Point Cloud Library (PCL)  1.7.1
sac_model_circle.h
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_
42 #define PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_
43 
44 #include <pcl/sample_consensus/sac_model.h>
45 #include <pcl/sample_consensus/model_types.h>
46 
47 namespace pcl
48 {
49  /** \brief SampleConsensusModelCircle2D defines a model for 2D circle segmentation on the X-Y plane.
50  *
51  * The model coefficients are defined as:
52  * - \b center.x : the X coordinate of the circle's center
53  * - \b center.y : the Y coordinate of the circle's center
54  * - \b radius : the circle's radius
55  *
56  * \author Radu B. Rusu
57  * \ingroup sample_consensus
58  */
59  template <typename PointT>
61  {
62  public:
68 
72 
73  typedef boost::shared_ptr<SampleConsensusModelCircle2D> Ptr;
74 
75  /** \brief Constructor for base SampleConsensusModelCircle2D.
76  * \param[in] cloud the input point cloud dataset
77  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
78  */
79  SampleConsensusModelCircle2D (const PointCloudConstPtr &cloud, bool random = false)
80  : SampleConsensusModel<PointT> (cloud, random), tmp_inliers_ ()
81  {};
82 
83  /** \brief Constructor for base SampleConsensusModelCircle2D.
84  * \param[in] cloud the input point cloud dataset
85  * \param[in] indices a vector of point indices to be used from \a cloud
86  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
87  */
89  const std::vector<int> &indices,
90  bool random = false)
91  : SampleConsensusModel<PointT> (cloud, indices, random), tmp_inliers_ ()
92  {};
93 
94  /** \brief Copy constructor.
95  * \param[in] source the model to copy into this
96  */
98  SampleConsensusModel<PointT> (), tmp_inliers_ ()
99  {
100  *this = source;
101  }
102 
103  /** \brief Empty destructor */
105 
106  /** \brief Copy constructor.
107  * \param[in] source the model to copy into this
108  */
111  {
113  tmp_inliers_ = source.tmp_inliers_;
114  return (*this);
115  }
116 
117  /** \brief Check whether the given index samples can form a valid 2D circle model, compute the model coefficients
118  * from these samples and store them in model_coefficients. The circle coefficients are: x, y, R.
119  * \param[in] samples the point indices found as possible good candidates for creating a valid model
120  * \param[out] model_coefficients the resultant model coefficients
121  */
122  bool
123  computeModelCoefficients (const std::vector<int> &samples,
124  Eigen::VectorXf &model_coefficients);
125 
126  /** \brief Compute all distances from the cloud data to a given 2D circle model.
127  * \param[in] model_coefficients the coefficients of a 2D circle model that we need to compute distances to
128  * \param[out] distances the resultant estimated distances
129  */
130  void
131  getDistancesToModel (const Eigen::VectorXf &model_coefficients,
132  std::vector<double> &distances);
133 
134  /** \brief Compute all distances from the cloud data to a given 2D circle model.
135  * \param[in] model_coefficients the coefficients of a 2D circle model that we need to compute distances to
136  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
137  * \param[out] inliers the resultant model inliers
138  */
139  void
140  selectWithinDistance (const Eigen::VectorXf &model_coefficients,
141  const double threshold,
142  std::vector<int> &inliers);
143 
144  /** \brief Count all the points which respect the given model coefficients as inliers.
145  *
146  * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
147  * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
148  * \return the resultant number of inliers
149  */
150  virtual int
151  countWithinDistance (const Eigen::VectorXf &model_coefficients,
152  const double threshold);
153 
154  /** \brief Recompute the 2d circle coefficients using the given inlier set and return them to the user.
155  * @note: these are the coefficients of the 2d circle model after refinement (eg. after SVD)
156  * \param[in] inliers the data inliers found as supporting the model
157  * \param[in] model_coefficients the initial guess for the optimization
158  * \param[out] optimized_coefficients the resultant recomputed coefficients after non-linear optimization
159  */
160  void
161  optimizeModelCoefficients (const std::vector<int> &inliers,
162  const Eigen::VectorXf &model_coefficients,
163  Eigen::VectorXf &optimized_coefficients);
164 
165  /** \brief Create a new point cloud with inliers projected onto the 2d circle model.
166  * \param[in] inliers the data inliers that we want to project on the 2d circle model
167  * \param[in] model_coefficients the coefficients of a 2d circle model
168  * \param[out] projected_points the resultant projected points
169  * \param[in] copy_data_fields set to true if we need to copy the other data fields
170  */
171  void
172  projectPoints (const std::vector<int> &inliers,
173  const Eigen::VectorXf &model_coefficients,
174  PointCloud &projected_points,
175  bool copy_data_fields = true);
176 
177  /** \brief Verify whether a subset of indices verifies the given 2d circle model coefficients.
178  * \param[in] indices the data indices that need to be tested against the 2d circle model
179  * \param[in] model_coefficients the 2d circle model coefficients
180  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
181  */
182  bool
183  doSamplesVerifyModel (const std::set<int> &indices,
184  const Eigen::VectorXf &model_coefficients,
185  const double threshold);
186 
187  /** \brief Return an unique id for this model (SACMODEL_CIRCLE2D). */
188  inline pcl::SacModel
189  getModelType () const { return (SACMODEL_CIRCLE2D); }
190 
191  protected:
192  /** \brief Check whether a model is valid given the user constraints.
193  * \param[in] model_coefficients the set of model coefficients
194  */
195  bool
196  isModelValid (const Eigen::VectorXf &model_coefficients);
197 
198  /** \brief Check if a sample of indices results in a good sample of points indices.
199  * \param[in] samples the resultant index samples
200  */
201  bool
202  isSampleGood(const std::vector<int> &samples) const;
203 
204  private:
205  /** \brief Temporary pointer to a list of given indices for optimizeModelCoefficients () */
206  const std::vector<int> *tmp_inliers_;
207 
208 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
209 #pragma GCC diagnostic ignored "-Weffc++"
210 #endif
211  /** \brief Functor for the optimization function */
212  struct OptimizationFunctor : pcl::Functor<float>
213  {
214  /** \brief Functor constructor
215  * \param[in] m_data_points the number of data points to evaluate
216  * \param[in] estimator pointer to the estimator object
217  * \param[in] distance distance computation function pointer
218  */
219  OptimizationFunctor (int m_data_points, pcl::SampleConsensusModelCircle2D<PointT> *model) :
220  pcl::Functor<float>(m_data_points), model_ (model) {}
221 
222  /** Cost function to be minimized
223  * \param[in] x the variables array
224  * \param[out] fvec the resultant functions evaluations
225  * \return 0
226  */
227  int
228  operator() (const Eigen::VectorXf &x, Eigen::VectorXf &fvec) const
229  {
230  for (int i = 0; i < values (); ++i)
231  {
232  // Compute the difference between the center of the circle and the datapoint X_i
233  float xt = model_->input_->points[(*model_->tmp_inliers_)[i]].x - x[0];
234  float yt = model_->input_->points[(*model_->tmp_inliers_)[i]].y - x[1];
235 
236  // g = sqrt ((x-a)^2 + (y-b)^2) - R
237  fvec[i] = sqrtf (xt * xt + yt * yt) - x[2];
238  }
239  return (0);
240  }
241 
243  };
244 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
245 #pragma GCC diagnostic warning "-Weffc++"
246 #endif
247  };
248 }
249 
250 #ifdef PCL_NO_PRECOMPILE
251 #include <pcl/sample_consensus/impl/sac_model_circle.hpp>
252 #endif
253 
254 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_