Point Cloud Library (PCL)  1.11.1-dev
sac_model_circle3d.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2012-, Open Perception, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of the copyright holder(s) nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  */
37 
38 #pragma once
39 
40 #include <pcl/sample_consensus/sac_model.h>
41 #include <pcl/sample_consensus/model_types.h>
42 
43 namespace pcl
44 {
45  /** \brief SampleConsensusModelCircle3D defines a model for 3D circle segmentation.
46  *
47  * The model coefficients are defined as:
48  * - \b center.x : the X coordinate of the circle's center
49  * - \b center.y : the Y coordinate of the circle's center
50  * - \b center.z : the Z coordinate of the circle's center
51  * - \b radius : the circle's radius
52  * - \b normal.x : the X coordinate of the normal's direction
53  * - \b normal.y : the Y coordinate of the normal's direction
54  * - \b normal.z : the Z coordinate of the normal's direction
55  *
56  * \author Raoul Hoffmann, Karol Hausman, Radu B. Rusu
57  * \ingroup sample_consensus
58  */
59  template <typename PointT>
61  {
62  public:
68 
72 
73  using Ptr = shared_ptr<SampleConsensusModelCircle3D<PointT> >;
74  using ConstPtr = shared_ptr<const SampleConsensusModelCircle3D<PointT> >;
75 
76  /** \brief Constructor for base SampleConsensusModelCircle3D.
77  * \param[in] cloud the input point cloud dataset
78  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
79  */
81  bool random = false)
82  : SampleConsensusModel<PointT> (cloud, random)
83  {
84  model_name_ = "SampleConsensusModelCircle3D";
85  sample_size_ = 3;
86  model_size_ = 7;
87  }
88 
89  /** \brief Constructor for base SampleConsensusModelCircle3D.
90  * \param[in] cloud the input point cloud dataset
91  * \param[in] indices a vector of point indices to be used from \a cloud
92  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
93  */
95  const Indices &indices,
96  bool random = false)
97  : SampleConsensusModel<PointT> (cloud, indices, random)
98  {
99  model_name_ = "SampleConsensusModelCircle3D";
100  sample_size_ = 3;
101  model_size_ = 7;
102  }
103 
104  /** \brief Empty destructor */
106 
107  /** \brief Copy constructor.
108  * \param[in] source the model to copy into this
109  */
112  {
113  *this = source;
114  model_name_ = "SampleConsensusModelCircle3D";
115  }
116 
117  /** \brief Copy constructor.
118  * \param[in] source the model to copy into this
119  */
122  {
124  return (*this);
125  }
126 
127  /** \brief Check whether the given index samples can form a valid 2D circle model, compute the model coefficients
128  * from these samples and store them in model_coefficients. The circle coefficients are: x, y, R.
129  * \param[in] samples the point indices found as possible good candidates for creating a valid model
130  * \param[out] model_coefficients the resultant model coefficients
131  */
132  bool
133  computeModelCoefficients (const Indices &samples,
134  Eigen::VectorXf &model_coefficients) const override;
135 
136  /** \brief Compute all distances from the cloud data to a given 3D circle model.
137  * \param[in] model_coefficients the coefficients of a 2D circle model that we need to compute distances to
138  * \param[out] distances the resultant estimated distances
139  */
140  void
141  getDistancesToModel (const Eigen::VectorXf &model_coefficients,
142  std::vector<double> &distances) const override;
143 
144  /** \brief Compute all distances from the cloud data to a given 3D circle model.
145  * \param[in] model_coefficients the coefficients of a 3D circle model that we need to compute distances to
146  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
147  * \param[out] inliers the resultant model inliers
148  */
149  void
150  selectWithinDistance (const Eigen::VectorXf &model_coefficients,
151  const double threshold,
152  Indices &inliers) override;
153 
154  /** \brief Count all the points which respect the given model coefficients as inliers.
155  *
156  * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
157  * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
158  * \return the resultant number of inliers
159  */
160  std::size_t
161  countWithinDistance (const Eigen::VectorXf &model_coefficients,
162  const double threshold) const override;
163 
164  /** \brief Recompute the 3d circle coefficients using the given inlier set and return them to the user.
165  * @note: these are the coefficients of the 3d circle model after refinement (e.g. after SVD)
166  * \param[in] inliers the data inliers found as supporting the model
167  * \param[in] model_coefficients the initial guess for the optimization
168  * \param[out] optimized_coefficients the resultant recomputed coefficients after non-linear optimization
169  */
170  void
171  optimizeModelCoefficients (const Indices &inliers,
172  const Eigen::VectorXf &model_coefficients,
173  Eigen::VectorXf &optimized_coefficients) const override;
174 
175  /** \brief Create a new point cloud with inliers projected onto the 3d circle model.
176  * \param[in] inliers the data inliers that we want to project on the 3d circle model
177  * \param[in] model_coefficients the coefficients of a 3d circle model
178  * \param[out] projected_points the resultant projected points
179  * \param[in] copy_data_fields set to true if we need to copy the other data fields
180  */
181  void
182  projectPoints (const Indices &inliers,
183  const Eigen::VectorXf &model_coefficients,
184  PointCloud &projected_points,
185  bool copy_data_fields = true) const override;
186 
187  /** \brief Verify whether a subset of indices verifies the given 3d circle model coefficients.
188  * \param[in] indices the data indices that need to be tested against the 3d circle model
189  * \param[in] model_coefficients the 3d circle model coefficients
190  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
191  */
192  bool
193  doSamplesVerifyModel (const std::set<index_t> &indices,
194  const Eigen::VectorXf &model_coefficients,
195  const double threshold) const override;
196 
197  /** \brief Return a unique id for this model (SACMODEL_CIRCLE3D). */
198  inline pcl::SacModel
199  getModelType () const override { return (SACMODEL_CIRCLE3D); }
200 
201  protected:
204 
205  /** \brief Check whether a model is valid given the user constraints.
206  * \param[in] model_coefficients the set of model coefficients
207  */
208  bool
209  isModelValid (const Eigen::VectorXf &model_coefficients) const override;
210 
211  /** \brief Check if a sample of indices results in a good sample of points indices.
212  * \param[in] samples the resultant index samples
213  */
214  bool
215  isSampleGood(const Indices &samples) const override;
216 
217  private:
218  /** \brief Functor for the optimization function */
219  struct OptimizationFunctor : pcl::Functor<double>
220  {
221  /** Functor constructor
222  * \param[in] indices the indices of data points to evaluate
223  * \param[in] estimator pointer to the estimator object
224  */
225  OptimizationFunctor (const pcl::SampleConsensusModelCircle3D<PointT> *model, const Indices& indices) :
226  pcl::Functor<double> (indices.size ()), model_ (model), indices_ (indices) {}
227 
228  /** Cost function to be minimized
229  * \param[in] x the variables array
230  * \param[out] fvec the resultant functions evaluations
231  * \return 0
232  */
233  int operator() (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const
234  {
235  for (int i = 0; i < values (); ++i)
236  {
237  // what i have:
238  // P : Sample Point
239  Eigen::Vector3d P =
240  (*model_->input_)[indices_[i]].getVector3fMap().template cast<double>();
241  // C : Circle Center
242  Eigen::Vector3d C (x[0], x[1], x[2]);
243  // N : Circle (Plane) Normal
244  Eigen::Vector3d N (x[4], x[5], x[6]);
245  // r : Radius
246  double r = x[3];
247 
248  Eigen::Vector3d helperVectorPC = P - C;
249  // 1.1. get line parameter
250  //float lambda = (helperVectorPC.dot(N)) / N.squaredNorm() ;
251  double lambda = (-(helperVectorPC.dot (N))) / N.dot (N);
252  // Projected Point on plane
253  Eigen::Vector3d P_proj = P + lambda * N;
254  Eigen::Vector3d helperVectorP_projC = P_proj - C;
255 
256  // K : Point on Circle
257  Eigen::Vector3d K = C + r * helperVectorP_projC.normalized ();
258  Eigen::Vector3d distanceVector = P - K;
259 
260  fvec[i] = distanceVector.norm ();
261  }
262  return (0);
263  }
264 
266  const Indices &indices_;
267  };
268  };
269 }
270 
271 #ifdef PCL_NO_PRECOMPILE
272 #include <pcl/sample_consensus/impl/sac_model_circle3d.hpp>
273 #endif
pcl
Definition: convolution.h:46
pcl::K
@ K
Definition: norms.h:54
pcl::SampleConsensusModelCircle3D::isSampleGood
bool isSampleGood(const Indices &samples) const override
Check if a sample of indices results in a good sample of points indices.
Definition: sac_model_circle3d.hpp:50
pcl::SACMODEL_CIRCLE3D
@ SACMODEL_CIRCLE3D
Definition: model_types.h:50
pcl::SampleConsensusModelCircle3D::projectPoints
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 3d circle model.
Definition: sac_model_circle3d.hpp:293
pcl::SampleConsensusModel::sample_size_
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition: sac_model.h:588
pcl::SampleConsensusModelCircle3D::SampleConsensusModelCircle3D
SampleConsensusModelCircle3D(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelCircle3D.
Definition: sac_model_circle3d.h:94
pcl::SampleConsensusModelCircle3D::computeModelCoefficients
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid 2D circle model, compute the model coefficient...
Definition: sac_model_circle3d.hpp:72
pcl::SampleConsensusModel::model_size_
unsigned int model_size_
The number of coefficients in the model.
Definition: sac_model.h:591
pcl::SampleConsensusModelCircle3D::getModelType
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_CIRCLE3D).
Definition: sac_model_circle3d.h:199
pcl::PointCloud< pcl::PointXYZRGB >
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:628
pcl::SampleConsensusModelCircle3D::~SampleConsensusModelCircle3D
~SampleConsensusModelCircle3D()
Empty destructor.
Definition: sac_model_circle3d.h:105
pcl::Functor
Base functor all the models that need non linear optimization must define their own one and implement...
Definition: sac_model.h:672
pcl::SacModel
SacModel
Definition: model_types.h:45
pcl::SampleConsensusModel::indices_
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition: sac_model.h:556
pcl::SampleConsensusModel< pcl::PointXYZRGB >::ConstPtr
shared_ptr< const SampleConsensusModel< pcl::PointXYZRGB > > ConstPtr
Definition: sac_model.h:78
pcl::SampleConsensusModelCircle3D
SampleConsensusModelCircle3D defines a model for 3D circle segmentation.
Definition: sac_model_circle3d.h:60
pcl::SampleConsensusModelCircle3D::countWithinDistance
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.
Definition: sac_model_circle3d.hpp:216
pcl::SampleConsensusModel< pcl::PointXYZRGB >::Ptr
shared_ptr< SampleConsensusModel< pcl::PointXYZRGB > > Ptr
Definition: sac_model.h:77
pcl::SampleConsensusModel::model_name_
std::string model_name_
The model name.
Definition: sac_model.h:550
pcl::SampleConsensusModelCircle3D::SampleConsensusModelCircle3D
SampleConsensusModelCircle3D(const SampleConsensusModelCircle3D &source)
Copy constructor.
Definition: sac_model_circle3d.h:110
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:141
pcl::SampleConsensusModel< pcl::PointXYZRGB >::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: sac_model.h:73
pcl::SampleConsensusModelCircle3D::isModelValid
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
Definition: sac_model_circle3d.hpp:440
pcl::SampleConsensusModelCircle3D::operator=
SampleConsensusModelCircle3D & operator=(const SampleConsensusModelCircle3D &source)
Copy constructor.
Definition: sac_model_circle3d.h:121
pcl::SampleConsensusModelCircle3D::SampleConsensusModelCircle3D
SampleConsensusModelCircle3D(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelCircle3D.
Definition: sac_model_circle3d.h:80
pcl::SampleConsensusModelCircle3D::doSamplesVerifyModel
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 3d circle model coefficients.
Definition: sac_model_circle3d.hpp:395
pcl::SampleConsensusModelCircle3D::selectWithinDistance
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Compute all distances from the cloud data to a given 3D circle model.
Definition: sac_model_circle3d.hpp:169
pcl::SampleConsensusModel< pcl::PointXYZRGB >::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: sac_model.h:74
pcl::SampleConsensusModel
SampleConsensusModel represents the base model class.
Definition: sac_model.h:69
pcl::SampleConsensusModelCircle3D::optimizeModelCoefficients
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the 3d circle coefficients using the given inlier set and return them to the user.
Definition: sac_model_circle3d.hpp:257
pcl::SampleConsensusModelCircle3D::getDistancesToModel
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given 3D circle model.
Definition: sac_model_circle3d.hpp:122