Point Cloud Library (PCL)  1.11.1-dev
sac_model_circle.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>
45 
46 namespace pcl
47 {
48  /** \brief SampleConsensusModelCircle2D defines a model for 2D circle segmentation on the X-Y plane.
49  *
50  * The model coefficients are defined as:
51  * - \b center.x : the X coordinate of the circle's center
52  * - \b center.y : the Y coordinate of the circle's center
53  * - \b radius : the circle's radius
54  *
55  * \author Radu B. Rusu
56  * \ingroup sample_consensus
57  */
58  template <typename PointT>
60  {
61  public:
68 
72 
73  using Ptr = shared_ptr<SampleConsensusModelCircle2D<PointT> >;
74  using ConstPtr = shared_ptr<const SampleConsensusModelCircle2D<PointT>>;
75 
76  /** \brief Constructor for base SampleConsensusModelCircle2D.
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  */
80  SampleConsensusModelCircle2D (const PointCloudConstPtr &cloud, bool random = false)
81  : SampleConsensusModel<PointT> (cloud, random)
82  {
83  model_name_ = "SampleConsensusModelCircle2D";
84  sample_size_ = 3;
85  model_size_ = 3;
86  }
87 
88  /** \brief Constructor for base SampleConsensusModelCircle2D.
89  * \param[in] cloud the input point cloud dataset
90  * \param[in] indices a vector of point indices to be used from \a cloud
91  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
92  */
94  const Indices &indices,
95  bool random = false)
96  : SampleConsensusModel<PointT> (cloud, indices, random)
97  {
98  model_name_ = "SampleConsensusModelCircle2D";
99  sample_size_ = 3;
100  model_size_ = 3;
101  }
102 
103  /** \brief Copy constructor.
104  * \param[in] source the model to copy into this
105  */
108  {
109  *this = source;
110  model_name_ = "SampleConsensusModelCircle2D";
111  }
112 
113  /** \brief Empty destructor */
115 
116  /** \brief Copy constructor.
117  * \param[in] source the model to copy into this
118  */
121  {
123  return (*this);
124  }
125 
126  /** \brief Check whether the given index samples can form a valid 2D circle model, compute the model coefficients
127  * from these samples and store them in model_coefficients. The circle coefficients are: x, y, R.
128  * \param[in] samples the point indices found as possible good candidates for creating a valid model
129  * \param[out] model_coefficients the resultant model coefficients
130  */
131  bool
132  computeModelCoefficients (const Indices &samples,
133  Eigen::VectorXf &model_coefficients) const override;
134 
135  /** \brief Compute all distances from the cloud data to a given 2D circle model.
136  * \param[in] model_coefficients the coefficients of a 2D circle model that we need to compute distances to
137  * \param[out] distances the resultant estimated distances
138  */
139  void
140  getDistancesToModel (const Eigen::VectorXf &model_coefficients,
141  std::vector<double> &distances) const override;
142 
143  /** \brief Compute all distances from the cloud data to a given 2D circle model.
144  * \param[in] model_coefficients the coefficients of a 2D circle model that we need to compute distances to
145  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
146  * \param[out] inliers the resultant model inliers
147  */
148  void
149  selectWithinDistance (const Eigen::VectorXf &model_coefficients,
150  const double threshold,
151  Indices &inliers) override;
152 
153  /** \brief Count all the points which respect the given model coefficients as inliers.
154  *
155  * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
156  * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
157  * \return the resultant number of inliers
158  */
159  std::size_t
160  countWithinDistance (const Eigen::VectorXf &model_coefficients,
161  const double threshold) const override;
162 
163  /** \brief Recompute the 2d circle coefficients using the given inlier set and return them to the user.
164  * @note: these are the coefficients of the 2d circle model after refinement (e.g. after SVD)
165  * \param[in] inliers the data inliers found as supporting the model
166  * \param[in] model_coefficients the initial guess for the optimization
167  * \param[out] optimized_coefficients the resultant recomputed coefficients after non-linear optimization
168  */
169  void
170  optimizeModelCoefficients (const Indices &inliers,
171  const Eigen::VectorXf &model_coefficients,
172  Eigen::VectorXf &optimized_coefficients) const override;
173 
174  /** \brief Create a new point cloud with inliers projected onto the 2d circle model.
175  * \param[in] inliers the data inliers that we want to project on the 2d circle model
176  * \param[in] model_coefficients the coefficients of a 2d circle model
177  * \param[out] projected_points the resultant projected points
178  * \param[in] copy_data_fields set to true if we need to copy the other data fields
179  */
180  void
181  projectPoints (const Indices &inliers,
182  const Eigen::VectorXf &model_coefficients,
183  PointCloud &projected_points,
184  bool copy_data_fields = true) const override;
185 
186  /** \brief Verify whether a subset of indices verifies the given 2d circle model coefficients.
187  * \param[in] indices the data indices that need to be tested against the 2d circle model
188  * \param[in] model_coefficients the 2d circle model coefficients
189  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
190  */
191  bool
192  doSamplesVerifyModel (const std::set<index_t> &indices,
193  const Eigen::VectorXf &model_coefficients,
194  const double threshold) const override;
195 
196  /** \brief Return a unique id for this model (SACMODEL_CIRCLE2D). */
197  inline pcl::SacModel
198  getModelType () const override { return (SACMODEL_CIRCLE2D); }
199 
200  protected:
203 
204  /** \brief Check whether a model is valid given the user constraints.
205  * \param[in] model_coefficients the set of model coefficients
206  */
207  bool
208  isModelValid (const Eigen::VectorXf &model_coefficients) const override;
209 
210  /** \brief Check if a sample of indices results in a good sample of points indices.
211  * \param[in] samples the resultant index samples
212  */
213  bool
214  isSampleGood(const Indices &samples) const override;
215 
216  /** This implementation uses no SIMD instructions. It is not intended for normal use.
217  * See countWithinDistance which automatically uses the fastest implementation.
218  */
219  std::size_t
220  countWithinDistanceStandard (const Eigen::VectorXf &model_coefficients,
221  const double threshold,
222  std::size_t i = 0) const;
223 
224 #if defined (__SSE__) && defined (__SSE2__) && defined (__SSE4_1__)
225  /** This implementation uses SSE, SSE2, and SSE4.1 instructions. It is not intended for normal use.
226  * See countWithinDistance which automatically uses the fastest implementation.
227  */
228  std::size_t
229  countWithinDistanceSSE (const Eigen::VectorXf &model_coefficients,
230  const double threshold,
231  std::size_t i = 0) const;
232 #endif
233 
234 #if defined (__AVX__) && defined (__AVX2__)
235  /** This implementation uses AVX and AVX2 instructions. It is not intended for normal use.
236  * See countWithinDistance which automatically uses the fastest implementation.
237  */
238  std::size_t
239  countWithinDistanceAVX (const Eigen::VectorXf &model_coefficients,
240  const double threshold,
241  std::size_t i = 0) const;
242 #endif
243 
244  private:
245  /** \brief Functor for the optimization function */
246  struct OptimizationFunctor : pcl::Functor<float>
247  {
248  /** \brief Functor constructor
249  * \param[in] indices the indices of data points to evaluate
250  * \param[in] estimator pointer to the estimator object
251  */
252  OptimizationFunctor (const pcl::SampleConsensusModelCircle2D<PointT> *model, const Indices& indices) :
253  pcl::Functor<float> (indices.size ()), model_ (model), indices_ (indices) {}
254 
255  /** Cost function to be minimized
256  * \param[in] x the variables array
257  * \param[out] fvec the resultant functions evaluations
258  * \return 0
259  */
260  int
261  operator() (const Eigen::VectorXf &x, Eigen::VectorXf &fvec) const
262  {
263  for (int i = 0; i < values (); ++i)
264  {
265  // Compute the difference between the center of the circle and the datapoint X_i
266  float xt = (*model_->input_)[indices_[i]].x - x[0];
267  float yt = (*model_->input_)[indices_[i]].y - x[1];
268 
269  // g = sqrt ((x-a)^2 + (y-b)^2) - R
270  fvec[i] = std::sqrt (xt * xt + yt * yt) - x[2];
271  }
272  return (0);
273  }
274 
276  const Indices &indices_;
277  };
278 
279 #ifdef __AVX__
280  inline __m256 sqr_dist8 (const std::size_t i, const __m256 a_vec, const __m256 b_vec) const;
281 #endif
282 
283 #ifdef __SSE__
284  inline __m128 sqr_dist4 (const std::size_t i, const __m128 a_vec, const __m128 b_vec) const;
285 #endif
286  };
287 }
288 
289 #ifdef PCL_NO_PRECOMPILE
290 #include <pcl/sample_consensus/impl/sac_model_circle.hpp>
291 #endif
pcl
Definition: convolution.h:46
pcl::SampleConsensusModelCircle2D::SampleConsensusModelCircle2D
SampleConsensusModelCircle2D(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelCircle2D.
Definition: sac_model_circle.h:80
pcl::SampleConsensusModelCircle2D::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 2d circle model coefficients.
Definition: sac_model_circle.hpp:415
pcl::SampleConsensusModelCircle2D::SampleConsensusModelCircle2D
SampleConsensusModelCircle2D(const SampleConsensusModelCircle2D &source)
Copy constructor.
Definition: sac_model_circle.h:106
pcl::SampleConsensusModelCircle2D::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_circle.hpp:50
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::SampleConsensusModelCircle2D::selectWithinDistance
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Compute all distances from the cloud data to a given 2D circle model.
Definition: sac_model_circle.hpp:159
pcl::SampleConsensusModel::model_size_
unsigned int model_size_
The number of coefficients in the model.
Definition: sac_model.h:591
pcl::PointCloud< pcl::PointXYZRGB >
pcl::SampleConsensusModelCircle2D::operator=
SampleConsensusModelCircle2D & operator=(const SampleConsensusModelCircle2D &source)
Copy constructor.
Definition: sac_model_circle.h:120
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:628
pcl::SampleConsensusModelCircle2D::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_circle.hpp:74
pcl::SampleConsensusModelCircle2D::isModelValid
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
Definition: sac_model_circle.hpp:441
pcl::SampleConsensusModelCircle2D::getModelType
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_CIRCLE2D).
Definition: sac_model_circle.h:198
pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the 2d circle coefficients using the given inlier set and return them to the user.
Definition: sac_model_circle.hpp:317
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::SampleConsensusModelCircle2D::getDistancesToModel
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given 2D circle model.
Definition: sac_model_circle.hpp:134
pcl::SacModel
SacModel
Definition: model_types.h:45
pcl::SACMODEL_CIRCLE2D
@ SACMODEL_CIRCLE2D
Definition: model_types.h:49
pcl::SampleConsensusModelCircle2D::countWithinDistanceStandard
std::size_t countWithinDistanceStandard(const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const
This implementation uses no SIMD instructions.
Definition: sac_model_circle.hpp:215
pcl::SampleConsensusModelCircle2D::SampleConsensusModelCircle2D
SampleConsensusModelCircle2D(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelCircle2D.
Definition: sac_model_circle.h:93
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::SampleConsensusModelCircle2D
SampleConsensusModelCircle2D defines a model for 2D circle segmentation on the X-Y plane.
Definition: sac_model_circle.h:59
pcl::SampleConsensusModel< pcl::PointXYZRGB >::Ptr
shared_ptr< SampleConsensusModel< pcl::PointXYZRGB > > Ptr
Definition: sac_model.h:77
pcl::SampleConsensusModelCircle2D::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_circle.hpp:197
pcl::SampleConsensusModel::model_name_
std::string model_name_
The model name.
Definition: sac_model.h:550
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::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::SampleConsensusModelCircle2D::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 2d circle model.
Definition: sac_model_circle.hpp:348
pcl::SampleConsensusModelCircle2D::~SampleConsensusModelCircle2D
~SampleConsensusModelCircle2D()
Empty destructor.
Definition: sac_model_circle.h:114