sac_model_registration_2d.h

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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_2D_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_2D_H_

#include <pcl/sample_consensus/sac_model_registration.h>

namespace pcl
{
  template <typename PointT>
  class SampleConsensusModelRegistration2D : public pcl::SampleConsensusModelRegistration<PointT>
  {
    public:
      using pcl::SampleConsensusModelRegistration<PointT>::input_;
      using pcl::SampleConsensusModelRegistration<PointT>::target_;
      using pcl::SampleConsensusModelRegistration<PointT>::indices_;
      using pcl::SampleConsensusModelRegistration<PointT>::indices_tgt_;
      using pcl::SampleConsensusModelRegistration<PointT>::error_sqr_dists_;
      using pcl::SampleConsensusModelRegistration<PointT>::correspondences_;
      using pcl::SampleConsensusModelRegistration<PointT>::sample_dist_thresh_;
      using pcl::SampleConsensusModelRegistration<PointT>::computeOriginalIndexMapping;

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

      typedef boost::shared_ptr<SampleConsensusModelRegistration2D> Ptr;
      typedef boost::shared_ptr<const SampleConsensusModelRegistration2D> ConstPtr;

      SampleConsensusModelRegistration2D (const PointCloudConstPtr &cloud,
                                          bool random = false) 
        : pcl::SampleConsensusModelRegistration<PointT> (cloud, random)
        , projection_matrix_ (Eigen::Matrix3f::Identity ())
      {
        // Call our own setInputCloud
        setInputCloud (cloud);
      }

      SampleConsensusModelRegistration2D (const PointCloudConstPtr &cloud,
                                          const std::vector<int> &indices,
                                          bool random = false)
        : pcl::SampleConsensusModelRegistration<PointT> (cloud, indices, random)
        , projection_matrix_ (Eigen::Matrix3f::Identity ())
      {
        computeOriginalIndexMapping ();
        computeSampleDistanceThreshold (cloud, indices);
      }
      
      virtual ~SampleConsensusModelRegistration2D () {}

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

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

      virtual int
      countWithinDistance (const Eigen::VectorXf &model_coefficients,
                           const double threshold);

      inline void
      setProjectionMatrix (const Eigen::Matrix3f &projection_matrix)
      { projection_matrix_ = projection_matrix; }

      inline Eigen::Matrix3f
      getProjectionMatrix () const
      { return (projection_matrix_); }

    protected:
      bool
      isSampleGood (const std::vector<int> &samples) const;

      inline void
      computeSampleDistanceThreshold (const PointCloudConstPtr &cloud)
      {
        //Eigen::Vector4f xyz_centroid;
        //Eigen::Matrix3f covariance_matrix = Eigen::Matrix3f::Zero ();

        //computeMeanAndCovarianceMatrix (*cloud, covariance_matrix, xyz_centroid);

        //for (int i = 0; i < 3; ++i)
        //  for (int j = 0; j < 3; ++j)
        //    if (!pcl_isfinite (covariance_matrix.coeffRef (i, j)))
        //      PCL_ERROR ("[pcl::SampleConsensusModelRegistration::computeSampleDistanceThreshold] Covariance matrix has NaN values! Is the input cloud finite?\n");

        //Eigen::Vector3f eigen_values;
        //pcl::eigen33 (covariance_matrix, eigen_values);

        //sample_dist_thresh_ = eigen_values.array ().sqrt ().sum () / 3.0;
        //sample_dist_thresh_ *= sample_dist_thresh_;
        //PCL_DEBUG ("[pcl::SampleConsensusModelRegistration::setInputCloud] Estimated a sample selection distance threshold of: %f\n", sample_dist_thresh_);
      }

      inline void
      computeSampleDistanceThreshold (const PointCloudConstPtr &cloud,
                                      const std::vector<int> &indices)
      {
        //Eigen::Vector4f xyz_centroid;
        //Eigen::Matrix3f covariance_matrix;
        //computeMeanAndCovarianceMatrix (*cloud, indices, covariance_matrix, xyz_centroid);

        //for (int i = 0; i < 3; ++i)
        //  for (int j = 0; j < 3; ++j)
        //    if (!pcl_isfinite (covariance_matrix.coeffRef (i, j)))
        //      PCL_ERROR ("[pcl::SampleConsensusModelRegistration::computeSampleDistanceThreshold] Covariance matrix has NaN values! Is the input cloud finite?\n");

        //Eigen::Vector3f eigen_values;
        //pcl::eigen33 (covariance_matrix, eigen_values);

        //sample_dist_thresh_ = eigen_values.array ().sqrt ().sum () / 3.0;
        //sample_dist_thresh_ *= sample_dist_thresh_;
        //PCL_DEBUG ("[pcl::SampleConsensusModelRegistration::setInputCloud] Estimated a sample selection distance threshold of: %f\n", sample_dist_thresh_);
      }

    private:
      Eigen::Matrix3f projection_matrix_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#include <pcl/sample_consensus/impl/sac_model_registration_2d.hpp>

#endif    // PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_2D_H_