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sac_model_cylinder.hpp
/*
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#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_
#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_
#include <pcl/sample_consensus/sac_model_cylinder.h>
#include <pcl/common/common.h> // for getAngle3D
#include <pcl/common/concatenate.h>
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> bool
pcl::SampleConsensusModelCylinder<PointT, PointNT>::isSampleGood (const Indices &samples) const
{
if (samples.size () != sample_size_)
{
PCL_ERROR ("[pcl::SampleConsensusModelCylinder::isSampleGood] Wrong number of samples (is %lu, should be %lu)!\n", samples.size (), sample_size_);
return (false);
}
// Make sure that the two sample points are not identical
if (
std::abs ((*input_)[samples[0]].x - (*input_)[samples[1]].x) <= std::numeric_limits<float>::epsilon ()
&&
std::abs ((*input_)[samples[0]].y - (*input_)[samples[1]].y) <= std::numeric_limits<float>::epsilon ()
&&
std::abs ((*input_)[samples[0]].z - (*input_)[samples[1]].z) <= std::numeric_limits<float>::epsilon ())
{
PCL_ERROR ("[pcl::SampleConsensusModelCylinder::isSampleGood] The two sample points are (almost) identical!\n");
return (false);
}
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> bool
pcl::SampleConsensusModelCylinder<PointT, PointNT>::computeModelCoefficients (
const Indices &samples, Eigen::VectorXf &model_coefficients) const
{
// Make sure that the samples are valid
if (!isSampleGood (samples))
{
PCL_ERROR ("[pcl::SampleConsensusModelCylinder::computeModelCoefficients] Invalid set of samples given!\n");
return (false);
}
if (!normals_)
{
PCL_ERROR ("[pcl::SampleConsensusModelCylinder::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 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 w = n1 + p1 - p2;
float a = n1.dot (n1);
float b = n1.dot (n2);
float c = n2.dot (n2);
float d = n1.dot (w);
float e = n2.dot (w);
float denominator = a*c - b*b;
float sc, tc;
// Compute the line parameters of the two closest points
if (denominator < 1e-8) // The lines are almost parallel
{
sc = 0.0f;
tc = (b > c ? d / b : e / c); // Use the largest denominator
}
else
{
sc = (b*e - c*d) / denominator;
tc = (a*e - b*d) / denominator;
}
// point_on_axis, axis_direction
Eigen::Vector4f line_pt = p1 + n1 + sc * n1;
Eigen::Vector4f line_dir = p2 + tc * n2 - line_pt;
line_dir.normalize ();
model_coefficients.resize (model_size_);
// model_coefficients.template head<3> () = line_pt.template head<3> ();
model_coefficients[0] = line_pt[0];
model_coefficients[1] = line_pt[1];
model_coefficients[2] = line_pt[2];
// model_coefficients.template segment<3> (3) = line_dir.template head<3> ();
model_coefficients[3] = line_dir[0];
model_coefficients[4] = line_dir[1];
model_coefficients[5] = line_dir[2];
// cylinder radius
model_coefficients[6] = static_cast<float> (sqrt (pcl::sqrPointToLineDistance (p1, line_pt, line_dir)));
if (model_coefficients[6] > radius_max_ || model_coefficients[6] < radius_min_)
return (false);
PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::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::SampleConsensusModelCylinder<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 line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
float ptdotdir = line_pt.dot (line_dir);
float dirdotdir = 1.0f / line_dir.dot (line_dir);
// Iterate through the 3d points and calculate the distances from them to the sphere
for (std::size_t i = 0; i < indices_->size (); ++i)
{
// Approximate the distance from the point to the cylinder as the difference between
// dist(point,cylinder_axis) and cylinder radius
// @note need to revise this.
Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);
// Calculate the point's projection on the cylinder axis
float k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;
Eigen::Vector4f pt_proj = line_pt + k * line_dir;
Eigen::Vector4f dir = pt - pt_proj;
dir.normalize ();
// 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, dir));
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::SampleConsensusModelCylinder<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 line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
float ptdotdir = line_pt.dot (line_dir);
float dirdotdir = 1.0f / line_dir.dot (line_dir);
// Iterate through the 3d points and calculate the distances from them to the sphere
for (std::size_t i = 0; i < indices_->size (); ++i)
{
// Approximate the distance from the point to the cylinder as the difference between
// dist(point,cylinder_axis) and cylinder radius
Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);
if (weighted_euclid_dist > threshold) // Early termination: cannot be an inlier
continue;
// Calculate the point's projection on the cylinder axis
float k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;
Eigen::Vector4f pt_proj = line_pt + k * line_dir;
Eigen::Vector4f dir = pt - pt_proj;
dir.normalize ();
// 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, dir));
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::SampleConsensusModelCylinder<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 line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);
Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);
float ptdotdir = line_pt.dot (line_dir);
float dirdotdir = 1.0f / line_dir.dot (line_dir);
// Iterate through the 3d points and calculate the distances from them to the sphere
for (std::size_t i = 0; i < indices_->size (); ++i)
{
// Approximate the distance from the point to the cylinder as the difference between
// dist(point,cylinder_axis) and cylinder radius
Eigen::Vector4f pt ((*input_)[(*indices_)[i]].x, (*input_)[(*indices_)[i]].y, (*input_)[(*indices_)[i]].z, 0.0f);
const double weighted_euclid_dist = (1.0 - normal_distance_weight_) * std::abs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);
if (weighted_euclid_dist > threshold) // Early termination: cannot be an inlier
continue;
// Calculate the point's projection on the cylinder axis
float k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;
Eigen::Vector4f pt_proj = line_pt + k * line_dir;
Eigen::Vector4f dir = pt - pt_proj;
dir.normalize ();
// 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, dir));
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::SampleConsensusModelCylinder<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::SampleConsensusModelCylinder::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::SampleConsensusModelCylinder: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::optimizeModelCoefficientsCylinder(optimized_coefficients, pts_x, pts_y, pts_z);
PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::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::SampleConsensusModelCylinder<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::SampleConsensusModelCylinder::projectPoints] Given model is invalid!\n");
return;
}
projected_points.header = input_->header;
projected_points.is_dense = input_->is_dense;
Eigen::Vector4f line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
float ptdotdir = line_pt.dot (line_dir);
float dirdotdir = 1.0f / line_dir.dot (line_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 cylinder
for (const auto &inlier : inliers)
{
Eigen::Vector4f p ((*input_)[inlier].x,
(*input_)[inlier].y,
(*input_)[inlier].z,
1);
float k = (p.dot (line_dir) - ptdotdir) * dirdotdir;
pcl::Vector4fMap pp = projected_points[inlier].getVector4fMap ();
pp.matrix () = line_pt + k * line_dir;
Eigen::Vector4f dir = p - pp;
dir[3] = 0.0f;
dir.normalize ();
// Calculate the projection of the point onto the cylinder
pp += dir * model_coefficients[6];
}
}
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 cylinder
for (std::size_t i = 0; i < inliers.size (); ++i)
{
pcl::Vector4fMap pp = projected_points[i].getVector4fMap ();
pcl::Vector4fMapConst p = (*input_)[inliers[i]].getVector4fMap ();
float k = (p.dot (line_dir) - ptdotdir) * dirdotdir;
// Calculate the projection of the point on the line
pp.matrix () = line_pt + k * line_dir;
Eigen::Vector4f dir = p - pp;
dir[3] = 0.0f;
dir.normalize ();
// Calculate the projection of the point onto the cylinder
pp += dir * model_coefficients[6];
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> bool
pcl::SampleConsensusModelCylinder<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::SampleConsensusModelCylinder::doSamplesVerifyModel] Given model is invalid!\n");
return (false);
}
for (const auto &index : indices)
{
// Approximate the distance from the point to the cylinder as the difference between
// dist(point,cylinder_axis) and cylinder radius
// @note need to revise this.
Eigen::Vector4f pt ((*input_)[index].x, (*input_)[index].y, (*input_)[index].z, 0.0f);
if (std::abs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]) > threshold)
return (false);
}
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> double
pcl::SampleConsensusModelCylinder<PointT, PointNT>::pointToLineDistance (
const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const
{
Eigen::Vector4f line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
return sqrt(pcl::sqrPointToLineDistance (pt, line_pt, line_dir));
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> void
pcl::SampleConsensusModelCylinder<PointT, PointNT>::projectPointToCylinder (
const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj) const
{
Eigen::Vector4f line_pt (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0.0f);
Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
float k = (pt.dot (line_dir) - line_pt.dot (line_dir)) / line_dir.dot (line_dir);
pt_proj = line_pt + k * line_dir;
Eigen::Vector4f dir = pt - pt_proj;
dir.normalize ();
// Calculate the projection of the point onto the cylinder
pt_proj += dir * model_coefficients[6];
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> bool
pcl::SampleConsensusModelCylinder<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 cylinder 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 cylinder model satisfies our angle threshold criterion with respect to the given axis
if (angle_diff > eps_angle_)
{
PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::isModelValid] Angle between cylinder direction and given axis is too large.\n");
return (false);
}
}
if (radius_min_ != -std::numeric_limits<double>::max() && model_coefficients[6] < radius_min_)
{
PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::isModelValid] Radius is too small: should be larger than %g, but is %g.\n",
radius_min_, model_coefficients[6]);
return (false);
}
if (radius_max_ != std::numeric_limits<double>::max() && model_coefficients[6] > radius_max_)
{
PCL_DEBUG ("[pcl::SampleConsensusModelCylinder::isModelValid] Radius is too big: should be smaller than %g, but is %g.\n",
radius_max_, model_coefficients[6]);
return (false);
}
return (true);
}
#define PCL_INSTANTIATE_SampleConsensusModelCylinder(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelCylinder<PointT, PointNT>;
#endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_
pcl::SampleConsensusModelCylinder::getDistancesToModel
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given cylinder model.
Definition sac_model_cylinder.hpp:145
pcl::SampleConsensusModelCylinder::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 cylinder model.
Definition sac_model_cylinder.hpp:326
pcl::SampleConsensusModelCylinder::isModelValid
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
Definition sac_model_cylinder.hpp:467
pcl::SampleConsensusModelCylinder::optimizeModelCoefficients
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the cylinder coefficients using the given inlier set and return them to the user.
Definition sac_model_cylinder.hpp:282
pcl::SampleConsensusModelCylinder::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_cylinder.hpp:240
pcl::SampleConsensusModelCylinder::projectPointToCylinder
void projectPointToCylinder(const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj) const
Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction,...
Definition sac_model_cylinder.hpp:449
pcl::SampleConsensusModelCylinder::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_cylinder.hpp:188
pcl::SampleConsensusModelCylinder::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_cylinder.hpp:50
pcl::SampleConsensusModelCylinder::PointCloud
typename SampleConsensusModel< PointT >::PointCloud PointCloud
Definition sac_model_cylinder.h:80
pcl::SampleConsensusModelCylinder::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 cylinder model coefficients.
Definition sac_model_cylinder.hpp:414
pcl::SampleConsensusModelCylinder::pointToLineDistance
double pointToLineDistance(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_cylinder.hpp:439
pcl::SampleConsensusModelCylinder::computeModelCoefficients
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid cylinder model, compute the model coefficients...
Definition sac_model_cylinder.hpp:75
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::optimizeModelCoefficientsCylinder
PCL_EXPORTS int optimizeModelCoefficientsCylinder(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:201
pcl::Vector4fMapConst
const Eigen::Map< const Eigen::Vector4f, Eigen::Aligned > Vector4fMapConst
Definition point_types.hpp:202
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
M_PI
#define M_PI
Definition pcl_macros.h:203