sac_model_cylinder.h

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* $Id: sac_model_cylinder.h 36021 2011-02-17 03:44:01Z vrabaud $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/model_types.h>
#include <boost/thread/mutex.hpp>
#include <cminpack.h>
#include <pcl/common/common.h>

namespace pcl
{

  template <typename PointT, typename PointNT>
  class SampleConsensusModelCylinder : public SampleConsensusModel<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
  {
    using SampleConsensusModel<PointT>::input_;
    using SampleConsensusModel<PointT>::indices_;
    using SampleConsensusModel<PointT>::radius_min_;
    using SampleConsensusModel<PointT>::radius_max_;
    using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
    using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;

    public:
      typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelCylinder> Ptr;

      SampleConsensusModelCylinder (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud), eps_angle_ (0) 
      {
        axis_.setZero ();
      }

      SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices), eps_angle_ (0)
      {
        axis_.setZero ();
      }

      inline void setEpsAngle (double ea) { eps_angle_ = ea; }

      inline double getEpsAngle () { return (eps_angle_); }

      inline void setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }

      inline Eigen::Vector3f getAxis ()  { return (axis_); }

      void getSamples (int &iterations, std::vector<int> &samples);

      bool computeModelCoefficients (const std::vector<int> &samples, Eigen::VectorXf &model_coefficients);

      void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector<double> &distances);

      void selectWithinDistance (const Eigen::VectorXf &model_coefficients, double threshold, std::vector<int> &inliers);

      void optimizeModelCoefficients (const std::vector<int> &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients);


      void projectPoints (const std::vector<int> &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields = true);

      bool doSamplesVerifyModel (const std::set<int> &indices, const Eigen::VectorXf &model_coefficients, double threshold);

      inline pcl::SacModel getModelType () const { return (SACMODEL_CYLINDER); }

    protected:
      double pointToLineDistance (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients);

      inline void
        projectPointToLine (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir,
                            Eigen::Vector4f &pt_proj)
      {
        double k = (pt.dot (line_dir) - line_pt.dot (line_dir)) / line_dir.dot (line_dir);
        // Calculate the projection of the point on the line
        pt_proj = line_pt + k * line_dir;
      }

      void projectPointToCylinder(const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj);

      std::string getName () const { return ("SampleConsensusModelCylinder"); }

    protected:
      bool isModelValid (const Eigen::VectorXf &model_coefficients);

    private:
      Eigen::Vector3f axis_;
    
      double eps_angle_;

      boost::mutex tmp_mutex_;

      const std::vector<int> *tmp_inliers_;

      const static int MAX_ITERATIONS_COLLINEAR = 1000;

      static int functionToOptimize (void *p, int m, int n, const double *x, double *fvec, int iflag);
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:23 2013