Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: sac_model_plane.h 3027 2011-11-01 04:04:27Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_ 00041 #define PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_ 00042 00043 #include <pcl/sample_consensus/sac_model.h> 00044 #include <pcl/sample_consensus/model_types.h> 00045 00046 namespace pcl 00047 { 00048 00054 template <typename Point> inline void 00055 projectPoint (const Point &p, const Eigen::Vector4f &model_coefficients, Point &q) 00056 { 00057 // Calculate the distance from the point to the plane 00058 Eigen::Vector4f pp (p.x, p.y, p.z, 1); 00059 // use normalized coefficients to calculate the scalar projection 00060 float distance_to_plane = pp.dot(model_coefficients); 00061 00062 00063 //TODO: Why doesn't getVector4Map work here? 00064 //Eigen::Vector4f q_e = q.getVector4fMap (); 00065 //q_e = pp - model_coefficients * distance_to_plane; 00066 00067 Eigen::Vector4f q_e = pp - distance_to_plane * model_coefficients; 00068 q.x = q_e[0]; 00069 q.y = q_e[1]; 00070 q.z = q_e[2]; 00071 } 00072 00081 template <typename Point> inline double 00082 pointToPlaneDistanceSigned (const Point &p, double a, double b, double c, double d) 00083 { 00084 return (a * p.x + b * p.y + c * p.z + d); 00085 } 00086 00092 template <typename Point> inline double 00093 pointToPlaneDistanceSigned (const Point &p, const Eigen::Vector4f &plane_coefficients) 00094 { 00095 return ( plane_coefficients[0] * p.x + plane_coefficients[1] * p.y + plane_coefficients[2] * p.z + plane_coefficients[3] ); 00096 } 00097 00106 template <typename Point> inline double 00107 pointToPlaneDistance (const Point &p, double a, double b, double c, double d) 00108 { 00109 return (fabs (pointToPlaneDistanceSigned (p, a, b, c, d)) ); 00110 } 00111 00117 template <typename Point> inline double 00118 pointToPlaneDistance (const Point &p, const Eigen::Vector4f &plane_coefficients) 00119 { 00120 return ( fabs (pointToPlaneDistanceSigned (p, plane_coefficients)) ); 00121 } 00122 00124 00135 template <typename PointT> 00136 class SampleConsensusModelPlane : public SampleConsensusModel<PointT> 00137 { 00138 public: 00139 using SampleConsensusModel<PointT>::input_; 00140 using SampleConsensusModel<PointT>::indices_; 00141 00142 typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud; 00143 typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr; 00144 typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 00145 00146 typedef boost::shared_ptr<SampleConsensusModelPlane> Ptr; 00147 00151 SampleConsensusModelPlane (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) {}; 00152 00157 SampleConsensusModelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) {}; 00158 00165 bool 00166 computeModelCoefficients (const std::vector<int> &samples, 00167 Eigen::VectorXf &model_coefficients); 00168 00173 void 00174 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00175 std::vector<double> &distances); 00176 00182 void 00183 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00184 const double threshold, 00185 std::vector<int> &inliers); 00186 00193 virtual int 00194 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00195 const double threshold); 00196 00203 void 00204 optimizeModelCoefficients (const std::vector<int> &inliers, 00205 const Eigen::VectorXf &model_coefficients, 00206 Eigen::VectorXf &optimized_coefficients); 00207 00214 void 00215 projectPoints (const std::vector<int> &inliers, 00216 const Eigen::VectorXf &model_coefficients, 00217 PointCloud &projected_points, 00218 bool copy_data_fields = true); 00219 00225 bool 00226 doSamplesVerifyModel (const std::set<int> &indices, 00227 const Eigen::VectorXf &model_coefficients, 00228 const double threshold); 00229 00231 inline pcl::SacModel 00232 getModelType () const { return (SACMODEL_PLANE); } 00233 00234 protected: 00238 inline bool 00239 isModelValid (const Eigen::VectorXf &model_coefficients) 00240 { 00241 // Needs a valid model coefficients 00242 if (model_coefficients.size () != 4) 00243 { 00244 PCL_ERROR ("[pcl::SampleConsensusModelPlane::isModelValid] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ()); 00245 return (false); 00246 } 00247 return (true); 00248 } 00249 00250 private: 00255 virtual bool 00256 isSampleGood (const std::vector<int> &samples) const; 00257 }; 00258 } 00259 00260 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_