sac_model_cone.h

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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CONE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_CONE_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/model_types.h>
#include <boost/thread/mutex.hpp>
#include <pcl/common/common.h>
#include <pcl/common/distances.h>
#include <limits.h>

namespace pcl
{

  template <typename PointT, typename PointNT>
  class SampleConsensusModelCone : public SampleConsensusModel<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
  {
    using SampleConsensusModel<PointT>::input_;
    using SampleConsensusModel<PointT>::indices_;
    using SampleConsensusModel<PointT>::radius_min_;
    using SampleConsensusModel<PointT>::radius_max_;
    using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
    using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;

    public:
      typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelCone> Ptr;

      SampleConsensusModelCone (const PointCloudConstPtr &cloud) : 
        SampleConsensusModel<PointT> (cloud), axis_ (Eigen::Vector3f::Zero ()), eps_angle_ (0), min_angle_ (-std::numeric_limits<double>::max()), max_angle_ (std::numeric_limits<double>::max()),
        tmp_inliers_ ()
      {
      }

      SampleConsensusModelCone (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : 
        SampleConsensusModel<PointT> (cloud, indices),
        axis_ (Eigen::Vector3f::Zero ()), eps_angle_ (0), min_angle_ (-std::numeric_limits<double>::max()), max_angle_ (std::numeric_limits<double>::max()),
        tmp_inliers_ ()
      {
      }

      SampleConsensusModelCone (const SampleConsensusModelCone &source) :
        SampleConsensusModel<PointT> (), axis_ (), eps_angle_ (), min_angle_ (), max_angle_ (), tmp_inliers_ ()
      {
        *this = source;
      }

      inline SampleConsensusModelCone&
      operator = (const SampleConsensusModelCone &source)
      {
        SampleConsensusModel<PointT>::operator=(source);
        axis_ = source.axis_;
        eps_angle_ = source.eps_angle_;
        min_angle_ = source.min_angle_;
        max_angle_ = source.max_angle_;
        tmp_inliers_ = source.tmp_inliers_;
        return (*this);
      }

      inline void 
      setEpsAngle (double ea) { eps_angle_ = ea; }

      inline double 
      getEpsAngle () const { return (eps_angle_); }

      inline void 
      setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }

      inline Eigen::Vector3f 
      getAxis () const { return (axis_); }

      inline void
      setMinMaxOpeningAngle (const double &min_angle, const double &max_angle)
      {
        min_angle_ = min_angle;
        max_angle_ = max_angle;
      }

      inline void
      getMinMaxOpeningAngle (double &min_angle, double &max_angle) const
      {
        min_angle = min_angle_;
        max_angle = max_angle_;
      }

      bool 
      computeModelCoefficients (const std::vector<int> &samples, 
                                Eigen::VectorXf &model_coefficients);

      void 
      getDistancesToModel (const Eigen::VectorXf &model_coefficients,  
                           std::vector<double> &distances);

      void 
      selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
                            const double threshold, 
                            std::vector<int> &inliers);

      virtual int
      countWithinDistance (const Eigen::VectorXf &model_coefficients, 
                           const double threshold);


      void 
      optimizeModelCoefficients (const std::vector<int> &inliers, 
                                 const Eigen::VectorXf &model_coefficients, 
                                 Eigen::VectorXf &optimized_coefficients);


      void 
      projectPoints (const std::vector<int> &inliers, 
                     const Eigen::VectorXf &model_coefficients, 
                     PointCloud &projected_points, 
                     bool copy_data_fields = true);

      bool 
      doSamplesVerifyModel (const std::set<int> &indices, 
                            const Eigen::VectorXf &model_coefficients, 
                            const double threshold);

      inline pcl::SacModel 
      getModelType () const { return (SACMODEL_CONE); }

    protected:
      double 
      pointToAxisDistance (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients);

      std::string 
      getName () const { return ("SampleConsensusModelCone"); }

    protected:
      bool 
      isModelValid (const Eigen::VectorXf &model_coefficients);

      bool
      isSampleGood (const std::vector<int> &samples) const;

    private:
      Eigen::Vector3f axis_;
    
      double eps_angle_;

      double min_angle_;
      double max_angle_;

      const std::vector<int> *tmp_inliers_;

#if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
#pragma GCC diagnostic ignored "-Weffc++"
#endif

      struct OptimizationFunctor : pcl::Functor<float>
      {
        OptimizationFunctor (int m_data_points, pcl::SampleConsensusModelCone<PointT, PointNT> *model) : 
          pcl::Functor<float> (m_data_points), model_ (model) {}

        int 
        operator() (const Eigen::VectorXf &x, Eigen::VectorXf &fvec) const
        {
          Eigen::Vector4f apex  (x[0], x[1], x[2], 0);
          Eigen::Vector4f axis_dir (x[3], x[4], x[5], 0);
          float opening_angle = x[6];

          float apexdotdir = apex.dot (axis_dir);
          float dirdotdir = 1.0f / axis_dir.dot (axis_dir);

          for (int i = 0; i < values (); ++i)
          {
            // dist = f - r
            Eigen::Vector4f pt (model_->input_->points[(*model_->tmp_inliers_)[i]].x,
                                model_->input_->points[(*model_->tmp_inliers_)[i]].y,
                                model_->input_->points[(*model_->tmp_inliers_)[i]].z, 0);

            // 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 = tanf (opening_angle) * height.norm ();

            fvec[i] = static_cast<float> (pcl::sqrPointToLineDistance (pt, apex, axis_dir) - actual_cone_radius * actual_cone_radius);
          }
          return (0);
        }

        pcl::SampleConsensusModelCone<PointT, PointNT> *model_;
      };
#if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
#pragma GCC diagnostic warning "-Weffc++"
#endif
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CONE_H_