Point Cloud Library (PCL)  1.11.1-dev
sac_model_stick.h
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37  * $Id: sac_model_line.h 2326 2011-08-31 07:48:25Z rusu $
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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 SampleConsensusModelStick defines a model for 3D stick segmentation.
49  * A stick is a line with a user given minimum/maximum width.
50  * The model coefficients are defined as:
51  * - \b point_on_line.x : the X coordinate of a point on the line
52  * - \b point_on_line.y : the Y coordinate of a point on the line
53  * - \b point_on_line.z : the Z coordinate of a point on the line
54  * - \b line_direction.x : the X coordinate of a line's direction
55  * - \b line_direction.y : the Y coordinate of a line's direction
56  * - \b line_direction.z : the Z coordinate of a line's direction
57  * - \b line_width : the width of the line
58  *
59  * \author Radu B. Rusu
60  * \ingroup sample_consensus
61  */
62  template <typename PointT>
64  {
65  public:
73 
77 
78  using Ptr = shared_ptr<SampleConsensusModelStick<PointT> >;
79  using ConstPtr = shared_ptr<const SampleConsensusModelStick<PointT>>;
80 
81  /** \brief Constructor for base SampleConsensusModelStick.
82  * \param[in] cloud the input point cloud dataset
83  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
84  */
86  bool random = false)
87  : SampleConsensusModel<PointT> (cloud, random)
88  {
89  model_name_ = "SampleConsensusModelStick";
90  sample_size_ = 2;
91  model_size_ = 7;
92  }
93 
94  /** \brief Constructor for base SampleConsensusModelStick.
95  * \param[in] cloud the input point cloud dataset
96  * \param[in] indices a vector of point indices to be used from \a cloud
97  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
98  */
100  const Indices &indices,
101  bool random = false)
102  : SampleConsensusModel<PointT> (cloud, indices, random)
103  {
104  model_name_ = "SampleConsensusModelStick";
105  sample_size_ = 2;
106  model_size_ = 7;
107  }
108 
109  /** \brief Empty destructor */
111 
112  /** \brief Check whether the given index samples can form a valid stick model, compute the model coefficients from
113  * these samples and store them internally in model_coefficients_. The stick coefficients are represented by a
114  * point and a line direction
115  * \param[in] samples the point indices found as possible good candidates for creating a valid model
116  * \param[out] model_coefficients the resultant model coefficients
117  */
118  bool
119  computeModelCoefficients (const Indices &samples,
120  Eigen::VectorXf &model_coefficients) const override;
121 
122  /** \brief Compute all squared distances from the cloud data to a given stick model.
123  * \param[in] model_coefficients the coefficients of a stick model that we need to compute distances to
124  * \param[out] distances the resultant estimated squared distances
125  */
126  void
127  getDistancesToModel (const Eigen::VectorXf &model_coefficients,
128  std::vector<double> &distances) const override;
129 
130  /** \brief Select all the points which respect the given model coefficients as inliers.
131  * \param[in] model_coefficients the coefficients of a stick model that we need to compute distances to
132  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
133  * \param[out] inliers the resultant model inliers
134  */
135  void
136  selectWithinDistance (const Eigen::VectorXf &model_coefficients,
137  const double threshold,
138  Indices &inliers) override;
139 
140  /** \brief Count all the points which respect the given model coefficients as inliers.
141  *
142  * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
143  * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
144  * \return the resultant number of inliers
145  */
146  std::size_t
147  countWithinDistance (const Eigen::VectorXf &model_coefficients,
148  const double threshold) const override;
149 
150  /** \brief Recompute the stick coefficients using the given inlier set and return them to the user.
151  * @note: these are the coefficients of the stick model after refinement (e.g. after SVD)
152  * \param[in] inliers the data inliers found as supporting the model
153  * \param[in] model_coefficients the initial guess for the model coefficients
154  * \param[out] optimized_coefficients the resultant recomputed coefficients after optimization
155  */
156  void
157  optimizeModelCoefficients (const Indices &inliers,
158  const Eigen::VectorXf &model_coefficients,
159  Eigen::VectorXf &optimized_coefficients) const override;
160 
161  /** \brief Create a new point cloud with inliers projected onto the stick model.
162  * \param[in] inliers the data inliers that we want to project on the stick model
163  * \param[in] model_coefficients the *normalized* coefficients of a stick model
164  * \param[out] projected_points the resultant projected points
165  * \param[in] copy_data_fields set to true if we need to copy the other data fields
166  */
167  void
168  projectPoints (const Indices &inliers,
169  const Eigen::VectorXf &model_coefficients,
170  PointCloud &projected_points,
171  bool copy_data_fields = true) const override;
172 
173  /** \brief Verify whether a subset of indices verifies the given stick model coefficients.
174  * \param[in] indices the data indices that need to be tested against the plane model
175  * \param[in] model_coefficients the plane model coefficients
176  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
177  */
178  bool
179  doSamplesVerifyModel (const std::set<index_t> &indices,
180  const Eigen::VectorXf &model_coefficients,
181  const double threshold) const override;
182 
183  /** \brief Return a unique id for this model (SACMODEL_STICK). */
184  inline pcl::SacModel
185  getModelType () const override { return (SACMODEL_STICK); }
186 
187  protected:
190 
191  /** \brief Check if a sample of indices results in a good sample of points
192  * indices.
193  * \param[in] samples the resultant index samples
194  */
195  bool
196  isSampleGood (const Indices &samples) const override;
197  };
198 }
199 
200 #ifdef PCL_NO_PRECOMPILE
201 #include <pcl/sample_consensus/impl/sac_model_stick.hpp>
202 #endif
pcl
Definition: convolution.h:46
pcl::SampleConsensusModelStick::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_stick.hpp:144
pcl::SampleConsensusModelStick::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 stick model coefficients.
Definition: sac_model_stick.hpp:367
pcl::SampleConsensusModelStick::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_stick.hpp:194
pcl::SampleConsensusModelStick::computeModelCoefficients
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid stick model, compute the model coefficients fr...
Definition: sac_model_stick.hpp:73
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::SampleConsensusModel::model_size_
unsigned int model_size_
The number of coefficients in the model.
Definition: sac_model.h:591
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:628
pcl::SampleConsensusModelStick::getModelType
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_STICK).
Definition: sac_model_stick.h:185
pcl::SampleConsensusModelStick::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_stick.hpp:51
pcl::SampleConsensusModelStick
SampleConsensusModelStick defines a model for 3D stick segmentation.
Definition: sac_model_stick.h:63
pcl::SacModel
SacModel
Definition: model_types.h:45
pcl::SampleConsensusModel::ConstPtr
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
Definition: sac_model.h:78
pcl::SampleConsensusModel::Ptr
shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:77
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::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: sac_model.h:73
pcl::SampleConsensusModelStick::~SampleConsensusModelStick
~SampleConsensusModelStick()
Empty destructor.
Definition: sac_model_stick.h:110
pcl::SampleConsensusModel::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: sac_model.h:74
pcl::SampleConsensusModel
SampleConsensusModel represents the base model class.
Definition: sac_model.h:69
pcl::SampleConsensusModelStick::SampleConsensusModelStick
SampleConsensusModelStick(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelStick.
Definition: sac_model_stick.h:99
pcl::SACMODEL_STICK
@ SACMODEL_STICK
Definition: model_types.h:64
pcl::SampleConsensusModelStick::getDistancesToModel
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all squared distances from the cloud data to a given stick model.
Definition: sac_model_stick.hpp:104
pcl::SampleConsensusModelStick::SampleConsensusModelStick
SampleConsensusModelStick(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelStick.
Definition: sac_model_stick.h:85
pcl::SampleConsensusModelStick::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 stick model.
Definition: sac_model_stick.hpp:287
pcl::SampleConsensusModelStick::optimizeModelCoefficients
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the stick coefficients using the given inlier set and return them to the user.
Definition: sac_model_stick.hpp:246