38 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE3D_H_ 39 #define PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE3D_H_ 41 #include <pcl/sample_consensus/sac_model.h> 42 #include <pcl/sample_consensus/model_types.h> 60 template <
typename Po
intT>
73 typedef boost::shared_ptr<SampleConsensusModelCircle3D<PointT> >
Ptr;
74 typedef boost::shared_ptr<const SampleConsensusModelCircle3D<PointT> >
ConstPtr;
90 const std::vector<int> &indices,
113 tmp_inliers_ = source.tmp_inliers_;
124 Eigen::VectorXf &model_coefficients);
132 std::vector<double> &distances);
141 const double threshold,
142 std::vector<int> &inliers);
152 const double threshold);
162 const Eigen::VectorXf &model_coefficients,
163 Eigen::VectorXf &optimized_coefficients);
173 const Eigen::VectorXf &model_coefficients,
174 PointCloud &projected_points,
175 bool copy_data_fields =
true);
184 const Eigen::VectorXf &model_coefficients,
185 const double threshold);
196 isModelValid (
const Eigen::VectorXf &model_coefficients);
206 const std::vector<int> *tmp_inliers_;
224 int operator() (
const Eigen::VectorXd &x, Eigen::VectorXd &fvec)
const 226 for (
int i = 0; i < values (); ++i)
230 Eigen::Vector3d P (model_->input_->points[(*model_->tmp_inliers_)[i]].x, model_->input_->points[(*model_->tmp_inliers_)[i]].y, model_->input_->points[(*model_->tmp_inliers_)[i]].z);
232 Eigen::Vector3d C (x[0], x[1], x[2]);
234 Eigen::Vector3d N (x[4], x[5], x[6]);
238 Eigen::Vector3d helperVectorPC = P - C;
241 double lambda = (-(helperVectorPC.dot (N))) / N.dot (N);
243 Eigen::Vector3d P_proj = P + lambda * N;
244 Eigen::Vector3d helperVectorP_projC = P_proj - C;
247 Eigen::Vector3d
K = C + r * helperVectorP_projC.normalized ();
248 Eigen::Vector3d distanceVector = P -
K;
250 fvec[i] = distanceVector.norm ();
260 #ifdef PCL_NO_PRECOMPILE 261 #include <pcl/sample_consensus/impl/sac_model_circle3d.hpp> 264 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE3D_H_ void optimizeModelCoefficients(const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
Recompute the 3d circle coefficients using the given inlier set and return them to the user...
boost::shared_ptr< SampleConsensusModelCircle3D< PointT > > Ptr
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)
Compute all distances from the cloud data to a given 3D circle model.
SampleConsensusModelCircle3D(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelCircle3D.
pcl::SacModel getModelType() const
Return an unique id for this model (SACMODEL_CIRCLE3D).
Base functor all the models that need non linear optimization must define their own one and implement...
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
Compute all distances from the cloud data to a given 3D circle model.
SampleConsensusModel< PointT >::PointCloud PointCloud
SampleConsensusModelCircle3D defines a model for 3D circle segmentation.
virtual int countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold)
Count all the points which respect the given model coefficients as inliers.
SampleConsensusModel represents the base model class.
pcl::PointCloud< PointT >::Ptr PointCloudPtr
bool computeModelCoefficients(const std::vector< int > &samples, Eigen::VectorXf &model_coefficients)
Check whether the given index samples can form a valid 2D circle model, compute the model coefficient...
SampleConsensusModelCircle3D(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelCircle3D.
bool doSamplesVerifyModel(const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold)
Verify whether a subset of indices verifies the given 3d circle model coefficients.
SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
boost::shared_ptr< const SampleConsensusModelCircle3D< PointT > > ConstPtr
SampleConsensusModelCircle3D(const SampleConsensusModelCircle3D &source)
Copy constructor.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
virtual ~SampleConsensusModelCircle3D()
Empty destructor.
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
bool isModelValid(const Eigen::VectorXf &model_coefficients)
Check whether a model is valid given the user constraints.
bool isSampleGood(const std::vector< int > &samples) const
Check if a sample of indices results in a good sample of points indices.
A point structure representing Euclidean xyz coordinates, and the RGB color.
SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
void projectPoints(const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true)
Create a new point cloud with inliers projected onto the 3d circle model.
SampleConsensusModelCircle3D & operator=(const SampleConsensusModelCircle3D &source)
Copy constructor.