43 #include <pcl/sample_consensus/sac_model.h> 44 #include <pcl/sample_consensus/model_types.h> 58 template <
typename Po
intT>
73 using Ptr = shared_ptr<SampleConsensusModelCircle2D<PointT> >;
74 using ConstPtr = shared_ptr<const SampleConsensusModelCircle2D<PointT>>;
133 Eigen::VectorXf &model_coefficients)
const override;
141 std::vector<double> &distances)
const override;
150 const double threshold,
161 const double threshold)
const override;
171 const Eigen::VectorXf &model_coefficients,
172 Eigen::VectorXf &optimized_coefficients)
const override;
182 const Eigen::VectorXf &model_coefficients,
184 bool copy_data_fields =
true)
const override;
193 const Eigen::VectorXf &model_coefficients,
194 const double threshold)
const override;
208 isModelValid (
const Eigen::VectorXf &model_coefficients)
const override;
233 operator() (
const Eigen::VectorXf &x, Eigen::VectorXf &fvec)
const 235 for (
int i = 0; i < values (); ++i)
238 float xt = (*model_->input_)[
indices_[i]].x - x[0];
239 float yt = (*model_->input_)[
indices_[i]].y - x[1];
242 fvec[i] = std::sqrt (xt * xt + yt * yt) - x[2];
253 #ifdef PCL_NO_PRECOMPILE 254 #include <pcl/sample_consensus/impl/sac_model_circle.hpp>
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.
~SampleConsensusModelCircle2D()
Empty destructor.
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid 2D circle model, compute the model coefficient...
unsigned int model_size_
The number of coefficients in the model.
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the 2d circle coefficients using the given inlier set and return them to the user...
Base functor all the models that need non linear optimization must define their own one and implement...
typename PointCloud::Ptr PointCloudPtr
SampleConsensusModelCircle2D defines a model for 2D circle segmentation on the X-Y plane...
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.
SampleConsensusModel represents the base model class.
std::string model_name_
The model name.
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 2d circle model coefficients.
SampleConsensusModelCircle2D(const SampleConsensusModelCircle2D &source)
Copy constructor.
typename PointCloud::ConstPtr PointCloudConstPtr
IndicesAllocator<> Indices
Type used for indices in PCL.
SampleConsensusModelCircle2D(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelCircle2D.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given 2D circle model.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_CIRCLE2D).
shared_ptr< const SampleConsensusModel< pcl::PointXYZRGB > > ConstPtr
SampleConsensusModelCircle2D(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelCircle2D.
IndicesPtr indices_
A pointer to the vector of point indices to use.
SampleConsensusModelCircle2D & operator=(const SampleConsensusModelCircle2D &source)
Copy constructor.
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< SampleConsensusModel< pcl::PointXYZRGB > > Ptr
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 2d circle model.
unsigned int sample_size_
The size of a sample from which the model is computed.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Compute all distances from the cloud data to a given 2D circle model.