Point Cloud Library (PCL)  1.11.1-dev
sac_model_cylinder.hpp
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_
42 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_
43 
44 #include <unsupported/Eigen/NonLinearOptimization> // for LevenbergMarquardt
45 #include <pcl/sample_consensus/sac_model_cylinder.h>
46 #include <pcl/common/common.h> // for getAngle3D
47 #include <pcl/common/concatenate.h>
48 
49 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
50 template <typename PointT, typename PointNT> bool
52 {
53  if (samples.size () != sample_size_)
54  {
55  PCL_ERROR ("[pcl::SampleConsensusModelCylinder::isSampleGood] Wrong number of samples (is %lu, should be %lu)!\n", samples.size (), sample_size_);
56  return (false);
57  }
58  return (true);
59 }
60 
61 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
62 template <typename PointT, typename PointNT> bool
64  const Indices &samples, Eigen::VectorXf &model_coefficients) const
65 {
66  // Need 2 samples
67  if (samples.size () != sample_size_)
68  {
69  PCL_ERROR ("[pcl::SampleConsensusModelCylinder::computeModelCoefficients] Invalid set of samples given (%lu)!\n", samples.size ());
70  return (false);
71  }
72 
73  if (!normals_)
74  {
75  PCL_ERROR ("[pcl::SampleConsensusModelCylinder::computeModelCoefficients] No input dataset containing normals was given!\n");
76  return (false);
77  }
78 
79  if (std::abs ((*input_)[samples[0]].x - (*input_)[samples[1]].x) <= std::numeric_limits<float>::epsilon () &&
80  std::abs ((*input_)[samples[0]].y - (*input_)[samples[1]].y) <= std::numeric_limits<float>::epsilon () &&
81  std::abs ((*input_)[samples[0]].z - (*input_)[samples[1]].z) <= std::numeric_limits<float>::epsilon ())
82  {
83  return (false);
84  }
85 
86  Eigen::Vector4f p1 ((*input_)[samples[0]].x, (*input_)[samples[0]].y, (*input_)[samples[0]].z, 0.0f);
87  Eigen::Vector4f p2 ((*input_)[samples[1]].x, (*input_)[samples[1]].y, (*input_)[samples[1]].z, 0.0f);
88 
89  Eigen::Vector4f n1 ((*normals_)[samples[0]].normal[0], (*normals_)[samples[0]].normal[1], (*normals_)[samples[0]].normal[2], 0.0f);
90  Eigen::Vector4f n2 ((*normals_)[samples[1]].normal[0], (*normals_)[samples[1]].normal[1], (*normals_)[samples[1]].normal[2], 0.0f);
91  Eigen::Vector4f w = n1 + p1 - p2;
92 
93  float a = n1.dot (n1);
94  float b = n1.dot (n2);
95  float c = n2.dot (n2);
96  float d = n1.dot (w);
97  float e = n2.dot (w);
98  float denominator = a*c - b*b;
99  float sc, tc;
100  // Compute the line parameters of the two closest points
101  if (denominator < 1e-8) // The lines are almost parallel
102  {
103  sc = 0.0f;
104  tc = (b > c ? d / b : e / c); // Use the largest denominator
105  }
106  else
107  {
108  sc = (b*e - c*d) / denominator;
109  tc = (a*e - b*d) / denominator;
110  }
111 
112  // point_on_axis, axis_direction
113  Eigen::Vector4f line_pt = p1 + n1 + sc * n1;
114  Eigen::Vector4f line_dir = p2 + tc * n2 - line_pt;
115  line_dir.normalize ();
116 
117  model_coefficients.resize (model_size_);
118  // model_coefficients.template head<3> () = line_pt.template head<3> ();
119  model_coefficients[0] = line_pt[0];
120  model_coefficients[1] = line_pt[1];
121  model_coefficients[2] = line_pt[2];
122  // model_coefficients.template segment<3> (3) = line_dir.template head<3> ();
123  model_coefficients[3] = line_dir[0];
124  model_coefficients[4] = line_dir[1];
125  model_coefficients[5] = line_dir[2];
126  // cylinder radius
127  model_coefficients[6] = static_cast<float> (sqrt (pcl::sqrPointToLineDistance (p1, line_pt, line_dir)));
128 
129  if (model_coefficients[6] > radius_max_ || model_coefficients[6] < radius_min_)
130  return (false);
131 
132  PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::computeModelCoefficients] Model is (%g,%g,%g,%g,%g,%g,%g).\n",
133  model_coefficients[0], model_coefficients[1], model_coefficients[2], model_coefficients[3],
134  model_coefficients[4], model_coefficients[5], model_coefficients[6]);
135  return (true);
136 }
137 
138 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
139 template <typename PointT, typename PointNT> void
141  const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) const
142 {
143  // Check if the model is valid given the user constraints
144  if (!isModelValid (model_coefficients))
145  {
146  distances.clear ();
147  return;
148  }
149 
150  distances.resize (indices_->size ());
151 
152  Eigen::Vector4f line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
153  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
154  float ptdotdir = line_pt.dot (line_dir);
155  float dirdotdir = 1.0f / line_dir.dot (line_dir);
156  // Iterate through the 3d points and calculate the distances from them to the sphere
157  for (std::size_t i = 0; i < indices_->size (); ++i)
158  {
159  // Approximate the distance from the point to the cylinder as the difference between
160  // dist(point,cylinder_axis) and cylinder radius
161  // @note need to revise this.
162  Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
163 
164  const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);
165 
166  // Calculate the point's projection on the cylinder axis
167  float k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;
168  Eigen::Vector4f pt_proj = line_pt + k * line_dir;
169  Eigen::Vector4f dir = pt - pt_proj;
170  dir.normalize ();
171 
172  // Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
173  Eigen::Vector4f n ((*normals_)[(*indices_)[i]].normal[0], (*normals_)[(*indices_)[i]].normal[1], (*normals_)[(*indices_)[i]].normal[2], 0.0f);
174  double d_normal = std::abs (getAngle3D (n, dir));
175  d_normal = (std::min) (d_normal, M_PI - d_normal);
176 
177  distances[i] = std::abs (normal_distance_weight_ * d_normal + weighted_euclid_dist);
178  }
179 }
180 
181 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
182 template <typename PointT, typename PointNT> void
184  const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers)
185 {
186  // Check if the model is valid given the user constraints
187  if (!isModelValid (model_coefficients))
188  {
189  inliers.clear ();
190  return;
191  }
192 
193  inliers.clear ();
194  error_sqr_dists_.clear ();
195  inliers.reserve (indices_->size ());
196  error_sqr_dists_.reserve (indices_->size ());
197 
198  Eigen::Vector4f line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
199  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
200  float ptdotdir = line_pt.dot (line_dir);
201  float dirdotdir = 1.0f / line_dir.dot (line_dir);
202  // Iterate through the 3d points and calculate the distances from them to the sphere
203  for (std::size_t i = 0; i < indices_->size (); ++i)
204  {
205  // Approximate the distance from the point to the cylinder as the difference between
206  // dist(point,cylinder_axis) and cylinder radius
207  Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
208  const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);
209  if (weighted_euclid_dist > threshold) // Early termination: cannot be an inlier
210  continue;
211 
212  // Calculate the point's projection on the cylinder axis
213  float k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;
214  Eigen::Vector4f pt_proj = line_pt + k * line_dir;
215  Eigen::Vector4f dir = pt - pt_proj;
216  dir.normalize ();
217 
218  // Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
219  Eigen::Vector4f n ((*normals_)[(*indices_)[i]].normal[0], (*normals_)[(*indices_)[i]].normal[1], (*normals_)[(*indices_)[i]].normal[2], 0.0f);
220  double d_normal = std::abs (getAngle3D (n, dir));
221  d_normal = (std::min) (d_normal, M_PI - d_normal);
222 
223  double distance = std::abs (normal_distance_weight_ * d_normal + weighted_euclid_dist);
224  if (distance < threshold)
225  {
226  // Returns the indices of the points whose distances are smaller than the threshold
227  inliers.push_back ((*indices_)[i]);
228  error_sqr_dists_.push_back (distance);
229  }
230  }
231 }
232 
233 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
234 template <typename PointT, typename PointNT> std::size_t
236  const Eigen::VectorXf &model_coefficients, const double threshold) const
237 {
238  // Check if the model is valid given the user constraints
239  if (!isModelValid (model_coefficients))
240  return (0);
241 
242  std::size_t nr_p = 0;
243 
244  Eigen::Vector4f line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);
245  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);
246  float ptdotdir = line_pt.dot (line_dir);
247  float dirdotdir = 1.0f / line_dir.dot (line_dir);
248  // Iterate through the 3d points and calculate the distances from them to the sphere
249  for (std::size_t i = 0; i < indices_->size (); ++i)
250  {
251  // Approximate the distance from the point to the cylinder as the difference between
252  // dist(point,cylinder_axis) and cylinder radius
253  Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
254  const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);
255  if (weighted_euclid_dist > threshold) // Early termination: cannot be an inlier
256  continue;
257 
258  // Calculate the point's projection on the cylinder axis
259  float k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;
260  Eigen::Vector4f pt_proj = line_pt + k * line_dir;
261  Eigen::Vector4f dir = pt - pt_proj;
262  dir.normalize ();
263 
264  // Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
265  Eigen::Vector4f n ((*normals_)[(*indices_)[i]].normal[0], (*normals_)[(*indices_)[i]].normal[1], (*normals_)[(*indices_)[i]].normal[2], 0.0f);
266  double d_normal = std::abs (getAngle3D (n, dir));
267  d_normal = (std::min) (d_normal, M_PI - d_normal);
268 
269  if (std::abs (normal_distance_weight_ * d_normal + weighted_euclid_dist) < threshold)
270  nr_p++;
271  }
272  return (nr_p);
273 }
274 
275 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
276 template <typename PointT, typename PointNT> void
278  const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const
279 {
280  optimized_coefficients = model_coefficients;
281 
282  // Needs a set of valid model coefficients
283  if (!isModelValid (model_coefficients))
284  {
285  PCL_ERROR ("[pcl::SampleConsensusModelCylinder::optimizeModelCoefficients] Given model is invalid!\n");
286  return;
287  }
288 
289  // Need more than the minimum sample size to make a difference
290  if (inliers.size () <= sample_size_)
291  {
292  PCL_ERROR ("[pcl::SampleConsensusModelCylinder:optimizeModelCoefficients] Not enough inliers found to optimize model coefficients (%lu)! Returning the same coefficients.\n", inliers.size ());
293  return;
294  }
295 
296  OptimizationFunctor functor (this, inliers);
297  Eigen::NumericalDiff<OptimizationFunctor > num_diff (functor);
298  Eigen::LevenbergMarquardt<Eigen::NumericalDiff<OptimizationFunctor>, float> lm (num_diff);
299  int info = lm.minimize (optimized_coefficients);
300 
301  // Compute the L2 norm of the residuals
302  PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::optimizeModelCoefficients] LM solver finished with exit code %i, having a residual norm of %g. \nInitial solution: %g %g %g %g %g %g %g \nFinal solution: %g %g %g %g %g %g %g\n",
303  info, lm.fvec.norm (), model_coefficients[0], model_coefficients[1], model_coefficients[2], model_coefficients[3],
304  model_coefficients[4], model_coefficients[5], model_coefficients[6], optimized_coefficients[0], optimized_coefficients[1], optimized_coefficients[2], optimized_coefficients[3], optimized_coefficients[4], optimized_coefficients[5], optimized_coefficients[6]);
305 
306  Eigen::Vector3f line_dir (optimized_coefficients[3], optimized_coefficients[4], optimized_coefficients[5]);
307  line_dir.normalize ();
308  optimized_coefficients[3] = line_dir[0];
309  optimized_coefficients[4] = line_dir[1];
310  optimized_coefficients[5] = line_dir[2];
311 }
312 
313 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
314 template <typename PointT, typename PointNT> void
316  const Indices &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields) const
317 {
318  // Needs a valid set of model coefficients
319  if (!isModelValid (model_coefficients))
320  {
321  PCL_ERROR ("[pcl::SampleConsensusModelCylinder::projectPoints] Given model is invalid!\n");
322  return;
323  }
324 
325  projected_points.header = input_->header;
326  projected_points.is_dense = input_->is_dense;
327 
328  Eigen::Vector4f line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
329  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
330  float ptdotdir = line_pt.dot (line_dir);
331  float dirdotdir = 1.0f / line_dir.dot (line_dir);
332 
333  // Copy all the data fields from the input cloud to the projected one?
334  if (copy_data_fields)
335  {
336  // Allocate enough space and copy the basics
337  projected_points.resize (input_->size ());
338  projected_points.width = input_->width;
339  projected_points.height = input_->height;
340 
341  using FieldList = typename pcl::traits::fieldList<PointT>::type;
342  // Iterate over each point
343  for (std::size_t i = 0; i < projected_points.size (); ++i)
344  // Iterate over each dimension
345  pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> ((*input_)[i], projected_points[i]));
346 
347  // Iterate through the 3d points and calculate the distances from them to the cylinder
348  for (const auto &inlier : inliers)
349  {
350  Eigen::Vector4f p ((*input_)[inlier].x,
351  (*input_)[inlier].y,
352  (*input_)[inlier].z,
353  1);
354 
355  float k = (p.dot (line_dir) - ptdotdir) * dirdotdir;
356 
357  pcl::Vector4fMap pp = projected_points[inlier].getVector4fMap ();
358  pp.matrix () = line_pt + k * line_dir;
359 
360  Eigen::Vector4f dir = p - pp;
361  dir.normalize ();
362 
363  // Calculate the projection of the point onto the cylinder
364  pp += dir * model_coefficients[6];
365  }
366  }
367  else
368  {
369  // Allocate enough space and copy the basics
370  projected_points.resize (inliers.size ());
371  projected_points.width = inliers.size ();
372  projected_points.height = 1;
373 
374  using FieldList = typename pcl::traits::fieldList<PointT>::type;
375  // Iterate over each point
376  for (std::size_t i = 0; i < inliers.size (); ++i)
377  // Iterate over each dimension
378  pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> ((*input_)[inliers[i]], projected_points[i]));
379 
380  // Iterate through the 3d points and calculate the distances from them to the cylinder
381  for (std::size_t i = 0; i < inliers.size (); ++i)
382  {
383  pcl::Vector4fMap pp = projected_points[i].getVector4fMap ();
384  pcl::Vector4fMapConst p = (*input_)[inliers[i]].getVector4fMap ();
385 
386  float k = (p.dot (line_dir) - ptdotdir) * dirdotdir;
387  // Calculate the projection of the point on the line
388  pp.matrix () = line_pt + k * line_dir;
389 
390  Eigen::Vector4f dir = p - pp;
391  dir.normalize ();
392 
393  // Calculate the projection of the point onto the cylinder
394  pp += dir * model_coefficients[6];
395  }
396  }
397 }
398 
399 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
400 template <typename PointT, typename PointNT> bool
402  const std::set<index_t> &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const
403 {
404  // Needs a valid model coefficients
405  if (!isModelValid (model_coefficients))
406  {
407  PCL_ERROR ("[pcl::SampleConsensusModelCylinder::doSamplesVerifyModel] Given model is invalid!\n");
408  return (false);
409  }
410 
411  for (const auto &index : indices)
412  {
413  // Approximate the distance from the point to the cylinder as the difference between
414  // dist(point,cylinder_axis) and cylinder radius
415  // @note need to revise this.
416  Eigen::Vector4f pt ((*input_)[index].x, (*input_)[index].y, (*input_)[index].z, 0.0f);
417  if (std::abs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]) > threshold)
418  return (false);
419  }
420 
421  return (true);
422 }
423 
424 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
425 template <typename PointT, typename PointNT> double
427  const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const
428 {
429  Eigen::Vector4f line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
430  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
431  return sqrt(pcl::sqrPointToLineDistance (pt, line_pt, line_dir));
432 }
433 
434 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
435 template <typename PointT, typename PointNT> void
437  const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj) const
438 {
439  Eigen::Vector4f line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
440  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
441 
442  float k = (pt.dot (line_dir) - line_pt.dot (line_dir)) * line_dir.dot (line_dir);
443  pt_proj = line_pt + k * line_dir;
444 
445  Eigen::Vector4f dir = pt - pt_proj;
446  dir.normalize ();
447 
448  // Calculate the projection of the point onto the cylinder
449  pt_proj += dir * model_coefficients[6];
450 }
451 
452 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
453 template <typename PointT, typename PointNT> bool
454 pcl::SampleConsensusModelCylinder<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
455 {
456  if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
457  return (false);
458 
459  // Check against template, if given
460  if (eps_angle_ > 0.0)
461  {
462  // Obtain the cylinder direction
463  const Eigen::Vector3f coeff(model_coefficients[3], model_coefficients[4], model_coefficients[5]);
464 
465  double angle_diff = std::abs (getAngle3D (axis_, coeff));
466  angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
467  // Check whether the current cylinder model satisfies our angle threshold criterion with respect to the given axis
468  if (angle_diff > eps_angle_)
469  {
470  PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::isModelValid] Angle between cylinder direction and given axis is too large.\n");
471  return (false);
472  }
473  }
474 
475  if (radius_min_ != -std::numeric_limits<double>::max() && model_coefficients[6] < radius_min_)
476  {
477  PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::isModelValid] Radius is too small: should be larger than %g, but is %g.\n",
478  radius_min_, model_coefficients[6]);
479  return (false);
480  }
481  if (radius_max_ != std::numeric_limits<double>::max() && model_coefficients[6] > radius_max_)
482  {
483  PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::isModelValid] Radius is too big: should be smaller than %g, but is %g.\n",
484  radius_max_, model_coefficients[6]);
485  return (false);
486  }
487 
488  return (true);
489 }
490 
491 #define PCL_INSTANTIATE_SampleConsensusModelCylinder(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelCylinder<PointT, PointNT>;
492 
493 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_
494 
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:277
pcl::PointCloud::height
std::uint32_t height
The point cloud height (if organized as an image-structure).
Definition: point_cloud.h:394
common.h
pcl::geometry::distance
float distance(const PointT &p1, const PointT &p2)
Definition: geometry.h:60
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:426
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:436
pcl::NdConcatenateFunctor
Helper functor structure for concatenate.
Definition: concatenate.h:49
pcl::PointCloud< pcl::PointXYZRGB >
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::PointCloud::width
std::uint32_t width
The point cloud width (if organized as an image-structure).
Definition: point_cloud.h:392
pcl::getAngle3D
double getAngle3D(const Eigen::Vector4f &v1, const Eigen::Vector4f &v2, const bool in_degree=false)
Compute the smallest angle between two 3D vectors in radians (default) or degree.
Definition: common.hpp:47
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:183
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:315
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:235
M_PI
#define M_PI
Definition: pcl_macros.h:201
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:454
pcl::PointCloud::is_dense
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields).
Definition: point_cloud.h:397
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::PointCloud::resize
void resize(std::size_t count)
Resizes the container to contain count elements.
Definition: point_cloud.h:456
pcl::PointCloud::header
pcl::PCLHeader header
The point cloud header.
Definition: point_cloud.h:386
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
pcl::PointCloud::size
std::size_t size() const
Definition: point_cloud.h:437
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:140
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:401
pcl::Vector4fMap
Eigen::Map< Eigen::Vector4f, Eigen::Aligned > Vector4fMap
Definition: point_types.hpp:184
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
pcl::Vector4fMapConst
const Eigen::Map< const Eigen::Vector4f, Eigen::Aligned > Vector4fMapConst
Definition: point_types.hpp:185