sac_model_circle3d.h

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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE3D_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE3D_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/model_types.h>

namespace pcl
{
  template <typename PointT>
  class SampleConsensusModelCircle3D : public SampleConsensusModel<PointT>
  {
    public:
      using SampleConsensusModel<PointT>::input_;
      using SampleConsensusModel<PointT>::indices_;
      using SampleConsensusModel<PointT>::radius_min_;
      using SampleConsensusModel<PointT>::radius_max_;

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

      typedef boost::shared_ptr<SampleConsensusModelCircle3D<PointT> > Ptr;
      typedef boost::shared_ptr<const SampleConsensusModelCircle3D<PointT> > ConstPtr;

      SampleConsensusModelCircle3D (const PointCloudConstPtr &cloud,
                                    bool random = false) 
        : SampleConsensusModel<PointT> (cloud, random) {};

      SampleConsensusModelCircle3D (const PointCloudConstPtr &cloud, 
                                    const std::vector<int> &indices,
                                    bool random = false) 
        : SampleConsensusModel<PointT> (cloud, indices, random) {};
      
      virtual ~SampleConsensusModelCircle3D () {}

      SampleConsensusModelCircle3D (const SampleConsensusModelCircle3D &source) :
        SampleConsensusModel<PointT> (), tmp_inliers_ () 
      {
        *this = source;
      }

      inline SampleConsensusModelCircle3D&
      operator = (const SampleConsensusModelCircle3D &source)
      {
        SampleConsensusModel<PointT>::operator=(source);
        tmp_inliers_ = source.tmp_inliers_;
        return (*this);
      }

      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,
                            const double threshold,
                            std::vector<int> &inliers);

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

      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,
                            const double threshold);

      inline pcl::SacModel
      getModelType () const { return (SACMODEL_CIRCLE3D); }

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

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

    private:
      const std::vector<int> *tmp_inliers_;

      struct OptimizationFunctor : pcl::Functor<double>
      {
        OptimizationFunctor (int m_data_points, pcl::SampleConsensusModelCircle3D<PointT> *model) :
          pcl::Functor<double> (m_data_points), model_ (model) {}

        int operator() (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const
        {
          for (int i = 0; i < values (); ++i)
          {
            // what i have:
            // P : Sample Point
            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);
            // C : Circle Center
            Eigen::Vector3d C (x[0], x[1], x[2]);
            // N : Circle (Plane) Normal
            Eigen::Vector3d N (x[4], x[5], x[6]);
            // r : Radius
            double r = x[3];

            Eigen::Vector3d helperVectorPC = P - C;
            // 1.1. get line parameter
            //float lambda = (helperVectorPC.dot(N)) / N.squaredNorm() ;
            double lambda = (-(helperVectorPC.dot (N))) / N.dot (N);
            // Projected Point on plane
            Eigen::Vector3d P_proj = P + lambda * N;
            Eigen::Vector3d helperVectorP_projC = P_proj - C;

            // K : Point on Circle
            Eigen::Vector3d K = C + r * helperVectorP_projC.normalized ();
            Eigen::Vector3d distanceVector =  P - K;

            fvec[i] = distanceVector.norm ();
          }
          return (0);
        }

        pcl::SampleConsensusModelCircle3D<PointT> *model_;
      };
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE3D_H_