203 lines
9.5 KiB
C
203 lines
9.5 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) 2010-2011, Willow Garage, Inc.
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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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* $Id: sac_model_line.h 2326 2011-08-31 07:48:25Z rusu $
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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 SampleConsensusModelStick defines a model for 3D stick segmentation.
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* A stick is a line with a user given minimum/maximum width.
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* The model coefficients are defined as:
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* - \b point_on_line.x : the X coordinate of a point on the line
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* - \b point_on_line.y : the Y coordinate of a point on the line
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* - \b point_on_line.z : the Z coordinate of a point on the line
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* - \b line_direction.x : the X coordinate of a line's direction
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* - \b line_direction.y : the Y coordinate of a line's direction
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* - \b line_direction.z : the Z coordinate of a line's direction
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* - \b line_width : the width of the line
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*
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* \author 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 SampleConsensusModelStick : 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 SampleConsensusModel<PointT>::error_sqr_dists_;
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using SampleConsensusModel<PointT>::isModelValid;
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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<SampleConsensusModelStick<PointT> >;
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using ConstPtr = shared_ptr<const SampleConsensusModelStick<PointT>>;
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/** \brief Constructor for base SampleConsensusModelStick.
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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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SampleConsensusModelStick (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_ = "SampleConsensusModelStick";
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sample_size_ = 2;
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model_size_ = 7;
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}
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/** \brief Constructor for base SampleConsensusModelStick.
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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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SampleConsensusModelStick (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_ = "SampleConsensusModelStick";
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sample_size_ = 2;
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model_size_ = 7;
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}
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/** \brief Empty destructor */
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~SampleConsensusModelStick () {}
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/** \brief Check whether the given index samples can form a valid stick model, compute the model coefficients from
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* these samples and store them internally in model_coefficients_. The stick coefficients are represented by a
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* point and a line direction
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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 squared distances from the cloud data to a given stick model.
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* \param[in] model_coefficients the coefficients of a stick model that we need to compute distances to
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* \param[out] distances the resultant estimated squared 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 Select all the points which respect the given model coefficients as inliers.
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* \param[in] model_coefficients the coefficients of a stick 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 stick coefficients using the given inlier set and return them to the user.
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* @note: these are the coefficients of the stick 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 model coefficients
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* \param[out] optimized_coefficients the resultant recomputed coefficients after 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 stick model.
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* \param[in] inliers the data inliers that we want to project on the stick model
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* \param[in] model_coefficients the *normalized* coefficients of a stick 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 stick model coefficients.
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* \param[in] indices the data indices that need to be tested against the plane model
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* \param[in] model_coefficients the plane 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_STICK). */
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inline pcl::SacModel
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getModelType () const override { return (SACMODEL_STICK); }
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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 if a sample of indices results in a good sample of points
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* 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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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/sample_consensus/impl/sac_model_stick.hpp>
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#endif
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