43 #include <pcl/sample_consensus/sac_model.h> 44 #include <pcl/sample_consensus/model_types.h> 63 template <
typename Po
intT,
typename Po
intNT>
80 using Ptr = shared_ptr<SampleConsensusModelCylinder<PointT, PointNT> >;
81 using ConstPtr = shared_ptr<const SampleConsensusModelCylinder<PointT, PointNT>>;
90 , axis_ (
Eigen::Vector3f::Zero ())
108 , axis_ (
Eigen::Vector3f::Zero ())
122 axis_ (
Eigen::Vector3f::Zero ()),
140 axis_ = source.axis_;
141 eps_angle_ = source.eps_angle_;
159 setAxis (
const Eigen::Vector3f &ax) { axis_ = ax; }
162 inline Eigen::Vector3f
173 Eigen::VectorXf &model_coefficients)
const override;
181 std::vector<double> &distances)
const override;
190 const double threshold,
201 const double threshold)
const override;
211 const Eigen::VectorXf &model_coefficients,
212 Eigen::VectorXf &optimized_coefficients)
const override;
223 const Eigen::VectorXf &model_coefficients,
225 bool copy_data_fields =
true)
const override;
234 const Eigen::VectorXf &model_coefficients,
235 const double threshold)
const override;
250 pointToLineDistance (
const Eigen::Vector4f &pt,
const Eigen::VectorXf &model_coefficients)
const;
260 const Eigen::Vector4f &line_pt,
261 const Eigen::Vector4f &line_dir,
262 Eigen::Vector4f &pt_proj)
const 264 float k = (pt.dot (line_dir) - line_pt.dot (line_dir)) / line_dir.dot (line_dir);
266 pt_proj = line_pt + k * line_dir;
277 const Eigen::VectorXf &model_coefficients,
278 Eigen::Vector4f &pt_proj)
const;
284 isModelValid (
const Eigen::VectorXf &model_coefficients)
const override;
295 Eigen::Vector3f axis_;
316 operator() (
const Eigen::VectorXf &x, Eigen::VectorXf &fvec)
const 318 Eigen::Vector4f line_pt (x[0], x[1], x[2], 0);
319 Eigen::Vector4f line_dir (x[3], x[4], x[5], 0);
321 for (
int i = 0; i < values (); ++i)
324 Eigen::Vector4f pt = (*model_->input_)[
indices_[i]].getVector4fMap();
338 #ifdef PCL_NO_PRECOMPILE 339 #include <pcl/sample_consensus/impl/sac_model_cylinder.hpp> SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
void projectPoints(const Indices &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 cylinder model.
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
unsigned int model_size_
The number of coefficients in the model.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given cylinder model.
Base functor all the models that need non linear optimization must define their own one and implement...
SampleConsensusModelCylinder & operator=(const SampleConsensusModelCylinder &source)
Copy constructor.
double getEpsAngle() const
Get the angle epsilon (delta) threshold.
~SampleConsensusModelCylinder()
Empty destructor.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
void projectPointToLine(const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, Eigen::Vector4f &pt_proj) const
Project a point onto a line given by a point and a direction vector.
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.
typename PointCloud::Ptr PointCloudPtr
Define standard C methods to do distance calculations.
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid cylinder model, compute the model coefficients...
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a cylinder direction.
Define standard C methods and C++ classes that are common to all methods.
bool doSamplesVerifyModel(const std::set< index_t > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const override
Verify whether a subset of indices verifies the given cylinder model coefficients.
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) ...
std::string model_name_
The model name.
SampleConsensusModelCylinder(const SampleConsensusModelCylinder &source)
Copy constructor.
typename PointCloud::ConstPtr PointCloudConstPtr
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the cylinder coefficients using the given inlier set and return them to the user...
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
bool isSampleGood(const Indices &samples) const override
Check if a sample of indices results in a good sample of points indices.
SampleConsensusModelFromNormals represents the base model class for models that require the use of su...
IndicesAllocator<> Indices
Type used for indices in PCL.
double pointToLineDistance(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 projectPointToCylinder(const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj) const
Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction, cylinder_radius_R)
shared_ptr< const SampleConsensusModel< pcl::PointXYZRGB > > ConstPtr
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_CYLINDER).
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a cylinder direction.
IndicesPtr indices_
A pointer to the vector of point indices to use.
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< SampleConsensusModel< pcl::PointXYZRGB > > Ptr
SampleConsensusModelCylinder(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelCylinder.
SampleConsensusModelCylinder(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelCylinder.
unsigned int sample_size_
The size of a sample from which the model is computed.