sac_model_registration.hpp

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 * $Id: sac_model_registration.hpp 34128 2010-11-23 03:29:57Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_REGISTRATION_H_
#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_REGISTRATION_H_

#include "pcl/sample_consensus/sac_model_registration.h"
//#include <pcl/common/common_headers.h>
//#include <pcl/features/feature.h>


template <typename PointT> void
pcl::SampleConsensusModelRegistration<PointT>::getSamples (int &iterations, std::vector<int> &samples)
{
  // We're assuming that indices_ have already been set in the constructor
  if (indices_->size () < 3)
    return;

  samples.resize (3);
  double trand = indices_->size () / (RAND_MAX + 1.0);

  // Check if we have enough points
  if (samples.size () > indices_->size ())
  {
    ROS_ERROR ("[pcl::SampleConsensusModelRegistration::getSamples] Can not select %zu unique points out of %zu!", samples.size (), indices_->size ());
    // one of these will make it stop :) TODO static constant for each model that the method has to check
    samples.clear ();
    iterations = INT_MAX - 1;
    return;
  }

  // Get a random number between 1 and max_indices
  int idx = (int)(rand () * trand);
  // Get the index
  samples[0] = idx;

  // Get a second point which is different than the first
  Eigen::Array4f p1p0, p2p0, p2p1;
  int iter = 0;
  do
  {
    int iter2 = 0;
    do
    {
      idx = (int)(rand () * trand);
      samples[1] = idx;
      ++iter2;
      if (iter2 > MAX_ITERATIONS_COLLINEAR)
        break;
    } 
    while (samples[1] == samples[0]);

    // Get the values at the two points
    pcl::Array4fMapConst p0 = input_->points[(*indices_)[samples[0]]].getArray4fMap ();
    pcl::Array4fMapConst p1 = input_->points[(*indices_)[samples[1]]].getArray4fMap ();

    // Compute the segment values (in 3d) between p1 and p0
    p1p0 = p1 - p0;
    ++iter;
    if (iter > MAX_ITERATIONS_COLLINEAR)
    {
      ROS_DEBUG ("[pcl::SampleConsensusModelRegistration::getSamples] WARNING1: Could not select 3 non collinear points in %d iterations!", MAX_ITERATIONS_COLLINEAR);
      break;
    }
  } 
  while (p1p0.matrix ().squaredNorm () <= sample_dist_thresh_);

  int iter1 = 0;
  do
  {
    Eigen::Array4f dy1dy2;
    int iter2 = 0;
    do
    {
      // Get the third point, different from the first two
      int iter3 = 0;
      do
      {
        idx = (int)(rand () * trand);
        samples[2] = idx;
        ++iter3;
        if (iter3 > MAX_ITERATIONS_COLLINEAR)
          break;
      } while ( (samples[2] == samples[1]) || (samples[2] == samples[0]) );

      pcl::Array4fMapConst p0 = input_->points[(*indices_)[samples[0]]].getArray4fMap ();
      pcl::Array4fMapConst p1 = input_->points[(*indices_)[samples[1]]].getArray4fMap ();
      pcl::Array4fMapConst p2 = input_->points[(*indices_)[samples[2]]].getArray4fMap ();

      // Compute the segment values (in 3d) between p2 and p0
      p2p0 = p2 - p0;
      p2p1 = p2 - p1;

      dy1dy2 = p1p0 / p2p0;
      ++iter2;
      if (iter2 > MAX_ITERATIONS_COLLINEAR)
      {
        ROS_DEBUG ("[pcl::SampleConsensusModelRegistration::getSamples] WARNING2: Could not select 3 non collinear points in %d iterations!", MAX_ITERATIONS_COLLINEAR);
        break;
      }
    }
    while ( (dy1dy2[0] == dy1dy2[1]) && (dy1dy2[2] == dy1dy2[1]) );

    ++iter1;
    if (iter1 > MAX_ITERATIONS_COLLINEAR)
    {
      ROS_DEBUG ("[pcl::SampleConsensusModelRegistration::getSamples] WARNING2: Could not select 3 non collinear points in %d iterations!", MAX_ITERATIONS_COLLINEAR);
      break;
    }
  }
  while (p2p0.matrix ().squaredNorm () < sample_dist_thresh_ || p2p1.matrix ().squaredNorm () < sample_dist_thresh_);
}

template <typename PointT> bool
pcl::SampleConsensusModelRegistration<PointT>::computeModelCoefficients (const std::vector<int> &samples, Eigen::VectorXf &model_coefficients)
{
  // Need 3 samples
  if (samples.size () != 3)
    return (false);

  std::vector<int> indices_src (3);
  std::vector<int> indices_tgt (3);
  for (int i = 0; i < 3; ++i)
  {
    indices_src[i] = (*indices_)[samples[i]];
    indices_tgt[i] = (*indices_tgt_)[samples[i]];
  }

  Eigen::Matrix4f transform;
  estimateRigidTransformationSVD<PointT, PointT> (*input_, indices_src, *target_, indices_tgt, transform);
  model_coefficients.resize (16);
  model_coefficients.segment<4>(0)  = transform.row (0);
  model_coefficients.segment<4>(4)  = transform.row (1);
  model_coefficients.segment<4>(8)  = transform.row (2);
  model_coefficients.segment<4>(12) = transform.row (3);

  return (true);
}

template <typename PointT> void
pcl::SampleConsensusModelRegistration<PointT>::getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) 
{
  if (indices_->size () != indices_tgt_->size ())
  {
    ROS_ERROR ("[pcl::SampleConsensusModelRegistration::getDistancesToModel] Number of source indices (%zu) differs than number of target indices (%zu)!", indices_->size (), indices_tgt_->size ());
    distances.clear ();
    return;
  }
  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
  {
    distances.clear ();
    return;
  }
  distances.resize (indices_->size ());

  // Get the 4x4 transformation
  Eigen::Matrix4f transform;
  transform.row (0) = model_coefficients.segment<4>(0);
  transform.row (1) = model_coefficients.segment<4>(4);
  transform.row (2) = model_coefficients.segment<4>(8);
  transform.row (3) = model_coefficients.segment<4>(12);

  for (size_t i = 0; i < indices_->size (); ++i)
  {
    Vector4fMapConst pt_src = input_->points[(*indices_)[i]].getVector4fMap ();
    Vector4fMapConst pt_tgt = target_->points[(*indices_tgt_)[i]].getVector4fMap ();
    Eigen::Vector4f p_tr = transform * pt_src;
    // Calculate the distance from the transformed point to its correspondence
    // need to compute the real norm here to keep MSAC and friends general
    distances[i] = (p_tr - pt_tgt).norm ();
  }
}

template <typename PointT> void
pcl::SampleConsensusModelRegistration<PointT>::selectWithinDistance (const Eigen::VectorXf &model_coefficients, double threshold, std::vector<int> &inliers) 
{
  if (indices_->size () != indices_tgt_->size ())
  {
    ROS_ERROR ("[pcl::SampleConsensusModelRegistration::selectWithinDistance] Number of source indices (%zu) differs than number of target indices (%zu)!", indices_->size (), indices_tgt_->size ());
    inliers.clear ();
    return;
  }

  double thresh = threshold * threshold;

  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
  {
    inliers.clear ();
    return;
  }
  
  inliers.resize (indices_->size ());

  Eigen::Matrix4f transform;
  transform.row (0) = model_coefficients.segment<4>(0);
  transform.row (1) = model_coefficients.segment<4>(4);
  transform.row (2) = model_coefficients.segment<4>(8);
  transform.row (3) = model_coefficients.segment<4>(12);

  int nr_p = 0; 
  for (size_t i = 0; i < indices_->size (); ++i)
  {
    Vector4fMapConst pt_src = input_->points[(*indices_)[i]].getVector4fMap ();
    Vector4fMapConst pt_tgt = target_->points[(*indices_tgt_)[i]].getVector4fMap ();
    Eigen::Vector4f p_tr  = transform * pt_src;
    // Calculate the distance from the transformed point to its correspondence
    if ((p_tr - pt_tgt).squaredNorm () < thresh)
      inliers[nr_p++] = i;
  }
  inliers.resize (nr_p);
} 

template <typename PointT> void
pcl::SampleConsensusModelRegistration<PointT>::optimizeModelCoefficients (const std::vector<int> &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) 
{
  if (indices_->size () != indices_tgt_->size ())
  {
    ROS_ERROR ("[pcl::SampleConsensusModelRegistration::optimizeModelCoefficients] Number of source indices (%zu) differs than number of target indices (%zu)!", indices_->size (), indices_tgt_->size ());
    optimized_coefficients = model_coefficients;
    return;
  }

  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
  {
    optimized_coefficients = model_coefficients;
    return;
  }

  std::vector<int> indices_src (inliers.size ());
  std::vector<int> indices_tgt (inliers.size ());
  for (size_t i = 0; i < inliers.size (); ++i)
  {
    // NOTE: not tested!
    indices_src[i] = (*indices_)[inliers[i]];
    indices_tgt[i] = (*indices_tgt_)[inliers[i]];
  }

  Eigen::Matrix4f transform;
  estimateRigidTransformationSVD<PointT, PointT> (*input_, indices_src, *target_, indices_tgt, transform);
  optimized_coefficients.resize (16);
  optimized_coefficients.segment<4>(0)  = transform.row (0);
  optimized_coefficients.segment<4>(4)  = transform.row (1);
  optimized_coefficients.segment<4>(8)  = transform.row (2);
  optimized_coefficients.segment<4>(12) = transform.row (3);
}

#define PCL_INSTANTIATE_SampleConsensusModelRegistration(T) template class pcl::SampleConsensusModelRegistration<T>;

#endif    // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_REGISTRATION_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