Point Cloud Library (PCL)
1.10.0
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41 #include <pcl/sample_consensus/sac_model.h>
42 #include <pcl/sample_consensus/model_types.h>
63 template <
typename Po
intT,
typename Po
intNT>
90 , axis_ (
Eigen::Vector3f::Zero ())
92 , min_angle_ (-std::numeric_limits<double>::max ())
93 , max_angle_ (std::numeric_limits<double>::max ())
106 const std::vector<int> &indices,
110 , axis_ (
Eigen::Vector3f::Zero ())
112 , min_angle_ (-std::numeric_limits<double>::max ())
113 , max_angle_ (std::numeric_limits<double>::max ())
126 eps_angle_ (), min_angle_ (), max_angle_ ()
143 axis_ = source.axis_;
144 eps_angle_ = source.eps_angle_;
145 min_angle_ = source.min_angle_;
146 max_angle_ = source.max_angle_;
164 setAxis (
const Eigen::Vector3f &ax) { axis_ = ax; }
167 inline Eigen::Vector3f
178 min_angle_ = min_angle;
179 max_angle_ = max_angle;
189 min_angle = min_angle_;
190 max_angle = max_angle_;
201 Eigen::VectorXf &model_coefficients)
const override;
209 std::vector<double> &distances)
const override;
218 const double threshold,
219 std::vector<int> &inliers)
override;
229 const double threshold)
const override;
240 const Eigen::VectorXf &model_coefficients,
241 Eigen::VectorXf &optimized_coefficients)
const override;
252 const Eigen::VectorXf &model_coefficients,
254 bool copy_data_fields =
true)
const override;
263 const Eigen::VectorXf &model_coefficients,
264 const double threshold)
const override;
279 pointToAxisDistance (
const Eigen::Vector4f &pt,
const Eigen::VectorXf &model_coefficients)
const;
285 isModelValid (
const Eigen::VectorXf &model_coefficients)
const override;
292 isSampleGood (
const std::vector<int> &samples)
const override;
296 Eigen::Vector3f axis_;
321 operator() (
const Eigen::VectorXf &x, Eigen::VectorXf &fvec)
const
323 Eigen::Vector4f apex (x[0], x[1], x[2], 0);
324 Eigen::Vector4f axis_dir (x[3], x[4], x[5], 0);
325 float opening_angle = x[6];
327 float apexdotdir = apex.dot (axis_dir);
328 float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
330 for (
int i = 0; i < values (); ++i)
333 Eigen::Vector4f pt (model_->input_->points[
indices_[i]].x,
334 model_->input_->points[
indices_[i]].y,
335 model_->input_->points[
indices_[i]].z, 0);
338 float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
339 Eigen::Vector4f pt_proj = apex + k * axis_dir;
342 Eigen::Vector4f height = apex-pt_proj;
343 float actual_cone_radius = tanf (opening_angle) * height.norm ();
356 #ifdef PCL_NO_PRECOMPILE
357 #include <pcl/sample_consensus/impl/sac_model_cone.hpp>
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a cone direction.
This file defines compatibility wrappers for low level I/O functions.
SampleConsensusModelCone & operator=(const SampleConsensusModelCone &source)
Copy constructor.
std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers.
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
SampleConsensusModelCone(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelCone.
void getMinMaxOpeningAngle(double &min_angle, double &max_angle) const
Get the opening angle which we need minimum to validate a cone model.
void setEpsAngle(double ea)
Set the angle epsilon (delta) threshold.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_CONE).
~SampleConsensusModelCone()
Empty destructor.
SampleConsensusModelFromNormals represents the base model class for models that require the use of su...
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers) override
Select all the points which respect the given model coefficients as inliers.
bool doSamplesVerifyModel(const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const override
Verify whether a subset of indices verifies the given cone model coefficients.
unsigned int sample_size_
The size of a sample from which the model is computed.
unsigned int model_size_
The number of coefficients in the model.
void optimizeModelCoefficients(const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the cone coefficients using the given inlier set and return them to the user.
A point structure representing Euclidean xyz coordinates, and the RGB color.
bool computeModelCoefficients(const std::vector< int > &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid cone model, compute the model coefficients fro...
bool isSampleGood(const std::vector< int > &samples) const override
Check if a sample of indices results in a good sample of points indices.
double pointToAxisDistance(const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const
Get the distance from a point to a line (represented by a point and a direction)
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given cone model.
double getEpsAngle() const
Get the angle epsilon (delta) threshold.
Base functor all the models that need non linear optimization must define their own one and implement...
void projectPoints(const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const override
Create a new point cloud with inliers projected onto the cone model.
IndicesPtr indices_
A pointer to the vector of point indices to use.
shared_ptr< const SampleConsensusModel< pcl::PointXYZRGB > > ConstPtr
SampleConsensusModelCone defines a model for 3D cone segmentation.
shared_ptr< SampleConsensusModel< pcl::PointXYZRGB > > Ptr
std::string model_name_
The model name.
typename PointCloud::ConstPtr PointCloudConstPtr
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a cone direction.
SampleConsensusModelCone(const SampleConsensusModelCone &source)
Copy constructor.
typename PointCloud::Ptr PointCloudPtr
SampleConsensusModelCone(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelCone.
SampleConsensusModel represents the base model class.
double sqrPointToLineDistance(const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir)
Get the square distance from a point to a line (represented by a point and a direction)
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
void setMinMaxOpeningAngle(const double &min_angle, const double &max_angle)
Set the minimum and maximum allowable opening angle for a cone model given from a user.