Point Cloud Library (PCL)  1.9.1
sac_model_stick.h
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
42 #define PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
43 
44 #include <pcl/sample_consensus/sac_model.h>
45 #include <pcl/sample_consensus/model_types.h>
46 #include <pcl/common/eigen.h>
47 
48 namespace pcl
49 {
50  /** \brief SampleConsensusModelStick defines a model for 3D stick segmentation.
51  * A stick is a line with an user given minimum/maximum width.
52  * The model coefficients are defined as:
53  * - \b point_on_line.x : the X coordinate of a point on the line
54  * - \b point_on_line.y : the Y coordinate of a point on the line
55  * - \b point_on_line.z : the Z coordinate of a point on the line
56  * - \b line_direction.x : the X coordinate of a line's direction
57  * - \b line_direction.y : the Y coordinate of a line's direction
58  * - \b line_direction.z : the Z coordinate of a line's direction
59  * - \b line_width : the width of the line
60  * \author Radu B. Rusu
61  * \ingroup sample_consensus
62  */
63  template <typename PointT>
65  {
66  public:
74 
78 
79  typedef boost::shared_ptr<SampleConsensusModelStick> Ptr;
80 
81  /** \brief Constructor for base SampleConsensusModelStick.
82  * \param[in] cloud the input point cloud dataset
83  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
84  */
86  bool random = false)
87  : SampleConsensusModel<PointT> (cloud, random)
88  {
89  model_name_ = "SampleConsensusModelStick";
90  sample_size_ = 2;
91  model_size_ = 7;
92  }
93 
94  /** \brief Constructor for base SampleConsensusModelStick.
95  * \param[in] cloud the input point cloud dataset
96  * \param[in] indices a vector of point indices to be used from \a cloud
97  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
98  */
100  const std::vector<int> &indices,
101  bool random = false)
102  : SampleConsensusModel<PointT> (cloud, indices, random)
103  {
104  model_name_ = "SampleConsensusModelStick";
105  sample_size_ = 2;
106  model_size_ = 7;
107  }
108 
109  /** \brief Empty destructor */
111 
112  /** \brief Check whether the given index samples can form a valid stick model, compute the model coefficients from
113  * these samples and store them internally in model_coefficients_. The stick coefficients are represented by a
114  * point and a line direction
115  * \param[in] samples the point indices found as possible good candidates for creating a valid model
116  * \param[out] model_coefficients the resultant model coefficients
117  */
118  bool
119  computeModelCoefficients (const std::vector<int> &samples,
120  Eigen::VectorXf &model_coefficients) const;
121 
122  /** \brief Compute all squared distances from the cloud data to a given stick model.
123  * \param[in] model_coefficients the coefficients of a stick model that we need to compute distances to
124  * \param[out] distances the resultant estimated squared distances
125  */
126  void
127  getDistancesToModel (const Eigen::VectorXf &model_coefficients,
128  std::vector<double> &distances) const;
129 
130  /** \brief Select all the points which respect the given model coefficients as inliers.
131  * \param[in] model_coefficients the coefficients of a stick model that we need to compute distances to
132  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
133  * \param[out] inliers the resultant model inliers
134  */
135  void
136  selectWithinDistance (const Eigen::VectorXf &model_coefficients,
137  const double threshold,
138  std::vector<int> &inliers);
139 
140  /** \brief Count all the points which respect the given model coefficients as inliers.
141  *
142  * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
143  * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
144  * \return the resultant number of inliers
145  */
146  virtual int
147  countWithinDistance (const Eigen::VectorXf &model_coefficients,
148  const double threshold) const;
149 
150  /** \brief Recompute the stick coefficients using the given inlier set and return them to the user.
151  * @note: these are the coefficients of the stick model after refinement (e.g. after SVD)
152  * \param[in] inliers the data inliers found as supporting the model
153  * \param[in] model_coefficients the initial guess for the model coefficients
154  * \param[out] optimized_coefficients the resultant recomputed coefficients after optimization
155  */
156  void
157  optimizeModelCoefficients (const std::vector<int> &inliers,
158  const Eigen::VectorXf &model_coefficients,
159  Eigen::VectorXf &optimized_coefficients) const;
160 
161  /** \brief Create a new point cloud with inliers projected onto the stick model.
162  * \param[in] inliers the data inliers that we want to project on the stick model
163  * \param[in] model_coefficients the *normalized* coefficients of a stick model
164  * \param[out] projected_points the resultant projected points
165  * \param[in] copy_data_fields set to true if we need to copy the other data fields
166  */
167  void
168  projectPoints (const std::vector<int> &inliers,
169  const Eigen::VectorXf &model_coefficients,
170  PointCloud &projected_points,
171  bool copy_data_fields = true) const;
172 
173  /** \brief Verify whether a subset of indices verifies the given stick model coefficients.
174  * \param[in] indices the data indices that need to be tested against the plane model
175  * \param[in] model_coefficients the plane model coefficients
176  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
177  */
178  bool
179  doSamplesVerifyModel (const std::set<int> &indices,
180  const Eigen::VectorXf &model_coefficients,
181  const double threshold) const;
182 
183  /** \brief Return an unique id for this model (SACMODEL_STICK). */
184  inline pcl::SacModel
185  getModelType () const { return (SACMODEL_STICK); }
186 
187  protected:
190 
191  /** \brief Check if a sample of indices results in a good sample of points
192  * indices.
193  * \param[in] samples the resultant index samples
194  */
195  bool
196  isSampleGood (const std::vector<int> &samples) const;
197  };
198 }
199 
200 #ifdef PCL_NO_PRECOMPILE
201 #include <pcl/sample_consensus/impl/sac_model_stick.hpp>
202 #endif
203 
204 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::SampleConsensusModel::PointCloudPtr
pcl::PointCloud< PointT >::Ptr PointCloudPtr
Definition: sac_model.h:71
pcl::SampleConsensusModelStick::doSamplesVerifyModel
bool doSamplesVerifyModel(const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const
Verify whether a subset of indices verifies the given stick model coefficients.
Definition: sac_model_stick.hpp:337
pcl::SampleConsensusModelStick::projectPoints
void projectPoints(const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const
Create a new point cloud with inliers projected onto the stick model.
Definition: sac_model_stick.hpp:264
pcl::SampleConsensusModel::sample_size_
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition: sac_model.h:572
pcl::SampleConsensusModelStick::~SampleConsensusModelStick
virtual ~SampleConsensusModelStick()
Empty destructor.
Definition: sac_model_stick.h:110
pcl::SampleConsensusModel::model_size_
unsigned int model_size_
The number of coefficients in the model.
Definition: sac_model.h:575
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:53
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:619
pcl::SampleConsensusModel::PointCloudConstPtr
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
Definition: sac_model.h:70
pcl::SampleConsensusModelStick
SampleConsensusModelStick defines a model for 3D stick segmentation.
Definition: sac_model_stick.h:64
pcl::SampleConsensusModelStick::PointCloudConstPtr
SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
Definition: sac_model_stick.h:77
pcl::SacModel
SacModel
Definition: model_types.h:46
pcl::SampleConsensusModelStick::countWithinDistance
virtual int countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const
Count all the points which respect the given model coefficients as inliers.
Definition: sac_model_stick.hpp:178
pcl::SampleConsensusModelStick::isSampleGood
bool isSampleGood(const std::vector< int > &samples) const
Check if a sample of indices results in a good sample of points indices.
Definition: sac_model_stick.hpp:50
pcl::SampleConsensusModelStick::computeModelCoefficients
bool computeModelCoefficients(const std::vector< int > &samples, Eigen::VectorXf &model_coefficients) const
Check whether the given index samples can form a valid stick model, compute the model coefficients fr...
Definition: sac_model_stick.hpp:65
pcl::SampleConsensusModel::model_name_
std::string model_name_
The model name.
Definition: sac_model.h:534
pcl::SampleConsensusModelStick::optimizeModelCoefficients
void optimizeModelCoefficients(const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const
Recompute the stick coefficients using the given inlier set and return them to the user.
Definition: sac_model_stick.hpp:223
pcl::SampleConsensusModelStick::selectWithinDistance
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)
Select all the points which respect the given model coefficients as inliers.
Definition: sac_model_stick.hpp:129
pcl::SampleConsensusModelStick::PointCloud
SampleConsensusModel< PointT >::PointCloud PointCloud
Definition: sac_model_stick.h:75
pcl::SampleConsensusModelStick::PointCloudPtr
SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
Definition: sac_model_stick.h:76
pcl::SampleConsensusModelStick::getModelType
pcl::SacModel getModelType() const
Return an unique id for this model (SACMODEL_STICK).
Definition: sac_model_stick.h:185
pcl::SampleConsensusModel
SampleConsensusModel represents the base model class.
Definition: sac_model.h:66
pcl::SampleConsensusModelStick::SampleConsensusModelStick
SampleConsensusModelStick(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelStick.
Definition: sac_model_stick.h:99
pcl::SACMODEL_STICK
@ SACMODEL_STICK
Definition: model_types.h:65
pcl::SampleConsensusModelStick::Ptr
boost::shared_ptr< SampleConsensusModelStick > Ptr
Definition: sac_model_stick.h:79
pcl::SampleConsensusModelStick::getDistancesToModel
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const
Compute all squared distances from the cloud data to a given stick model.
Definition: sac_model_stick.hpp:96
pcl::SampleConsensusModelStick::SampleConsensusModelStick
SampleConsensusModelStick(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelStick.
Definition: sac_model_stick.h:85