Point Cloud Library (PCL)  1.11.1-dev
sac_model_cylinder.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 #include <pcl/common/distances.h>
46 
47 namespace pcl
48 {
49  /** \brief @b SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
50  * The model coefficients are defined as:
51  * - \b point_on_axis.x : the X coordinate of a point located on the cylinder axis
52  * - \b point_on_axis.y : the Y coordinate of a point located on the cylinder axis
53  * - \b point_on_axis.z : the Z coordinate of a point located on the cylinder axis
54  * - \b axis_direction.x : the X coordinate of the cylinder's axis direction
55  * - \b axis_direction.y : the Y coordinate of the cylinder's axis direction
56  * - \b axis_direction.z : the Z coordinate of the cylinder's axis direction
57  * - \b radius : the cylinder's radius
58  *
59  * \author Radu Bogdan Rusu
60  * \ingroup sample_consensus
61  */
62  template <typename PointT, typename PointNT>
64  {
65  public:
74 
78 
79  using Ptr = shared_ptr<SampleConsensusModelCylinder<PointT, PointNT> >;
80  using ConstPtr = shared_ptr<const SampleConsensusModelCylinder<PointT, PointNT>>;
81 
82  /** \brief Constructor for base SampleConsensusModelCylinder.
83  * \param[in] cloud the input point cloud dataset
84  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
85  */
86  SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, bool random = false)
87  : SampleConsensusModel<PointT> (cloud, random)
89  , axis_ (Eigen::Vector3f::Zero ())
90  , eps_angle_ (0)
91  {
92  model_name_ = "SampleConsensusModelCylinder";
93  sample_size_ = 2;
94  model_size_ = 7;
95  }
96 
97  /** \brief Constructor for base SampleConsensusModelCylinder.
98  * \param[in] cloud the input point cloud dataset
99  * \param[in] indices a vector of point indices to be used from \a cloud
100  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
101  */
103  const Indices &indices,
104  bool random = false)
105  : SampleConsensusModel<PointT> (cloud, indices, random)
107  , axis_ (Eigen::Vector3f::Zero ())
108  , eps_angle_ (0)
109  {
110  model_name_ = "SampleConsensusModelCylinder";
111  sample_size_ = 2;
112  model_size_ = 7;
113  }
114 
115  /** \brief Copy constructor.
116  * \param[in] source the model to copy into this
117  */
121  axis_ (Eigen::Vector3f::Zero ()),
122  eps_angle_ (0)
123  {
124  *this = source;
125  model_name_ = "SampleConsensusModelCylinder";
126  }
127 
128  /** \brief Empty destructor */
130 
131  /** \brief Copy constructor.
132  * \param[in] source the model to copy into this
133  */
136  {
139  axis_ = source.axis_;
140  eps_angle_ = source.eps_angle_;
141  return (*this);
142  }
143 
144  /** \brief Set the angle epsilon (delta) threshold.
145  * \param[in] ea the maximum allowed difference between the cylinder axis and the given axis.
146  */
147  inline void
148  setEpsAngle (const double ea) { eps_angle_ = ea; }
149 
150  /** \brief Get the angle epsilon (delta) threshold. */
151  inline double
152  getEpsAngle () const { return (eps_angle_); }
153 
154  /** \brief Set the axis along which we need to search for a cylinder direction.
155  * \param[in] ax the axis along which we need to search for a cylinder direction
156  */
157  inline void
158  setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
159 
160  /** \brief Get the axis along which we need to search for a cylinder direction. */
161  inline Eigen::Vector3f
162  getAxis () const { return (axis_); }
163 
164  /** \brief Check whether the given index samples can form a valid cylinder model, compute the model coefficients
165  * from these samples and store them in model_coefficients. The cylinder coefficients are: point_on_axis,
166  * axis_direction, cylinder_radius_R
167  * \param[in] samples the point indices found as possible good candidates for creating a valid model
168  * \param[out] model_coefficients the resultant model coefficients
169  */
170  bool
171  computeModelCoefficients (const Indices &samples,
172  Eigen::VectorXf &model_coefficients) const override;
173 
174  /** \brief Compute all distances from the cloud data to a given cylinder model.
175  * \param[in] model_coefficients the coefficients of a cylinder model that we need to compute distances to
176  * \param[out] distances the resultant estimated distances
177  */
178  void
179  getDistancesToModel (const Eigen::VectorXf &model_coefficients,
180  std::vector<double> &distances) const override;
181 
182  /** \brief Select all the points which respect the given model coefficients as inliers.
183  * \param[in] model_coefficients the coefficients of a cylinder model that we need to compute distances to
184  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
185  * \param[out] inliers the resultant model inliers
186  */
187  void
188  selectWithinDistance (const Eigen::VectorXf &model_coefficients,
189  const double threshold,
190  Indices &inliers) override;
191 
192  /** \brief Count all the points which respect the given model coefficients as inliers.
193  *
194  * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
195  * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
196  * \return the resultant number of inliers
197  */
198  std::size_t
199  countWithinDistance (const Eigen::VectorXf &model_coefficients,
200  const double threshold) const override;
201 
202  /** \brief Recompute the cylinder coefficients using the given inlier set and return them to the user.
203  * @note: these are the coefficients of the cylinder model after refinement (e.g. after SVD)
204  * \param[in] inliers the data inliers found as supporting the model
205  * \param[in] model_coefficients the initial guess for the optimization
206  * \param[out] optimized_coefficients the resultant recomputed coefficients after non-linear optimization
207  */
208  void
209  optimizeModelCoefficients (const Indices &inliers,
210  const Eigen::VectorXf &model_coefficients,
211  Eigen::VectorXf &optimized_coefficients) const override;
212 
213 
214  /** \brief Create a new point cloud with inliers projected onto the cylinder model.
215  * \param[in] inliers the data inliers that we want to project on the cylinder model
216  * \param[in] model_coefficients the coefficients of a cylinder model
217  * \param[out] projected_points the resultant projected points
218  * \param[in] copy_data_fields set to true if we need to copy the other data fields
219  */
220  void
221  projectPoints (const Indices &inliers,
222  const Eigen::VectorXf &model_coefficients,
223  PointCloud &projected_points,
224  bool copy_data_fields = true) const override;
225 
226  /** \brief Verify whether a subset of indices verifies the given cylinder model coefficients.
227  * \param[in] indices the data indices that need to be tested against the cylinder model
228  * \param[in] model_coefficients the cylinder model coefficients
229  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
230  */
231  bool
232  doSamplesVerifyModel (const std::set<index_t> &indices,
233  const Eigen::VectorXf &model_coefficients,
234  const double threshold) const override;
235 
236  /** \brief Return a unique id for this model (SACMODEL_CYLINDER). */
237  inline pcl::SacModel
238  getModelType () const override { return (SACMODEL_CYLINDER); }
239 
240  protected:
243 
244  /** \brief Get the distance from a point to a line (represented by a point and a direction)
245  * \param[in] pt a point
246  * \param[in] model_coefficients the line coefficients (a point on the line, line direction)
247  */
248  double
249  pointToLineDistance (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const;
250 
251  /** \brief Project a point onto a line given by a point and a direction vector
252  * \param[in] pt the input point to project
253  * \param[in] line_pt the point on the line (make sure that line_pt[3] = 0 as there are no internal checks!)
254  * \param[in] line_dir the direction of the line (make sure that line_dir[3] = 0 as there are no internal checks!)
255  * \param[out] pt_proj the resultant projected point
256  */
257  inline void
258  projectPointToLine (const Eigen::Vector4f &pt,
259  const Eigen::Vector4f &line_pt,
260  const Eigen::Vector4f &line_dir,
261  Eigen::Vector4f &pt_proj) const
262  {
263  float k = (pt.dot (line_dir) - line_pt.dot (line_dir)) / line_dir.dot (line_dir);
264  // Calculate the projection of the point on the line
265  pt_proj = line_pt + k * line_dir;
266  }
267 
268  /** \brief Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction,
269  * cylinder_radius_R)
270  * \param[in] pt the input point to project
271  * \param[in] model_coefficients the coefficients of the cylinder (point_on_axis, axis_direction, cylinder_radius_R)
272  * \param[out] pt_proj the resultant projected point
273  */
274  void
275  projectPointToCylinder (const Eigen::Vector4f &pt,
276  const Eigen::VectorXf &model_coefficients,
277  Eigen::Vector4f &pt_proj) const;
278 
279  /** \brief Check whether a model is valid given the user constraints.
280  * \param[in] model_coefficients the set of model coefficients
281  */
282  bool
283  isModelValid (const Eigen::VectorXf &model_coefficients) const override;
284 
285  /** \brief Check if a sample of indices results in a good sample of points
286  * indices. Pure virtual.
287  * \param[in] samples the resultant index samples
288  */
289  bool
290  isSampleGood (const Indices &samples) const override;
291 
292  private:
293  /** \brief The axis along which we need to search for a cylinder direction. */
294  Eigen::Vector3f axis_;
295 
296  /** \brief The maximum allowed difference between the cylinder direction and the given axis. */
297  double eps_angle_;
298 
299  /** \brief Functor for the optimization function */
300  struct OptimizationFunctor : pcl::Functor<float>
301  {
302  /** Functor constructor
303  * \param[in] indices the indices of data points to evaluate
304  * \param[in] estimator pointer to the estimator object
305  */
306  OptimizationFunctor (const pcl::SampleConsensusModelCylinder<PointT, PointNT> *model, const Indices& indices) :
307  pcl::Functor<float> (indices.size ()), model_ (model), indices_ (indices) {}
308 
309  /** Cost function to be minimized
310  * \param[in] x variables array
311  * \param[out] fvec resultant functions evaluations
312  * \return 0
313  */
314  int
315  operator() (const Eigen::VectorXf &x, Eigen::VectorXf &fvec) const
316  {
317  Eigen::Vector4f line_pt (x[0], x[1], x[2], 0);
318  Eigen::Vector4f line_dir (x[3], x[4], x[5], 0);
319 
320  for (int i = 0; i < values (); ++i)
321  {
322  // dist = f - r
323  Eigen::Vector4f pt = (*model_->input_)[indices_[i]].getVector4fMap();
324  pt[3] = 0;
325 
326  fvec[i] = static_cast<float> (pcl::sqrPointToLineDistance (pt, line_pt, line_dir) - x[6]*x[6]);
327  }
328  return (0);
329  }
330 
332  const Indices &indices_;
333  };
334  };
335 }
336 
337 #ifdef PCL_NO_PRECOMPILE
338 #include <pcl/sample_consensus/impl/sac_model_cylinder.hpp>
339 #endif
pcl::SampleConsensusModelCylinder::optimizeModelCoefficients
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the cylinder coefficients using the given inlier set and return them to the user.
Definition: sac_model_cylinder.hpp:270
pcl::SampleConsensusModelCylinder::setAxis
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a cylinder direction.
Definition: sac_model_cylinder.h:158
pcl
Definition: convolution.h:46
pcl::SampleConsensusModelCylinder
SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
Definition: sac_model_cylinder.h:63
Eigen
Definition: bfgs.h:9
pcl::SampleConsensusModelCylinder::setEpsAngle
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
Definition: sac_model_cylinder.h:148
pcl::SampleConsensusModelFromNormals
SampleConsensusModelFromNormals represents the base model class for models that require the use of su...
Definition: sac_model.h:610
pcl::SampleConsensusModelCylinder::pointToLineDistance
double pointToLineDistance(const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const
Get the distance from a point to a line (represented by a point and a direction)
Definition: sac_model_cylinder.hpp:419
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::SampleConsensusModelCylinder::SampleConsensusModelCylinder
SampleConsensusModelCylinder(const SampleConsensusModelCylinder &source)
Copy constructor.
Definition: sac_model_cylinder.h:118
pcl::SampleConsensusModelCylinder::projectPointToCylinder
void projectPointToCylinder(const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj) const
Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction,...
Definition: sac_model_cylinder.hpp:429
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::SampleConsensusModelCylinder::getAxis
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a cylinder direction.
Definition: sac_model_cylinder.h:162
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:628
pcl::SampleConsensusModelCylinder::operator=
SampleConsensusModelCylinder & operator=(const SampleConsensusModelCylinder &source)
Copy constructor.
Definition: sac_model_cylinder.h:135
pcl::SampleConsensusModelCylinder::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_cylinder.hpp:51
pcl::SampleConsensusModelCylinder::getModelType
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_CYLINDER).
Definition: sac_model_cylinder.h:238
pcl::SampleConsensusModelCylinder::~SampleConsensusModelCylinder
~SampleConsensusModelCylinder()
Empty destructor.
Definition: sac_model_cylinder.h:129
pcl::SampleConsensusModelCylinder::selectWithinDistance
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
Definition: sac_model_cylinder.hpp:180
pcl::SampleConsensusModelCylinder::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 cylinder model.
Definition: sac_model_cylinder.hpp:308
pcl::SampleConsensusModelCylinder::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_cylinder.hpp:230
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::SampleConsensusModelCylinder::SampleConsensusModelCylinder
SampleConsensusModelCylinder(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelCylinder.
Definition: sac_model_cylinder.h:86
pcl::SampleConsensusModelCylinder::isModelValid
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
Definition: sac_model_cylinder.hpp:447
pcl::SampleConsensusModel< pcl::PointXYZRGB >::Ptr
shared_ptr< SampleConsensusModel< pcl::PointXYZRGB > > Ptr
Definition: sac_model.h:77
pcl::SampleConsensusModelCylinder::computeModelCoefficients
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid cylinder model, compute the model coefficients...
Definition: sac_model_cylinder.hpp:63
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::SampleConsensusModelCylinder::getDistancesToModel
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given cylinder model.
Definition: sac_model_cylinder.hpp:137
pcl::SampleConsensusModelCylinder::SampleConsensusModelCylinder
SampleConsensusModelCylinder(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelCylinder.
Definition: sac_model_cylinder.h:102
pcl::SampleConsensusModelCylinder::getEpsAngle
double getEpsAngle() const
Get the angle epsilon (delta) threshold.
Definition: sac_model_cylinder.h:152
pcl::SampleConsensusModelCylinder::projectPointToLine
void projectPointToLine(const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, Eigen::Vector4f &pt_proj) const
Project a point onto a line given by a point and a direction vector.
Definition: sac_model_cylinder.h:258
distances.h
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::SampleConsensusModelCylinder::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 cylinder model coefficients.
Definition: sac_model_cylinder.hpp:394
pcl::SACMODEL_CYLINDER
@ SACMODEL_CYLINDER
Definition: model_types.h:52
pcl::sqrPointToLineDistance
double sqrPointToLineDistance(const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir)
Get the square distance from a point to a line (represented by a point and a direction)
Definition: distances.h:75