sac_model_sphere.h

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 * $Id: sac_model_sphere.h 6144 2012-07-04 22:06:28Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/model_types.h>

namespace pcl
{
  template <typename PointT>
  class SampleConsensusModelSphere : public SampleConsensusModel<PointT>
  {
    public:
      using SampleConsensusModel<PointT>::input_;
      using SampleConsensusModel<PointT>::indices_;
      using SampleConsensusModel<PointT>::radius_min_;
      using SampleConsensusModel<PointT>::radius_max_;

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

      typedef boost::shared_ptr<SampleConsensusModelSphere> Ptr;

      SampleConsensusModelSphere (const PointCloudConstPtr &cloud) : 
        SampleConsensusModel<PointT> (cloud), tmp_inliers_ ()
      {}

      SampleConsensusModelSphere (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : 
        SampleConsensusModel<PointT> (cloud, indices), tmp_inliers_ ()
      {}

      SampleConsensusModelSphere (const SampleConsensusModelSphere &source) :
        SampleConsensusModel<PointT> (), tmp_inliers_ () 
      {
        *this = source;
      }

      inline SampleConsensusModelSphere&
      operator = (const SampleConsensusModelSphere &source)
      {
        SampleConsensusModel<PointT>::operator=(source);
        tmp_inliers_ = source.tmp_inliers_;
        return (*this);
      }

      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_SPHERE); }

    protected:
      inline bool 
      isModelValid (const Eigen::VectorXf &model_coefficients)
      {
        // Needs a valid model coefficients
        if (model_coefficients.size () != 4)
        {
          PCL_ERROR ("[pcl::SampleConsensusModelSphere::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
          return (false);
        }

        if (radius_min_ != -std::numeric_limits<double>::max() && model_coefficients[3] < radius_min_)
          return (false);
        if (radius_max_ != std::numeric_limits<double>::max() && model_coefficients[3] > radius_max_)
          return (false);

        return (true);
      }

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

    private:
      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::SampleConsensusModelSphere<PointT> *model) : 
          pcl::Functor<float>(m_data_points), model_ (model) {}

        int 
        operator() (const Eigen::VectorXf &x, Eigen::VectorXf &fvec) const
        {
          Eigen::Vector4f cen_t;
          cen_t[3] = 0;
          for (int i = 0; i < values (); ++i)
          {
            // Compute the difference between the center of the sphere and the datapoint X_i
            cen_t[0] = model_->input_->points[(*model_->tmp_inliers_)[i]].x - x[0];
            cen_t[1] = model_->input_->points[(*model_->tmp_inliers_)[i]].y - x[1];
            cen_t[2] = model_->input_->points[(*model_->tmp_inliers_)[i]].z - x[2];
            
            // g = sqrt ((x-a)^2 + (y-b)^2 + (z-c)^2) - R
            fvec[i] = sqrtf (cen_t.dot (cen_t)) - x[3];
          }
          return (0);
        }
        
        pcl::SampleConsensusModelSphere<PointT> *model_;
      };
#if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
#pragma GCC diagnostic warning "-Weffc++"
#endif
   };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_