sac_model_cylinder.h

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 * $Id: sac_model_cylinder.h 3751 2011-12-31 23:18:12Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_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"

namespace pcl
{
  template <typename PointT, typename PointNT>
  class SampleConsensusModelCylinder : 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<SampleConsensusModelCylinder> Ptr;

      SampleConsensusModelCylinder (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud), eps_angle_ (0) 
      {
        axis_.setZero ();
      }

      SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices), eps_angle_ (0)
      {
        axis_.setZero ();
      }

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

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

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

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

      void 
      getSamples (int &iterations, std::vector<int> &samples);

      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_CYLINDER); }

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

      inline void
      projectPointToLine (const Eigen::Vector4f &pt, 
                          const Eigen::Vector4f &line_pt, 
                          const Eigen::Vector4f &line_dir,
                          Eigen::Vector4f &pt_proj)
      {
        double k = (pt.dot (line_dir) - line_pt.dot (line_dir)) / line_dir.dot (line_dir);
        // Calculate the projection of the point on the line
        pt_proj = line_pt + k * line_dir;
      }

      void 
      projectPointToCylinder (const Eigen::Vector4f &pt, 
                              const Eigen::VectorXf &model_coefficients, 
                              Eigen::Vector4f &pt_proj);

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

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

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

    private:
      Eigen::Vector3f axis_;
    
      double eps_angle_;

      boost::mutex tmp_mutex_;

      const std::vector<int> *tmp_inliers_;

      struct OptimizationFunctor : pcl::Functor<double>
      {
        OptimizationFunctor(int n, int m, pcl::SampleConsensusModelCylinder<PointT, PointNT> *model) : pcl::Functor<double>(m,n), model_(model) {}
        int operator() (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const
        {
          Eigen::Vector4f line_pt  (x[0], x[1], x[2], 0);
          Eigen::Vector4f line_dir (x[3], x[4], x[5], 0);
          
          for (int i = 0; i < m_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);

            fvec[i] = pcl::sqrPointToLineDistance (pt, line_pt, line_dir) - x[6]*x[6];
          }
          return (0);
        }

        pcl::SampleConsensusModelCylinder<PointT, PointNT> *model_;
      };
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CYLINDER_H_