274 lines
12 KiB
C
274 lines
12 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/sample_consensus/sac_model.h>
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#include <pcl/sample_consensus/model_types.h>
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namespace pcl
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{
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/** \brief SampleConsensusModelCircle3D defines a model for 3D circle segmentation.
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*
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* The model coefficients are defined as:
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* - \b center.x : the X coordinate of the circle's center
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* - \b center.y : the Y coordinate of the circle's center
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* - \b center.z : the Z coordinate of the circle's center
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* - \b radius : the circle's radius
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* - \b normal.x : the X coordinate of the normal's direction
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* - \b normal.y : the Y coordinate of the normal's direction
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* - \b normal.z : the Z coordinate of the normal's direction
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*
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* \author Raoul Hoffmann, Karol Hausman, Radu B. Rusu
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* \ingroup sample_consensus
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*/
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template <typename PointT>
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class SampleConsensusModelCircle3D : public SampleConsensusModel<PointT>
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{
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public:
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using SampleConsensusModel<PointT>::model_name_;
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using SampleConsensusModel<PointT>::input_;
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using SampleConsensusModel<PointT>::indices_;
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using SampleConsensusModel<PointT>::radius_min_;
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using SampleConsensusModel<PointT>::radius_max_;
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using PointCloud = typename SampleConsensusModel<PointT>::PointCloud;
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using PointCloudPtr = typename SampleConsensusModel<PointT>::PointCloudPtr;
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using PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr;
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using Ptr = shared_ptr<SampleConsensusModelCircle3D<PointT> >;
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using ConstPtr = shared_ptr<const SampleConsensusModelCircle3D<PointT> >;
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/** \brief Constructor for base SampleConsensusModelCircle3D.
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* \param[in] cloud the input point cloud dataset
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* \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
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*/
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SampleConsensusModelCircle3D (const PointCloudConstPtr &cloud,
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bool random = false)
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: SampleConsensusModel<PointT> (cloud, random)
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{
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model_name_ = "SampleConsensusModelCircle3D";
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sample_size_ = 3;
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model_size_ = 7;
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}
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/** \brief Constructor for base SampleConsensusModelCircle3D.
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* \param[in] cloud the input point cloud dataset
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* \param[in] indices a vector of point indices to be used from \a cloud
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* \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
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*/
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SampleConsensusModelCircle3D (const PointCloudConstPtr &cloud,
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const Indices &indices,
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bool random = false)
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: SampleConsensusModel<PointT> (cloud, indices, random)
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{
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model_name_ = "SampleConsensusModelCircle3D";
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sample_size_ = 3;
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model_size_ = 7;
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}
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/** \brief Empty destructor */
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~SampleConsensusModelCircle3D () {}
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/** \brief Copy constructor.
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* \param[in] source the model to copy into this
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*/
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SampleConsensusModelCircle3D (const SampleConsensusModelCircle3D &source) :
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SampleConsensusModel<PointT> ()
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{
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*this = source;
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model_name_ = "SampleConsensusModelCircle3D";
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}
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/** \brief Copy constructor.
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* \param[in] source the model to copy into this
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*/
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inline SampleConsensusModelCircle3D&
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operator = (const SampleConsensusModelCircle3D &source)
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{
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SampleConsensusModel<PointT>::operator=(source);
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return (*this);
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}
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/** \brief Check whether the given index samples can form a valid 2D circle model, compute the model coefficients
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* from these samples and store them in model_coefficients. The circle coefficients are: x, y, R.
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* \param[in] samples the point indices found as possible good candidates for creating a valid model
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* \param[out] model_coefficients the resultant model coefficients
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*/
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bool
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computeModelCoefficients (const Indices &samples,
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Eigen::VectorXf &model_coefficients) const override;
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/** \brief Compute all distances from the cloud data to a given 3D circle model.
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* \param[in] model_coefficients the coefficients of a 2D circle model that we need to compute distances to
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* \param[out] distances the resultant estimated distances
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*/
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void
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getDistancesToModel (const Eigen::VectorXf &model_coefficients,
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std::vector<double> &distances) const override;
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/** \brief Compute all distances from the cloud data to a given 3D circle model.
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* \param[in] model_coefficients the coefficients of a 3D circle model that we need to compute distances to
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* \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
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* \param[out] inliers the resultant model inliers
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*/
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void
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selectWithinDistance (const Eigen::VectorXf &model_coefficients,
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const double threshold,
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Indices &inliers) override;
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/** \brief Count all the points which respect the given model coefficients as inliers.
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*
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* \param[in] model_coefficients the coefficients of a model that we need to compute distances to
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* \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
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* \return the resultant number of inliers
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*/
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std::size_t
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countWithinDistance (const Eigen::VectorXf &model_coefficients,
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const double threshold) const override;
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/** \brief Recompute the 3d circle coefficients using the given inlier set and return them to the user.
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* @note: these are the coefficients of the 3d circle model after refinement (e.g. after SVD)
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* \param[in] inliers the data inliers found as supporting the model
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* \param[in] model_coefficients the initial guess for the optimization
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* \param[out] optimized_coefficients the resultant recomputed coefficients after non-linear optimization
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*/
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void
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optimizeModelCoefficients (const Indices &inliers,
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const Eigen::VectorXf &model_coefficients,
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Eigen::VectorXf &optimized_coefficients) const override;
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/** \brief Create a new point cloud with inliers projected onto the 3d circle model.
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* \param[in] inliers the data inliers that we want to project on the 3d circle model
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* \param[in] model_coefficients the coefficients of a 3d circle model
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* \param[out] projected_points the resultant projected points
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* \param[in] copy_data_fields set to true if we need to copy the other data fields
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*/
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void
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projectPoints (const Indices &inliers,
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const Eigen::VectorXf &model_coefficients,
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PointCloud &projected_points,
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bool copy_data_fields = true) const override;
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/** \brief Verify whether a subset of indices verifies the given 3d circle model coefficients.
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* \param[in] indices the data indices that need to be tested against the 3d circle model
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* \param[in] model_coefficients the 3d circle model coefficients
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* \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
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*/
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bool
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doSamplesVerifyModel (const std::set<index_t> &indices,
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const Eigen::VectorXf &model_coefficients,
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const double threshold) const override;
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/** \brief Return a unique id for this model (SACMODEL_CIRCLE3D). */
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inline pcl::SacModel
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getModelType () const override { return (SACMODEL_CIRCLE3D); }
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protected:
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using SampleConsensusModel<PointT>::sample_size_;
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using SampleConsensusModel<PointT>::model_size_;
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/** \brief Check whether a model is valid given the user constraints.
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* \param[in] model_coefficients the set of model coefficients
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*/
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bool
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isModelValid (const Eigen::VectorXf &model_coefficients) const override;
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/** \brief Check if a sample of indices results in a good sample of points indices.
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* \param[in] samples the resultant index samples
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*/
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bool
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isSampleGood(const Indices &samples) const override;
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private:
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/** \brief Functor for the optimization function */
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struct OptimizationFunctor : pcl::Functor<double>
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{
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/** Functor constructor
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* \param[in] indices the indices of data points to evaluate
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* \param[in] estimator pointer to the estimator object
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*/
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OptimizationFunctor (const pcl::SampleConsensusModelCircle3D<PointT> *model, const Indices& indices) :
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pcl::Functor<double> (indices.size ()), model_ (model), indices_ (indices) {}
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/** Cost function to be minimized
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* \param[in] x the variables array
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* \param[out] fvec the resultant functions evaluations
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* \return 0
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*/
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int operator() (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const
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{
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for (int i = 0; i < values (); ++i)
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{
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// what i have:
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// P : Sample Point
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Eigen::Vector3d P =
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(*model_->input_)[indices_[i]].getVector3fMap().template cast<double>();
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// C : Circle Center
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Eigen::Vector3d C (x[0], x[1], x[2]);
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// N : Circle (Plane) Normal
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Eigen::Vector3d N (x[4], x[5], x[6]);
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// r : Radius
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double r = x[3];
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Eigen::Vector3d helperVectorPC = P - C;
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// 1.1. get line parameter
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//float lambda = (helperVectorPC.dot(N)) / N.squaredNorm() ;
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double lambda = (-(helperVectorPC.dot (N))) / N.dot (N);
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// Projected Point on plane
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Eigen::Vector3d P_proj = P + lambda * N;
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Eigen::Vector3d helperVectorP_projC = P_proj - C;
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// K : Point on Circle
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Eigen::Vector3d K = C + r * helperVectorP_projC.normalized ();
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Eigen::Vector3d distanceVector = P - K;
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fvec[i] = distanceVector.norm ();
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}
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return (0);
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}
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const pcl::SampleConsensusModelCircle3D<PointT> *model_;
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const Indices &indices_;
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};
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/sample_consensus/impl/sac_model_circle3d.hpp>
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#endif
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