41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_ 42 #define PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_ 44 #include <pcl/sample_consensus/sac_model.h> 45 #include <pcl/sample_consensus/model_types.h> 59 template <
typename Po
intT>
73 typedef boost::shared_ptr<SampleConsensusModelCircle2D>
Ptr;
89 const std::vector<int> &indices,
113 tmp_inliers_ = source.tmp_inliers_;
124 Eigen::VectorXf &model_coefficients);
132 std::vector<double> &distances);
141 const double threshold,
142 std::vector<int> &inliers);
152 const double threshold);
162 const Eigen::VectorXf &model_coefficients,
163 Eigen::VectorXf &optimized_coefficients);
173 const Eigen::VectorXf &model_coefficients,
174 PointCloud &projected_points,
175 bool copy_data_fields =
true);
184 const Eigen::VectorXf &model_coefficients,
185 const double threshold);
196 isModelValid (
const Eigen::VectorXf &model_coefficients);
206 const std::vector<int> *tmp_inliers_;
208 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3 209 #pragma GCC diagnostic ignored "-Weffc++" 228 operator() (
const Eigen::VectorXf &x, Eigen::VectorXf &fvec)
const 230 for (
int i = 0; i < values (); ++i)
233 float xt = model_->input_->points[(*model_->tmp_inliers_)[i]].x - x[0];
234 float yt = model_->input_->points[(*model_->tmp_inliers_)[i]].y - x[1];
237 fvec[i] = sqrtf (xt * xt + yt * yt) - x[2];
244 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3 245 #pragma GCC diagnostic warning "-Weffc++" 250 #ifdef PCL_NO_PRECOMPILE 251 #include <pcl/sample_consensus/impl/sac_model_circle.hpp> 254 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE2D_H_ boost::shared_ptr< SampleConsensusModelCircle2D > Ptr
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
Compute all distances from the cloud data to a given 2D circle model.
bool isSampleGood(const std::vector< int > &samples) const
Check if a sample of indices results in a good sample of points indices.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)
Compute all distances from the cloud data to a given 2D circle model.
SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
SampleConsensusModelCircle2D(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelCircle2D.
Base functor all the models that need non linear optimization must define their own one and implement...
SampleConsensusModelCircle2D defines a model for 2D circle segmentation on the X-Y plane...
void projectPoints(const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true)
Create a new point cloud with inliers projected onto the 2d circle model.
SampleConsensusModel represents the base model class.
pcl::PointCloud< PointT >::Ptr PointCloudPtr
virtual ~SampleConsensusModelCircle2D()
Empty destructor.
bool doSamplesVerifyModel(const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold)
Verify whether a subset of indices verifies the given 2d circle model coefficients.
SampleConsensusModelCircle2D(const SampleConsensusModelCircle2D &source)
Copy constructor.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
SampleConsensusModelCircle2D(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelCircle2D.
virtual int countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold)
Count all the points which respect the given model coefficients as inliers.
SampleConsensusModel< PointT >::PointCloud PointCloud
SampleConsensusModelCircle2D & operator=(const SampleConsensusModelCircle2D &source)
Copy constructor.
A point structure representing Euclidean xyz coordinates, and the RGB color.
void optimizeModelCoefficients(const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
Recompute the 2d circle coefficients using the given inlier set and return them to the user...
pcl::SacModel getModelType() const
Return an unique id for this model (SACMODEL_CIRCLE2D).
bool isModelValid(const Eigen::VectorXf &model_coefficients)
Check whether a model is valid given the user constraints.
SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
bool computeModelCoefficients(const std::vector< int > &samples, Eigen::VectorXf &model_coefficients)
Check whether the given index samples can form a valid 2D circle model, compute the model coefficient...