Point Cloud Library (PCL)  1.10.1-dev
sac_model_parallel_line.h
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40 
41 #pragma once
42 
43 #include <pcl/sample_consensus/sac_model_line.h>
44 
45 namespace pcl
46 {
47  /** \brief SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular
48  * constraints.
49  *
50  * Checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum
51  * angular deviation" between the line's direction and a user-specified axis.
52  *
53  * The model coefficients are defined as:
54  * - \b point_on_line.x : the X coordinate of a point on the line
55  * - \b point_on_line.y : the Y coordinate of a point on the line
56  * - \b point_on_line.z : the Z coordinate of a point on the line
57  * - \b line_direction.x : the X coordinate of a line's direction
58  * - \b line_direction.y : the Y coordinate of a line's direction
59  * - \b line_direction.z : the Z coordinate of a line's direction
60  *
61  * \author Radu B. Rusu
62  * \ingroup sample_consensus
63  */
64  template <typename PointT>
66  {
67  public:
69 
73 
76 
77  /** \brief Constructor for base SampleConsensusModelParallelLine.
78  * \param[in] cloud the input point cloud dataset
79  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
80  */
82  bool random = false)
83  : SampleConsensusModelLine<PointT> (cloud, random)
84  , axis_ (Eigen::Vector3f::Zero ())
85  , eps_angle_ (0.0)
86  {
87  model_name_ = "SampleConsensusModelParallelLine";
88  sample_size_ = 2;
89  model_size_ = 6;
90  }
91 
92  /** \brief Constructor for base SampleConsensusModelParallelLine.
93  * \param[in] cloud the input point cloud dataset
94  * \param[in] indices a vector of point indices to be used from \a cloud
95  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
96  */
98  const std::vector<int> &indices,
99  bool random = false)
100  : SampleConsensusModelLine<PointT> (cloud, indices, random)
101  , axis_ (Eigen::Vector3f::Zero ())
102  , eps_angle_ (0.0)
103  {
104  model_name_ = "SampleConsensusModelParallelLine";
105  sample_size_ = 2;
106  model_size_ = 6;
107  }
108 
109  /** \brief Empty destructor */
111 
112  /** \brief Set the axis along which we need to search for a line.
113  * \param[in] ax the axis along which we need to search for a line
114  */
115  inline void
116  setAxis (const Eigen::Vector3f &ax) { axis_ = ax; axis_.normalize (); }
117 
118  /** \brief Get the axis along which we need to search for a line. */
119  inline Eigen::Vector3f
120  getAxis () const { return (axis_); }
121 
122  /** \brief Set the angle epsilon (delta) threshold.
123  * \param[in] ea the maximum allowed difference between the line direction and the given axis (in radians).
124  */
125  inline void
126  setEpsAngle (const double ea) { eps_angle_ = ea; }
127 
128  /** \brief Get the angle epsilon (delta) threshold (in radians). */
129  inline double getEpsAngle () const { return (eps_angle_); }
130 
131  /** \brief Select all the points which respect the given model coefficients as inliers.
132  * \param[in] model_coefficients the coefficients of a line model that we need to compute distances to
133  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
134  * \param[out] inliers the resultant model inliers
135  */
136  void
137  selectWithinDistance (const Eigen::VectorXf &model_coefficients,
138  const double threshold,
139  std::vector<int> &inliers) override;
140 
141  /** \brief Count all the points which respect the given model coefficients as inliers.
142  *
143  * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
144  * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
145  * \return the resultant number of inliers
146  */
147  std::size_t
148  countWithinDistance (const Eigen::VectorXf &model_coefficients,
149  const double threshold) const override;
150 
151  /** \brief Compute all squared distances from the cloud data to a given line model.
152  * \param[in] model_coefficients the coefficients of a line model that we need to compute distances to
153  * \param[out] distances the resultant estimated squared distances
154  */
155  void
156  getDistancesToModel (const Eigen::VectorXf &model_coefficients,
157  std::vector<double> &distances) const override;
158 
159  /** \brief Return a unique id for this model (SACMODEL_PARALLEL_LINE). */
160  inline pcl::SacModel
161  getModelType () const override { return (SACMODEL_PARALLEL_LINE); }
162 
163  protected:
166 
167  /** \brief Check whether a model is valid given the user constraints.
168  * \param[in] model_coefficients the set of model coefficients
169  */
170  bool
171  isModelValid (const Eigen::VectorXf &model_coefficients) const override;
172 
173  /** \brief The axis along which we need to search for a line. */
174  Eigen::Vector3f axis_;
175 
176  /** \brief The maximum allowed difference between the line direction and the given axis. */
177  double eps_angle_;
178  };
179 }
180 
181 #ifdef PCL_NO_PRECOMPILE
182 #include <pcl/sample_consensus/impl/sac_model_parallel_line.hpp>
183 #endif
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
SampleConsensusModelLine defines a model for 3D line segmentation.
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a line.
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
unsigned int model_size_
The number of coefficients in the model.
Definition: sac_model.h:565
typename PointCloud::Ptr PointCloudPtr
Definition: sac_model.h:74
Definition: bfgs.h:9
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers) override
Select all the points which respect the given model coefficients as inliers.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all squared distances from the cloud data to a given line model.
SampleConsensusModel represents the base model class.
Definition: sac_model.h:69
SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...
std::string model_name_
The model name.
Definition: sac_model.h:524
typename SampleConsensusModel< PointT >::PointCloud PointCloud
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.
SampleConsensusModelParallelLine(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelParallelLine.
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: sac_model.h:73
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_PARALLEL_LINE).
PointCloud represents the base class in PCL for storing collections of 3D points. ...
SacModel
Definition: model_types.h:45
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
Definition: sac_model.h:78
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a line.
Eigen::Vector3f axis_
The axis along which we need to search for a line.
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:77
SampleConsensusModelParallelLine(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelParallelLine.
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: memory.h:81
double eps_angle_
The maximum allowed difference between the line direction and the given axis.
double getEpsAngle() const
Get the angle epsilon (delta) threshold (in radians).
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition: sac_model.h:562