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sac_model_cone.hpp
/*
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#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CONE_H_
#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CONE_H_
#include <pcl/sample_consensus/sac_model_cone.h>
#include <pcl/common/common.h> // for getAngle3D
#include <pcl/common/concatenate.h>
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> bool
pcl::SampleConsensusModelCone<PointT, PointNT>::isSampleGood(const Indices &samples) const
{
if (samples.size () != sample_size_)
{
PCL_ERROR ("[pcl::SampleConsensusModelCone::isSampleGood] Wrong number of samples (is %lu, should be %lu)!\n", samples.size (), sample_size_);
return (false);
}
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> bool
pcl::SampleConsensusModelCone<PointT, PointNT>::computeModelCoefficients (
const Indices &samples, Eigen::VectorXf &model_coefficients) const
{
// Make sure that the samples are valid
if (!isSampleGood (samples))
{
PCL_ERROR ("[pcl::SampleConsensusModelCone::computeModelCoefficients] Invalid set of samples given\n");
return (false);
}
if (!normals_)
{
PCL_ERROR ("[pcl::SampleConsensusModelCone::computeModelCoefficients] No input dataset containing normals was given! Use setInputNormals\n");
return (false);
}
Eigen::Vector4f p1 ((*input_)[samples[0]].x, (*input_)[samples[0]].y, (*input_)[samples[0]].z, 0.0f);
Eigen::Vector4f p2 ((*input_)[samples[1]].x, (*input_)[samples[1]].y, (*input_)[samples[1]].z, 0.0f);
Eigen::Vector4f p3 ((*input_)[samples[2]].x, (*input_)[samples[2]].y, (*input_)[samples[2]].z, 0.0f);
Eigen::Vector4f n1 ((*normals_)[samples[0]].normal[0], (*normals_)[samples[0]].normal[1], (*normals_)[samples[0]].normal[2], 0.0f);
Eigen::Vector4f n2 ((*normals_)[samples[1]].normal[0], (*normals_)[samples[1]].normal[1], (*normals_)[samples[1]].normal[2], 0.0f);
Eigen::Vector4f n3 ((*normals_)[samples[2]].normal[0], (*normals_)[samples[2]].normal[1], (*normals_)[samples[2]].normal[2], 0.0f);
//calculate apex (intersection of the three planes defined by points and belonging normals
Eigen::Vector4f ortho12 = n1.cross3(n2);
Eigen::Vector4f ortho23 = n2.cross3(n3);
Eigen::Vector4f ortho31 = n3.cross3(n1);
float denominator = n1.dot(ortho23);
float d1 = p1.dot (n1);
float d2 = p2.dot (n2);
float d3 = p3.dot (n3);
Eigen::Vector4f apex = (d1 * ortho23 + d2 * ortho31 + d3 * ortho12) / denominator;
//compute axis (normal of plane defined by: { apex+(p1-apex)/(||p1-apex||), apex+(p2-apex)/(||p2-apex||), apex+(p3-apex)/(||p3-apex||)}
Eigen::Vector4f ap1 = p1 - apex;
Eigen::Vector4f ap2 = p2 - apex;
Eigen::Vector4f ap3 = p3 - apex;
Eigen::Vector4f np1 = apex + (ap1/ap1.norm ());
Eigen::Vector4f np2 = apex + (ap2/ap2.norm ());
Eigen::Vector4f np3 = apex + (ap3/ap3.norm ());
Eigen::Vector4f np1np2 = np2 - np1;
Eigen::Vector4f np1np3 = np3 - np1;
Eigen::Vector4f axis_dir = np1np2.cross3 (np1np3);
axis_dir.normalize ();
// normalize the vector (apex->p) for opening angle calculation
ap1.normalize ();
ap2.normalize ();
ap3.normalize ();
//compute opening angle
float opening_angle = ( std::acos (ap1.dot (axis_dir)) + std::acos (ap2.dot (axis_dir)) + std::acos (ap3.dot (axis_dir)) ) / 3.0f;
model_coefficients.resize (model_size_);
// model_coefficients.template head<3> () = line_pt.template head<3> ();
model_coefficients[0] = apex[0];
model_coefficients[1] = apex[1];
model_coefficients[2] = apex[2];
// model_coefficients.template segment<3> (3) = line_dir.template head<3> ();
model_coefficients[3] = axis_dir[0];
model_coefficients[4] = axis_dir[1];
model_coefficients[5] = axis_dir[2];
// cone radius
model_coefficients[6] = opening_angle;
if (model_coefficients[6] != -std::numeric_limits<double>::max() && model_coefficients[6] < min_angle_)
return (false);
if (model_coefficients[6] != std::numeric_limits<double>::max() && model_coefficients[6] > max_angle_)
return (false);
PCL_DEBUG ("[pcl::SampleConsensusModelCone::computeModelCoefficients] Model is (%g,%g,%g,%g,%g,%g,%g).\n",
model_coefficients[0], model_coefficients[1], model_coefficients[2], model_coefficients[3],
model_coefficients[4], model_coefficients[5], model_coefficients[6]);
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> void
pcl::SampleConsensusModelCone<PointT, PointNT>::getDistancesToModel (
const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) const
{
// Check if the model is valid given the user constraints
if (!isModelValid (model_coefficients))
{
distances.clear ();
return;
}
distances.resize (indices_->size ());
Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
const float sin_opening_angle = std::sin (model_coefficients[6]),
cos_opening_angle = std::cos (model_coefficients[6]),
tan_opening_angle = std::tan (model_coefficients[6]);
float apexdotdir = apex.dot (axis_dir);
float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
// Iterate through the 3d points and calculate the distances from them to the cone
for (std::size_t i = 0; i < indices_->size (); ++i)
{
Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
// Calculate the point's projection on the cone axis
float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
Eigen::Vector4f pt_proj = apex + k * axis_dir;
// Calculate the actual radius of the cone at the level of the projected point
Eigen::Vector4f height = apex - pt_proj;
float actual_cone_radius = tan_opening_angle * height.norm ();
// Approximate the distance from the point to the cone as the difference between
// dist(point,cone_axis) and actual cone radius
const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToAxisDistance (pt, model_coefficients) - actual_cone_radius);
// Calculate the direction of the point from center
Eigen::Vector4f dir = pt - pt_proj;
dir.normalize ();
// Calculate the cones perfect normals
height.normalize ();
Eigen::Vector4f cone_normal = sin_opening_angle * height + cos_opening_angle * dir;
// Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
Eigen::Vector4f n ((*normals_)[(*indices_)[i]].normal[0], (*normals_)[(*indices_)[i]].normal[1], (*normals_)[(*indices_)[i]].normal[2], 0.0f);
double d_normal = std::abs (getAngle3D (n, cone_normal));
d_normal = (std::min) (d_normal, M_PI - d_normal);
distances[i] = std::abs (normal_distance_weight_ * d_normal + weighted_euclid_dist);
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> void
pcl::SampleConsensusModelCone<PointT, PointNT>::selectWithinDistance (
const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers)
{
// Check if the model is valid given the user constraints
if (!isModelValid (model_coefficients))
{
inliers.clear ();
return;
}
inliers.clear ();
error_sqr_dists_.clear ();
inliers.reserve (indices_->size ());
error_sqr_dists_.reserve (indices_->size ());
Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
const float sin_opening_angle = std::sin (model_coefficients[6]),
cos_opening_angle = std::cos (model_coefficients[6]),
tan_opening_angle = std::tan (model_coefficients[6]);
float apexdotdir = apex.dot (axis_dir);
float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
// Iterate through the 3d points and calculate the distances from them to the cone
for (std::size_t i = 0; i < indices_->size (); ++i)
{
Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
// Calculate the point's projection on the cone axis
float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
Eigen::Vector4f pt_proj = apex + k * axis_dir;
// Calculate the actual radius of the cone at the level of the projected point
Eigen::Vector4f height = apex - pt_proj;
double actual_cone_radius = tan_opening_angle * height.norm ();
// Approximate the distance from the point to the cone as the difference between
// dist(point,cone_axis) and actual cone radius
const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToAxisDistance (pt, model_coefficients) - actual_cone_radius);
if (weighted_euclid_dist > threshold) // Early termination: cannot be an inlier
continue;
// Calculate the direction of the point from center
Eigen::Vector4f pp_pt_dir = pt - pt_proj;
pp_pt_dir.normalize ();
// Calculate the cones perfect normals
height.normalize ();
Eigen::Vector4f cone_normal = sin_opening_angle * height + cos_opening_angle * pp_pt_dir;
// Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
Eigen::Vector4f n ((*normals_)[(*indices_)[i]].normal[0], (*normals_)[(*indices_)[i]].normal[1], (*normals_)[(*indices_)[i]].normal[2], 0.0f);
double d_normal = std::abs (getAngle3D (n, cone_normal));
d_normal = (std::min) (d_normal, M_PI - d_normal);
double distance = std::abs (normal_distance_weight_ * d_normal + weighted_euclid_dist);
if (distance < threshold)
{
// Returns the indices of the points whose distances are smaller than the threshold
inliers.push_back ((*indices_)[i]);
error_sqr_dists_.push_back (distance);
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> std::size_t
pcl::SampleConsensusModelCone<PointT, PointNT>::countWithinDistance (
const Eigen::VectorXf &model_coefficients, const double threshold) const
{
// Check if the model is valid given the user constraints
if (!isModelValid (model_coefficients))
return (0);
std::size_t nr_p = 0;
Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
const float sin_opening_angle = std::sin (model_coefficients[6]),
cos_opening_angle = std::cos (model_coefficients[6]),
tan_opening_angle = std::tan (model_coefficients[6]);
float apexdotdir = apex.dot (axis_dir);
float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
// Iterate through the 3d points and calculate the distances from them to the cone
for (std::size_t i = 0; i < indices_->size (); ++i)
{
Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
// Calculate the point's projection on the cone axis
float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
Eigen::Vector4f pt_proj = apex + k * axis_dir;
// Calculate the actual radius of the cone at the level of the projected point
Eigen::Vector4f height = apex - pt_proj;
double actual_cone_radius = tan_opening_angle * height.norm ();
// Approximate the distance from the point to the cone as the difference between
// dist(point,cone_axis) and actual cone radius
const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToAxisDistance (pt, model_coefficients) - actual_cone_radius);
if (weighted_euclid_dist > threshold) // Early termination: cannot be an inlier
continue;
// Calculate the direction of the point from center
Eigen::Vector4f pp_pt_dir = pt - pt_proj;
pp_pt_dir.normalize ();
// Calculate the cones perfect normals
height.normalize ();
Eigen::Vector4f cone_normal = sin_opening_angle * height + cos_opening_angle * pp_pt_dir;
// Calculate the angular distance between the point normal and the (dir=pt_proj->pt) vector
Eigen::Vector4f n ((*normals_)[(*indices_)[i]].normal[0], (*normals_)[(*indices_)[i]].normal[1], (*normals_)[(*indices_)[i]].normal[2], 0.0f);
double d_normal = std::abs (getAngle3D (n, cone_normal));
d_normal = (std::min) (d_normal, M_PI - d_normal);
if (std::abs (normal_distance_weight_ * d_normal + weighted_euclid_dist) < threshold)
nr_p++;
}
return (nr_p);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> void
pcl::SampleConsensusModelCone<PointT, PointNT>::optimizeModelCoefficients (
const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const
{
optimized_coefficients = model_coefficients;
// Needs a set of valid model coefficients
if (!isModelValid (model_coefficients))
{
PCL_ERROR ("[pcl::SampleConsensusModelCone::optimizeModelCoefficients] Given model is invalid!\n");
return;
}
// Need more than the minimum sample size to make a difference
if (inliers.size () <= sample_size_)
{
PCL_ERROR ("[pcl::SampleConsensusModelCone:optimizeModelCoefficients] Not enough inliers found to optimize model coefficients (%lu)! Returning the same coefficients.\n", inliers.size ());
return;
}
Eigen::ArrayXf pts_x(inliers.size());
Eigen::ArrayXf pts_y(inliers.size());
Eigen::ArrayXf pts_z(inliers.size());
std::size_t pos = 0;
for(const auto& index : inliers) {
pts_x[pos] = (*input_)[index].x;
pts_y[pos] = (*input_)[index].y;
pts_z[pos] = (*input_)[index].z;
++pos;
}
pcl::internal::optimizeModelCoefficientsCone(optimized_coefficients, pts_x, pts_y, pts_z);
PCL_DEBUG ("[pcl::SampleConsensusModelCone::optimizeModelCoefficients] Initial solution: %g %g %g %g %g %g %g \nFinal solution: %g %g %g %g %g %g %g\n",
model_coefficients[0], model_coefficients[1], model_coefficients[2], model_coefficients[3],
model_coefficients[4], model_coefficients[5], model_coefficients[6], optimized_coefficients[0], optimized_coefficients[1], optimized_coefficients[2], optimized_coefficients[3], optimized_coefficients[4], optimized_coefficients[5], optimized_coefficients[6]);
Eigen::Vector3f line_dir (optimized_coefficients[3], optimized_coefficients[4], optimized_coefficients[5]);
line_dir.normalize ();
optimized_coefficients[3] = line_dir[0];
optimized_coefficients[4] = line_dir[1];
optimized_coefficients[5] = line_dir[2];
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> void
pcl::SampleConsensusModelCone<PointT, PointNT>::projectPoints (
const Indices &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields) const
{
// Needs a valid set of model coefficients
if (!isModelValid (model_coefficients))
{
PCL_ERROR ("[pcl::SampleConsensusModelCone::projectPoints] Given model is invalid!\n");
return;
}
projected_points.header = input_->header;
projected_points.is_dense = input_->is_dense;
Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
const float tan_opening_angle = std::tan (model_coefficients[6]);
float apexdotdir = apex.dot (axis_dir);
float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
// Copy all the data fields from the input cloud to the projected one?
if (copy_data_fields)
{
// Allocate enough space and copy the basics
projected_points.resize (input_->size ());
projected_points.width = input_->width;
projected_points.height = input_->height;
using FieldList = typename pcl::traits::fieldList<PointT>::type;
// Iterate over each point
for (std::size_t i = 0; i < projected_points.size (); ++i)
// Iterate over each dimension
pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> ((*input_)[i], projected_points[i]));
// Iterate through the 3d points and calculate the distances from them to the cone
for (const auto &inlier : inliers)
{
Eigen::Vector4f pt ((*input_)[inlier].x,
(*input_)[inlier].y,
(*input_)[inlier].z,
1);
float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
pcl::Vector4fMap pp = projected_points[inlier].getVector4fMap ();
pp.matrix () = apex + k * axis_dir;
Eigen::Vector4f dir = pt - pp;
dir.normalize ();
// Calculate the actual radius of the cone at the level of the projected point
Eigen::Vector4f height = apex - pp;
float actual_cone_radius = tan_opening_angle * height.norm ();
// Calculate the projection of the point onto the cone
pp += dir * actual_cone_radius;
}
}
else
{
// Allocate enough space and copy the basics
projected_points.resize (inliers.size ());
projected_points.width = inliers.size ();
projected_points.height = 1;
using FieldList = typename pcl::traits::fieldList<PointT>::type;
// Iterate over each point
for (std::size_t i = 0; i < inliers.size (); ++i)
// Iterate over each dimension
pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> ((*input_)[inliers[i]], projected_points[i]));
// Iterate through the 3d points and calculate the distances from them to the cone
for (std::size_t i = 0; i < inliers.size (); ++i)
{
pcl::Vector4fMap pp = projected_points[i].getVector4fMap ();
pcl::Vector4fMapConst pt = (*input_)[inliers[i]].getVector4fMap ();
float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
// Calculate the projection of the point on the line
pp.matrix () = apex + k * axis_dir;
Eigen::Vector4f dir = pt - pp;
dir.normalize ();
// Calculate the actual radius of the cone at the level of the projected point
Eigen::Vector4f height = apex - pp;
float actual_cone_radius = tan_opening_angle * height.norm ();
// Calculate the projection of the point onto the cone
pp += dir * actual_cone_radius;
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> bool
pcl::SampleConsensusModelCone<PointT, PointNT>::doSamplesVerifyModel (
const std::set<index_t> &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const
{
// Needs a valid model coefficients
if (!isModelValid (model_coefficients))
{
PCL_ERROR ("[pcl::SampleConsensusModelCone::doSamplesVerifyModel] Given model is invalid!\n");
return (false);
}
Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
const float tan_opening_angle = std::tan (model_coefficients[6]);
float apexdotdir = apex.dot (axis_dir);
float dirdotdir = 1.0f / axis_dir.dot (axis_dir);
// Iterate through the 3d points and calculate the distances from them to the cone
for (const auto &index : indices)
{
Eigen::Vector4f pt ((*input_)[index].x, (*input_)[index].y, (*input_)[index].z, 0.0f);
// Calculate the point's projection on the cone axis
float k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;
Eigen::Vector4f pt_proj = apex + k * axis_dir;
Eigen::Vector4f dir = pt - pt_proj;
dir.normalize ();
// Calculate the actual radius of the cone at the level of the projected point
Eigen::Vector4f height = apex - pt_proj;
double actual_cone_radius = tan_opening_angle * height.norm ();
// Approximate the distance from the point to the cone as the difference between
// dist(point,cone_axis) and actual cone radius
if (std::abs (static_cast<double>(pointToAxisDistance (pt, model_coefficients) - actual_cone_radius)) > threshold)
return (false);
}
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> double
pcl::SampleConsensusModelCone<PointT, PointNT>::pointToAxisDistance (
const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const
{
Eigen::Vector4f apex (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f axis_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
return sqrt(pcl::sqrPointToLineDistance (pt, apex, axis_dir));
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> bool
pcl::SampleConsensusModelCone<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
{
if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
return (false);
// Check against template, if given
if (eps_angle_ > 0.0)
{
// Obtain the cone direction
const Eigen::Vector3f coeff(model_coefficients[3], model_coefficients[4], model_coefficients[5]);
double angle_diff = std::abs (getAngle3D (axis_, coeff));
angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
// Check whether the current cone model satisfies our angle threshold criterion with respect to the given axis
if (angle_diff > eps_angle_)
{
PCL_DEBUG ("[pcl::SampleConsensusModelCone::isModelValid] Angle between cone direction and given axis is too large.\n");
return (false);
}
}
if (model_coefficients[6] != -std::numeric_limits<double>::max() && model_coefficients[6] < min_angle_)
{
PCL_DEBUG ("[pcl::SampleConsensusModelCone::isModelValid] The opening angle is too small: should be larger than %g, but is %g.\n",
min_angle_, model_coefficients[6]);
return (false);
}
if (model_coefficients[6] != std::numeric_limits<double>::max() && model_coefficients[6] > max_angle_)
{
PCL_DEBUG ("[pcl::SampleConsensusModelCone::isModelValid] The opening angle is too big: should be smaller than %g, but is %g.\n",
max_angle_, model_coefficients[6]);
return (false);
}
return (true);
}
#define PCL_INSTANTIATE_SampleConsensusModelCone(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelCone<PointT, PointNT>;
#endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CONE_H_
pcl::SampleConsensusModelCone::optimizeModelCoefficients
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the cone coefficients using the given inlier set and return them to the user.
Definition sac_model_cone.hpp:327
pcl::SampleConsensusModelCone::projectPoints
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 cone model.
Definition sac_model_cone.hpp:371
pcl::SampleConsensusModelCone::getDistancesToModel
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given cone model.
Definition sac_model_cone.hpp:145
pcl::SampleConsensusModelCone::selectWithinDistance
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.
Definition sac_model_cone.hpp:201
pcl::SampleConsensusModelCone::isSampleGood
bool isSampleGood(const Indices &samples) const override
Check if a sample of indices results in a good sample of points indices.
Definition sac_model_cone.hpp:48
pcl::SampleConsensusModelCone::computeModelCoefficients
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid cone model, compute the model coefficients fro...
Definition sac_model_cone.hpp:60
pcl::SampleConsensusModelCone::isModelValid
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
Definition sac_model_cone.hpp:520
pcl::SampleConsensusModelCone::pointToAxisDistance
double pointToAxisDistance(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)
Definition sac_model_cone.hpp:510
pcl::SampleConsensusModelCone::doSamplesVerifyModel
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 cone model coefficients.
Definition sac_model_cone.hpp:467
pcl::SampleConsensusModelCone::PointCloud
typename SampleConsensusModel< PointT >::PointCloud PointCloud
Definition sac_model_cone.h:78
pcl::SampleConsensusModelCone::countWithinDistance
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.
Definition sac_model_cone.hpp:269
pcl::SampleConsensusModel
SampleConsensusModel represents the base model class.
Definition sac_model.h:71
common.h
Define standard C methods and C++ classes that are common to all methods.
pcl::getAngle3D
double getAngle3D(const Eigen::Vector4f &v1, const Eigen::Vector4f &v2, const bool in_degree=false)
Compute the smallest angle between two 3D vectors in radians (default) or degree.
Definition common.hpp:47
pcl::sqrPointToLineDistance
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)
Definition distances.h:75
pcl::internal::optimizeModelCoefficientsCone
int optimizeModelCoefficientsCone(Eigen::VectorXf &coeff, const Eigen::ArrayXf &pts_x, const Eigen::ArrayXf &pts_y, const Eigen::ArrayXf &pts_z)
pcl::Vector4fMap
Eigen::Map< Eigen::Vector4f, Eigen::Aligned > Vector4fMap
Definition point_types.hpp:230
pcl::Vector4fMapConst
const Eigen::Map< const Eigen::Vector4f, Eigen::Aligned > Vector4fMapConst
Definition point_types.hpp:231
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
M_PI
#define M_PI
Definition pcl_macros.h:201