 /** \brief Return a unique id for this model (SACMODEL_CYLINDER). */
242 inline pcl::SacModel
243 getModelType () const override { return (SACMODEL_CYLINDER); }
244
245 protected:
248
249 /** \brief Get the distance from a point to a line (represented by a point and a direction)
250 * \param[in] pt a point
251 * \param[in] model_coefficients the line coefficients (a point on the line, line direction)
252 */
253 double
254 pointToLineDistance (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const;
255
256 /** \brief Project a point onto a line given by a point and a direction vector
257 * \param[in] pt the input point to project
258 * \param[in] line_pt the point on the line (make sure that line_pt[3] = 0 as there are no internal checks!)
259 * \param[in] line_dir the direction of the line (make sure that line_dir[3] = 0 as there are no internal checks!)
260 * \param[out] pt_proj the resultant projected point
261 */
262 inline void
263 projectPointToLine (const Eigen::Vector4f &pt,
264 const Eigen::Vector4f &line_pt,
265 const Eigen::Vector4f &line_dir,
266 Eigen::Vector4f &pt_proj) const
267 {
268 float k = (pt.dot (line_dir) - line_pt.dot (line_dir)) / line_dir.dot (line_dir);
269 // Calculate the projection of the point on the line
270 pt_proj = line_pt + k * line_dir;
271 }
272
273 /** \brief Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction,
274 * cylinder_radius_R)
275 * \param[in] pt the input point to project
276 * \param[in] model_coefficients the coefficients of the cylinder (point_on_axis, axis_direction, cylinder_radius_R)
277 * \param[out] pt_proj the resultant projected point
278 */
279 void
280 projectPointToCylinder (const Eigen::Vector4f &pt,
281 const Eigen::VectorXf &model_coefficients,
282 Eigen::Vector4f &pt_proj) const;
283
284 /** \brief Check whether a model is valid given the user constraints.
285 * \param[in] model_coefficients the set of model coefficients
286 */
287 bool
288 isModelValid (const Eigen::VectorXf &model_coefficients) const override;
289
290 /** \brief Check if a sample of indices results in a good sample of points
291 * indices. Pure virtual.
292 * \param[in] samples the resultant index samples
293 */
294 bool
295 isSampleGood (const Indices &samples) const override;
296
297 private:
298 /** \brief The axis along which we need to search for a cylinder direction. */
299 Eigen::Vector3f axis_;
300
301 /** \brief The maximum allowed difference between the cylinder direction and the given axis. */
302 double eps_angle_;
303 };
304}
305
306#ifdef PCL_NO_PRECOMPILE
307#include <pcl/sample_consensus/impl/sac_model_cylinder.hpp>
308#endif
PointCloud represents the base class in PCL for storing collections of 3D points.
SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
SampleConsensusModelCylinder(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelCylinder.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_CYLINDER).
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given cylinder model.
SampleConsensusModelCylinder(const SampleConsensusModelCylinder &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 cylinder model.
double getEpsAngle() const
Get the angle epsilon (delta) threshold.
void projectPointToLine(const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, Eigen::Vector4f &pt_proj) const
Project a point onto a line given by a point and a direction vector.
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the cylinder coefficients using the given inlier set and return them to the user.
shared_ptr< const SampleConsensusModelCylinder< PointT, PointNT > > ConstPtr
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.
void projectPointToCylinder(const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj) const
Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction,...
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
SampleConsensusModelCylinder(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelCylinder.
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
SampleConsensusModelCylinder & operator=(const SampleConsensusModelCylinder &source)
Copy constructor.
bool isSampleGood(const Indices &samples) const override
Check if a sample of indices results in a good sample of points indices.
typename SampleConsensusModel< PointT >::PointCloud PointCloud
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a cylinder direction.
~SampleConsensusModelCylinder() override=default
Empty destructor.
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a cylinder direction.
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 cylinder model coefficients.
double pointToLineDistance(const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const
Get the distance from a point to a line (represented by a point and a direction)
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid cylinder model, compute the model coefficients...
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
shared_ptr< SampleConsensusModelCylinder< PointT, PointNT > > Ptr
SampleConsensusModelFromNormals represents the base model class for models that require the use of su...
Definition sac_model.h:613
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Definition sac_model.h:671
double normal_distance_weight_
The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point norma...
Definition sac_model.h:666
SampleConsensusModel represents the base model class.
Definition sac_model.h:71
double radius_min_
The minimum and maximum radius limits for the model.
Definition sac_model.h:565
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition sac_model.h:589
typename PointCloud::ConstPtr PointCloudConstPtr
Definition sac_model.h:74
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition sac_model.h:557
PointCloudConstPtr input_
A boost shared pointer to the point cloud data array.
Definition sac_model.h:554
std::string model_name_
The model name.
Definition sac_model.h:551
unsigned int model_size_
The number of coefficients in the model.
Definition sac_model.h:592
typename PointCloud::Ptr PointCloudPtr
Definition sac_model.h:75
std::vector< double > error_sqr_dists_
A vector holding the distances to the computed model.
Definition sac_model.h:586
Define standard C methods to do distance calculations.
Definition bfgs.h:10
PCL_EXPORTS int optimizeModelCoefficientsCylinder(Eigen::VectorXf &coeff, const Eigen::ArrayXf &pts_x, const Eigen::ArrayXf &pts_y, const Eigen::ArrayXf &pts_z)
@ SACMODEL_CYLINDER
Definition model_types.h:52
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.