Point Cloud Library (PCL)  1.3.1
sac_model_cylinder.hpp
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00037 
00038 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_
00039 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_
00040 
00041 #include "pcl/sample_consensus/sac_model_cylinder.h"
00042 #include "pcl/common/concatenate.h"
00043 #include <unsupported/Eigen/NonLinearOptimization>
00044 
00046 template <typename PointT, typename PointNT> bool
00047 pcl::SampleConsensusModelCylinder<PointT, PointNT>::isSampleGood(const std::vector<int> &samples) const
00048 {
00049   return true;
00050 }
00051 
00053 template <typename PointT, typename PointNT> bool
00054 pcl::SampleConsensusModelCylinder<PointT, PointNT>::computeModelCoefficients (
00055       const std::vector<int> &samples, Eigen::VectorXf &model_coefficients)
00056 {
00057   // Need 2 samples
00058   if (samples.size () != 2)
00059   {
00060     PCL_ERROR ("[pcl::SampleConsensusModelCylinder::computeModelCoefficients] Invalid set of samples given (%lu)!\n", (unsigned long)samples.size ());
00061     return (false);
00062   }
00063 
00064   if (!normals_)
00065   {
00066     PCL_ERROR ("[pcl::SampleConsensusModelCylinder::computeModelCoefficients] No input dataset containing normals was given!\n");
00067     return (false);
00068   }
00069 
00070   Eigen::Vector4f p1 (input_->points[samples[0]].x, input_->points[samples[0]].y, input_->points[samples[0]].z, 0);
00071   Eigen::Vector4f p2 (input_->points[samples[1]].x, input_->points[samples[1]].y, input_->points[samples[1]].z, 0);
00072 
00073   Eigen::Vector4f n1 (normals_->points[samples[0]].normal[0], normals_->points[samples[0]].normal[1], normals_->points[samples[0]].normal[2], 0);
00074   Eigen::Vector4f n2 (normals_->points[samples[1]].normal[0], normals_->points[samples[1]].normal[1], normals_->points[samples[1]].normal[2], 0);
00075   Eigen::Vector4f w = n1 + p1 - p2;
00076 
00077   double a = n1.dot (n1);
00078   double b = n1.dot (n2);
00079   double c = n2.dot (n2);
00080   double d = n1.dot (w);
00081   double e = n2.dot (w);
00082   double denominator = a*c - b*b;
00083   double sc, tc;
00084   // Compute the line parameters of the two closest points
00085   if (denominator < 1e-8)          // The lines are almost parallel
00086   {
00087     sc = 0.0;
00088     tc = (b > c ? d / b : e / c);  // Use the largest denominator
00089   }
00090   else
00091   {
00092     sc = (b*e - c*d) / denominator;
00093     tc = (a*e - b*d) / denominator;
00094   }
00095 
00096   // point_on_axis, axis_direction
00097   Eigen::Vector4f line_pt  = p1 + n1 + sc * n1;
00098   Eigen::Vector4f line_dir = p2 + tc * n2 - line_pt;
00099   line_dir.normalize ();
00100 
00101   model_coefficients.resize (7);
00102   // model_coefficients.template head<3> ()    = line_pt.template head<3> ();
00103   model_coefficients[0] = line_pt[0];
00104   model_coefficients[1] = line_pt[1];
00105   model_coefficients[2] = line_pt[2];
00106   // model_coefficients.template segment<3> (3) = line_dir.template head<3> ();
00107   model_coefficients[3] = line_dir[0];
00108   model_coefficients[4] = line_dir[1];
00109   model_coefficients[5] = line_dir[2];
00110   // cylinder radius
00111   model_coefficients[6] = sqrt (pcl::sqrPointToLineDistance (p1, line_pt, line_dir));
00112 
00113   if (model_coefficients[6] > radius_max_ || model_coefficients[6] < radius_min_)
00114     return (false);
00115 
00116   return (true);
00117 }
00118 
00120 template <typename PointT, typename PointNT> void
00121 pcl::SampleConsensusModelCylinder<PointT, PointNT>::getDistancesToModel (
00122       const Eigen::VectorXf &model_coefficients, std::vector<double> &distances)
00123 {
00124   // Check if the model is valid given the user constraints
00125   if (!isModelValid (model_coefficients))
00126   {
00127     distances.clear ();
00128     return;
00129   }
00130 
00131   distances.resize (indices_->size ());
00132 
00133   Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);
00134   Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);
00135   double ptdotdir = line_pt.dot (line_dir);
00136   double dirdotdir = 1.0 / line_dir.dot (line_dir);
00137   // Iterate through the 3d points and calculate the distances from them to the sphere
00138   for (size_t i = 0; i < indices_->size (); ++i)
00139   {
00140     // Aproximate the distance from the point to the cylinder as the difference between
00141     // dist(point,cylinder_axis) and cylinder radius
00142     // @note need to revise this.
00143     Eigen::Vector4f pt (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 0);
00144     Eigen::Vector4f n  (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0);
00145 
00146     double d_euclid = fabs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);
00147 
00148     // Calculate the point's projection on the cylinder axis
00149     double k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;
00150     Eigen::Vector4f pt_proj = line_pt + k * line_dir;
00151     Eigen::Vector4f dir = pt - pt_proj;
00152     dir.normalize ();
00153 
00154     // Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
00155     double d_normal = fabs (getAngle3D (n, dir));
00156     d_normal = (std::min) (d_normal, M_PI - d_normal);
00157 
00158     distances[i] = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid);
00159   }
00160 }
00161 
00163 template <typename PointT, typename PointNT> void
00164 pcl::SampleConsensusModelCylinder<PointT, PointNT>::selectWithinDistance (
00165       const Eigen::VectorXf &model_coefficients, const double threshold, std::vector<int> &inliers)
00166 {
00167   // Check if the model is valid given the user constraints
00168   if (!isModelValid (model_coefficients))
00169   {
00170     inliers.clear ();
00171     return;
00172   }
00173 
00174   int nr_p = 0;
00175   inliers.resize (indices_->size ());
00176 
00177   Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);
00178   Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);
00179   double ptdotdir = line_pt.dot (line_dir);
00180   double dirdotdir = 1.0 / line_dir.dot (line_dir);
00181   // Iterate through the 3d points and calculate the distances from them to the sphere
00182   for (size_t i = 0; i < indices_->size (); ++i)
00183   {
00184     // Aproximate the distance from the point to the cylinder as the difference between
00185     // dist(point,cylinder_axis) and cylinder radius
00186     Eigen::Vector4f pt (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 0);
00187     Eigen::Vector4f n  (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0);
00188     double d_euclid = fabs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);
00189 
00190     // Calculate the point's projection on the cylinder axis
00191     double k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;
00192     Eigen::Vector4f pt_proj = line_pt + k * line_dir;
00193     Eigen::Vector4f dir = pt - pt_proj;
00194     dir.normalize ();
00195 
00196     // Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
00197     double d_normal = fabs (getAngle3D (n, dir));
00198     d_normal = (std::min) (d_normal, M_PI - d_normal);
00199 
00200     if (fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid) < threshold)
00201     {
00202       // Returns the indices of the points whose distances are smaller than the threshold
00203       inliers[nr_p] = (*indices_)[i];
00204       nr_p++;
00205     }
00206   }
00207   inliers.resize (nr_p);
00208 }
00209 
00211 template <typename PointT, typename PointNT> int
00212 pcl::SampleConsensusModelCylinder<PointT, PointNT>::countWithinDistance (
00213       const Eigen::VectorXf &model_coefficients, const double threshold)
00214 {
00215   // Check if the model is valid given the user constraints
00216   if (!isModelValid (model_coefficients))
00217     return (0);
00218 
00219   int nr_p = 0;
00220 
00221   Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);
00222   Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);
00223   double ptdotdir = line_pt.dot (line_dir);
00224   double dirdotdir = 1.0 / line_dir.dot (line_dir);
00225   // Iterate through the 3d points and calculate the distances from them to the sphere
00226   for (size_t i = 0; i < indices_->size (); ++i)
00227   {
00228     // Aproximate the distance from the point to the cylinder as the difference between
00229     // dist(point,cylinder_axis) and cylinder radius
00230     Eigen::Vector4f pt (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 0);
00231     Eigen::Vector4f n  (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0);
00232     double d_euclid = fabs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);
00233 
00234     // Calculate the point's projection on the cylinder axis
00235     double k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;
00236     Eigen::Vector4f pt_proj = line_pt + k * line_dir;
00237     Eigen::Vector4f dir = pt - pt_proj;
00238     dir.normalize ();
00239 
00240     // Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
00241     double d_normal = fabs (getAngle3D (n, dir));
00242     d_normal = (std::min) (d_normal, M_PI - d_normal);
00243 
00244     if (fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid) < threshold)
00245       nr_p++;
00246   }
00247   return (nr_p);
00248 }
00249 
00251 template <typename PointT, typename PointNT> void
00252 pcl::SampleConsensusModelCylinder<PointT, PointNT>::optimizeModelCoefficients (
00253       const std::vector<int> &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
00254 {
00255   boost::mutex::scoped_lock lock (tmp_mutex_);
00256 
00257   const int n_unknowns = 7;      // 4 unknowns
00258   // Needs a set of valid model coefficients
00259   if (model_coefficients.size () != n_unknowns)
00260   {
00261     PCL_ERROR ("[pcl::SampleConsensusModelCylinder::optimizeModelCoefficients] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ());
00262     optimized_coefficients = model_coefficients;
00263     return;
00264   }
00265 
00266   if (inliers.empty ())
00267   {
00268     PCL_DEBUG ("[pcl::SampleConsensusModelCylinder:optimizeModelCoefficients] Inliers vector empty! Returning the same coefficients.\n"); 
00269     optimized_coefficients = model_coefficients;
00270     return;
00271   }
00272 
00273   tmp_inliers_ = &inliers;
00274   int m = inliers.size ();
00275 
00276   Eigen::VectorXd x(n_unknowns);
00277   for(int d = 0; d < n_unknowns; d++)
00278     x[d] = model_coefficients[d];
00279 
00280   OptimizationFunctor functor(n_unknowns, m, this);
00281   Eigen::NumericalDiff<OptimizationFunctor > num_diff(functor);
00282   Eigen::LevenbergMarquardt<Eigen::NumericalDiff<OptimizationFunctor> > lm(num_diff);
00283   int info = lm.minimize(x);
00284   
00285   // Compute the L2 norm of the residuals
00286   PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::optimizeModelCoefficients] LM solver finished with exit code %i, having a residual norm of %g. \nInitial solution: %g %g %g %g %g %g %g \nFinal solution: %g %g %g %g %g %g %g\n",
00287              info, lm.fvec.norm (), model_coefficients[0], model_coefficients[1], model_coefficients[2], model_coefficients[3],
00288              model_coefficients[4], model_coefficients[5], model_coefficients[6], x[0], x[1], x[2], x[3], x[4], x[5], x[6]);
00289 
00290   optimized_coefficients.resize (n_unknowns);
00291   for (int d = 0; d < n_unknowns; ++d)
00292     optimized_coefficients[d] = x[d];
00293 }
00294 
00296 template <typename PointT, typename PointNT> void
00297 pcl::SampleConsensusModelCylinder<PointT, PointNT>::projectPoints (
00298       const std::vector<int> &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields)
00299 {
00300   // Needs a valid set of model coefficients
00301   if (model_coefficients.size () != 7)
00302   {
00303     PCL_ERROR ("[pcl::SampleConsensusModelCylinder::projectPoints] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ());
00304     return;
00305   }
00306 
00307   projected_points.header = input_->header;
00308   projected_points.is_dense = input_->is_dense;
00309 
00310   Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);
00311   Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);
00312   double ptdotdir = line_pt.dot (line_dir);
00313   double dirdotdir = 1.0 / line_dir.dot (line_dir);
00314 
00315   // Copy all the data fields from the input cloud to the projected one?
00316   if (copy_data_fields)
00317   {
00318     // Allocate enough space and copy the basics
00319     projected_points.points.resize (input_->points.size ());
00320     projected_points.width    = input_->width;
00321     projected_points.height   = input_->height;
00322 
00323     typedef typename pcl::traits::fieldList<PointT>::type FieldList;
00324     // Iterate over each point
00325     for (size_t i = 0; i < projected_points.points.size (); ++i)
00326       // Iterate over each dimension
00327       pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> (input_->points[i], projected_points.points[i]));
00328 
00329     // Iterate through the 3d points and calculate the distances from them to the cylinder
00330     for (size_t i = 0; i < inliers.size (); ++i)
00331     {
00332       Eigen::Vector4f p (input_->points[inliers[i]].x,
00333                          input_->points[inliers[i]].y,
00334                          input_->points[inliers[i]].z,
00335                          1);
00336 
00337       double k = (p.dot (line_dir) - ptdotdir) * dirdotdir;
00338 
00339       pcl::Vector4fMap pp = projected_points.points[inliers[i]].getVector4fMap ();
00340       pp = line_pt + k * line_dir;
00341 
00342       Eigen::Vector4f dir = p - pp;
00343       dir.normalize ();
00344 
00345       // Calculate the projection of the point onto the cylinder
00346       pp += dir * model_coefficients[6];
00347     }
00348   }
00349   else
00350   {
00351     // Allocate enough space and copy the basics
00352     projected_points.points.resize (inliers.size ());
00353     projected_points.width    = inliers.size ();
00354     projected_points.height   = 1;
00355 
00356     typedef typename pcl::traits::fieldList<PointT>::type FieldList;
00357     // Iterate over each point
00358     for (size_t i = 0; i < inliers.size (); ++i)
00359       // Iterate over each dimension
00360       pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> (input_->points[inliers[i]], projected_points.points[i]));
00361 
00362     // Iterate through the 3d points and calculate the distances from them to the plane
00363     for (size_t i = 0; i < inliers.size (); ++i)
00364     {
00365       pcl::Vector4fMap pp = projected_points.points[i].getVector4fMap ();
00366       pcl::Vector4fMapConst p = input_->points[inliers[i]].getVector4fMap ();
00367 
00368       double k = (p.dot (line_dir) - ptdotdir) * dirdotdir;
00369       // Calculate the projection of the point on the line
00370       pp = line_pt + k * line_dir;
00371 
00372       Eigen::Vector4f dir = p - pp;
00373       dir.normalize ();
00374 
00375       // Calculate the projection of the point onto the cylinder
00376       pp += dir * model_coefficients[6];
00377     }
00378   }
00379 }
00380 
00382 template <typename PointT, typename PointNT> bool
00383 pcl::SampleConsensusModelCylinder<PointT, PointNT>::doSamplesVerifyModel (
00384       const std::set<int> &indices, const Eigen::VectorXf &model_coefficients, const double threshold)
00385 {
00386   // Needs a valid model coefficients
00387   if (model_coefficients.size () != 7)
00388   {
00389     PCL_ERROR ("[pcl::SampleConsensusModelCylinder::doSamplesVerifyModel] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ());
00390     return (false);
00391   }
00392 
00393   for (std::set<int>::const_iterator it = indices.begin (); it != indices.end (); ++it)
00394   {
00395     // Aproximate the distance from the point to the cylinder as the difference between
00396     // dist(point,cylinder_axis) and cylinder radius
00397     // @note need to revise this.
00398     Eigen::Vector4f pt (input_->points[*it].x, input_->points[*it].y, input_->points[*it].z, 0);
00399     if (fabs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]) > threshold)
00400       return (false);
00401   }
00402 
00403   return (true);
00404 }
00405 
00407 template <typename PointT, typename PointNT> double
00408 pcl::SampleConsensusModelCylinder<PointT, PointNT>::pointToLineDistance (
00409       const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients)
00410 {
00411   Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);
00412   Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);
00413   return sqrt(pcl::sqrPointToLineDistance (pt, line_pt, line_dir));
00414 }
00415 
00417 template <typename PointT, typename PointNT> void
00418 pcl::SampleConsensusModelCylinder<PointT, PointNT>::projectPointToCylinder (
00419       const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj)
00420 {
00421   Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);
00422   Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);
00423 
00424   double k = (pt.dot (line_dir) - line_pt.dot (line_dir)) * line_dir.dot (line_dir);
00425   pt_proj = line_pt + k * line_dir;
00426 
00427   Eigen::Vector4f dir = pt - pt_proj;
00428   dir.normalize ();
00429 
00430   // Calculate the projection of the point onto the cylinder
00431   pt_proj += dir * model_coefficients[6];
00432 }
00433 
00435 template <typename PointT, typename PointNT> bool 
00436 pcl::SampleConsensusModelCylinder<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients)
00437 {
00438   // Needs a valid model coefficients
00439   if (model_coefficients.size () != 7)
00440   {
00441     PCL_ERROR ("[pcl::SampleConsensusModelCylinder::isModelValid] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ());
00442     return (false);
00443   }
00444  
00445   // Check against template, if given
00446   if (eps_angle_ > 0.0)
00447   {
00448     // Obtain the cylinder direction
00449     Eigen::Vector4f coeff;
00450     coeff[0] = model_coefficients[3];
00451     coeff[1] = model_coefficients[4];
00452     coeff[2] = model_coefficients[5];
00453     coeff[3] = 0;
00454 
00455     Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0);
00456     double angle_diff = fabs (getAngle3D (axis, coeff));
00457     angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
00458     // Check whether the current cylinder model satisfies our angle threshold criterion with respect to the given axis
00459     if (angle_diff > eps_angle_)
00460       return (false);
00461   }
00462 
00463   if (radius_min_ != -DBL_MAX && model_coefficients[6] < radius_min_)
00464     return (false);
00465   if (radius_max_ != DBL_MAX && model_coefficients[6] > radius_max_)
00466     return (false);
00467 
00468   return (true);
00469 }
00470 
00471 #define PCL_INSTANTIATE_SampleConsensusModelCylinder(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelCylinder<PointT, PointNT>;
00472 
00473 #endif    // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_
00474 
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