222template <
typename Po
intT> std::size_t
224 const Eigen::VectorXf &model_coefficients,
const double threshold, std::size_t i)
const
226 std::size_t nr_p = 0;
227 const float sqr_inner_radius = (model_coefficients[2] <= threshold ? 0.0f : (model_coefficients[2] - threshold) * (model_coefficients[2] - threshold));
228 const float sqr_outer_radius = (model_coefficients[2] + threshold) * (model_coefficients[2] + threshold);
230 for (; i < indices_->size (); ++i)
234 const float sqr_dist = ( (*input_)[(*indices_)[i]].x - model_coefficients[0] ) *
235 ( (*input_)[(*indices_)[i]].x - model_coefficients[0] ) +
236 ( (*input_)[(*indices_)[i]].y - model_coefficients[1] ) *
237 ( (*input_)[(*indices_)[i]].y - model_coefficients[1] );
238 if ((sqr_dist <= sqr_outer_radius) && (sqr_dist >= sqr_inner_radius))
245#if defined (__SSE__) && defined (__SSE2__) && defined (__SSE4_1__)
246template <
typename Po
intT> std::size_t
248 const Eigen::VectorXf &model_coefficients,
const double threshold, std::size_t i)
const
250 std::size_t nr_p = 0;
251 const __m128 a_vec = _mm_set1_ps (model_coefficients[0]);
252 const __m128 b_vec = _mm_set1_ps (model_coefficients[1]);
254 const __m128 sqr_inner_radius = _mm_set1_ps ((model_coefficients[2] <= threshold ? 0.0 : (model_coefficients[2]-threshold)*(model_coefficients[2]-threshold)));
255 const __m128 sqr_outer_radius = _mm_set1_ps ((model_coefficients[2]+threshold)*(model_coefficients[2]+threshold));
256 __m128i res = _mm_set1_epi32(0);
257 for (; (i + 4) <= indices_->size (); i += 4)
259 const __m128 sqr_dist = sqr_dist4 (i, a_vec, b_vec);
260 const __m128 mask = _mm_and_ps (_mm_cmplt_ps (sqr_inner_radius, sqr_dist), _mm_cmplt_ps (sqr_dist, sqr_outer_radius));
261 res = _mm_add_epi32 (res, _mm_and_si128 (_mm_set1_epi32 (1), _mm_castps_si128 (mask)));
268 nr_p += _mm_extract_epi32 (res, 0);
269 nr_p += _mm_extract_epi32 (res, 1);
270 nr_p += _mm_extract_epi32 (res, 2);
271 nr_p += _mm_extract_epi32 (res, 3);
274 nr_p += countWithinDistanceStandard (model_coefficients, threshold, i);
280#if defined (__AVX__) && defined (__AVX2__)
281template <
typename Po
intT> std::size_t
283 const Eigen::VectorXf &model_coefficients,
const double threshold, std::size_t i)
const
285 std::size_t nr_p = 0;
286 const __m256 a_vec = _mm256_set1_ps (model_coefficients[0]);
287 const __m256 b_vec = _mm256_set1_ps (model_coefficients[1]);
289 const __m256 sqr_inner_radius = _mm256_set1_ps ((model_coefficients[2] <= threshold ? 0.0 : (model_coefficients[2]-threshold)*(model_coefficients[2]-threshold)));
290 const __m256 sqr_outer_radius = _mm256_set1_ps ((model_coefficients[2]+threshold)*(model_coefficients[2]+threshold));
291 __m256i res = _mm256_set1_epi32(0);
292 for (; (i + 8) <= indices_->size (); i += 8)
294 const __m256 sqr_dist = sqr_dist8 (i, a_vec, b_vec);
295 const __m256 mask = _mm256_and_ps (_mm256_cmp_ps (sqr_inner_radius, sqr_dist, _CMP_LT_OQ), _mm256_cmp_ps (sqr_dist, sqr_outer_radius, _CMP_LT_OQ));
296 res = _mm256_add_epi32 (res, _mm256_and_si256 (_mm256_set1_epi32 (1), _mm256_castps_si256 (mask)));
307 nr_p += _mm256_extract_epi32 (res, 0);
308 nr_p += _mm256_extract_epi32 (res, 1);
309 nr_p += _mm256_extract_epi32 (res, 2);
310 nr_p += _mm256_extract_epi32 (res, 3);
311 nr_p += _mm256_extract_epi32 (res, 4);
312 nr_p += _mm256_extract_epi32 (res, 5);
313 nr_p += _mm256_extract_epi32 (res, 6);
314 nr_p += _mm256_extract_epi32 (res, 7);
317 nr_p += countWithinDistanceStandard (model_coefficients, threshold, i);
323template <
typename Po
intT>
void
325 const Indices &inliers,
const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
const
327 optimized_coefficients = model_coefficients;
330 if (!isModelValid (model_coefficients))
332 PCL_ERROR (
"[pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients] Given model is invalid!\n");
337 if (inliers.size () <= sample_size_)
339 PCL_ERROR (
"[pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients] Not enough inliers to refine/optimize the model's coefficients (%lu)! Returning the same coefficients.\n", inliers.size ());
343 OptimizationFunctor functor (
this, inliers);
344 Eigen::NumericalDiff<OptimizationFunctor> num_diff (functor);
345 Eigen::LevenbergMarquardt<Eigen::NumericalDiff<OptimizationFunctor>,
float> lm (num_diff);
346 int info = lm.minimize (optimized_coefficients);
349 PCL_DEBUG (
"[pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients] LM solver finished with exit code %i, having a residual norm of %g. \nInitial solution: %g %g %g \nFinal solution: %g %g %g\n",
350 info, lm.fvec.norm (), model_coefficients[0], model_coefficients[1], model_coefficients[2], optimized_coefficients[0], optimized_coefficients[1], optimized_coefficients[2]);
354template <
typename Po
intT>
void
356 const Indices &inliers,
const Eigen::VectorXf &model_coefficients,
357 PointCloud &projected_points,
bool copy_data_fields)
const
360 if (!isModelValid (model_coefficients))
362 PCL_ERROR (
"[pcl::SampleConsensusModelCircle2D::projectPoints] Given model is invalid!\n");
366 projected_points.header = input_->header;
367 projected_points.is_dense = input_->is_dense;
370 if (copy_data_fields)
373 projected_points.resize (input_->size ());
374 projected_points.width = input_->width;
375 projected_points.height = input_->height;
377 using FieldList =
typename pcl::traits::fieldList<PointT>::type;
379 for (std::size_t i = 0; i < projected_points.size (); ++i)
381 pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> ((*input_)[i], projected_points[i]));
384 for (
const auto &inlier : inliers)
386 float dx = (*input_)[inlier].x - model_coefficients[0];
387 float dy = (*input_)[inlier].y - model_coefficients[1];
388 float a = std::sqrt ( (model_coefficients[2] * model_coefficients[2]) / (dx * dx + dy * dy) );
390 projected_points[inlier].x = a * dx + model_coefficients[0];
391 projected_points[inlier].y = a * dy + model_coefficients[1];
397 projected_points.resize (inliers.size ());
398 projected_points.width = inliers.size ();
399 projected_points.height = 1;
401 using FieldList =
typename pcl::traits::fieldList<PointT>::type;
403 for (std::size_t i = 0; i < inliers.size (); ++i)
405 pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> ((*input_)[inliers[i]], projected_points[i]));
408 for (std::size_t i = 0; i < inliers.size (); ++i)
410 float dx = (*input_)[inliers[i]].x - model_coefficients[0];
411 float dy = (*input_)[inliers[i]].y - model_coefficients[1];
412 float a = std::sqrt ( (model_coefficients[2] * model_coefficients[2]) / (dx * dx + dy * dy) );
414 projected_points[i].x = a * dx + model_coefficients[0];
415 projected_points[i].y = a * dy + model_coefficients[1];
421template <
typename Po
intT>
bool
423 const std::set<index_t> &indices,
const Eigen::VectorXf &model_coefficients,
const double threshold)
const
426 if (!isModelValid (model_coefficients))
428 PCL_ERROR (
"[pcl::SampleConsensusModelCircle2D::doSamplesVerifyModel] Given model is invalid!\n");
432 const float sqr_inner_radius = (model_coefficients[2] <= threshold ? 0.0f : (model_coefficients[2] - threshold) * (model_coefficients[2] - threshold));
433 const float sqr_outer_radius = (model_coefficients[2] + threshold) * (model_coefficients[2] + threshold);
434 for (
const auto &index : indices)
438 const float sqr_dist = ( (*input_)[index].x - model_coefficients[0] ) *
439 ( (*input_)[index].x - model_coefficients[0] ) +
440 ( (*input_)[index].y - model_coefficients[1] ) *
441 ( (*input_)[index].y - model_coefficients[1] );
442 if ((sqr_dist > sqr_outer_radius) || (sqr_dist < sqr_inner_radius))
449template <
typename Po
intT>
bool
455 if (radius_min_ != -std::numeric_limits<double>::max() && model_coefficients[2] < radius_min_)
457 PCL_DEBUG (
"[pcl::SampleConsensusModelCircle2D::isModelValid] Radius of circle is too small: should be larger than %g, but is %g.\n",
458 radius_min_, model_coefficients[2]);
461 if (radius_max_ != std::numeric_limits<double>::max() && model_coefficients[2] > radius_max_)
463 PCL_DEBUG (
"[pcl::SampleConsensusModelCircle2D::isModelValid] Radius of circle is too big: should be smaller than %g, but is %g.\n",
464 radius_max_, model_coefficients[2]);
471#define PCL_INSTANTIATE_SampleConsensusModelCircle2D(T) template class PCL_EXPORTS pcl::SampleConsensusModelCircle2D<T>;