sac_model_registration.h

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

#include <boost/unordered_map.hpp>
#include <Eigen/Core>
#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/common/eigen.h>
#include <pcl/common/centroid.h>

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

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

      typedef boost::shared_ptr<SampleConsensusModelRegistration> Ptr;

      SampleConsensusModelRegistration (const PointCloudConstPtr &cloud) : 
        SampleConsensusModel<PointT> (cloud),
        target_ (),
        indices_tgt_ (),
        correspondences_ (),
        sample_dist_thresh_ (0)
      {
        // Call our own setInputCloud
        setInputCloud (cloud);
      }

      SampleConsensusModelRegistration (const PointCloudConstPtr &cloud,
                                        const std::vector<int> &indices) :
        SampleConsensusModel<PointT> (cloud, indices),
        target_ (),
        indices_tgt_ (),
        correspondences_ (),
        sample_dist_thresh_ (0)
      {
        computeOriginalIndexMapping ();
        computeSampleDistanceThreshold (cloud, indices);
      }

      inline virtual void
      setInputCloud (const PointCloudConstPtr &cloud)
      {
        SampleConsensusModel<PointT>::setInputCloud (cloud);
        computeOriginalIndexMapping ();
        computeSampleDistanceThreshold (cloud);
      }

      inline void
      setInputTarget (const PointCloudConstPtr &target)
      {
        target_ = target;
        indices_tgt_.reset (new std::vector<int>);
        // Cache the size and fill the target indices
        int target_size = static_cast<int> (target->size ());
        indices_tgt_->resize (target_size);

        for (int i = 0; i < target_size; ++i)
          (*indices_tgt_)[i] = i;
        computeOriginalIndexMapping ();
      }

      inline void
      setInputTarget (const PointCloudConstPtr &target, const std::vector<int> &indices_tgt)
      {
        target_ = target;
        indices_tgt_.reset (new std::vector<int> (indices_tgt));
        computeOriginalIndexMapping ();
      }

      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> &,
                     const Eigen::VectorXf &,
                     PointCloud &, bool = true)
      {
      };

      bool
      doSamplesVerifyModel (const std::set<int> &,
                            const Eigen::VectorXf &,
                            const double)
      {
        return (false);
      }

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

    protected:
      inline bool
      isModelValid (const Eigen::VectorXf &model_coefficients)
      {
        // Needs a valid model coefficients
        if (model_coefficients.size () != 16)
          return (false);

        return (true);
      }

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

      inline void
      computeSampleDistanceThreshold (const PointCloudConstPtr &cloud)
      {
        // Compute the principal directions via PCA
        Eigen::Vector4f xyz_centroid;
        Eigen::Matrix3f covariance_matrix = Eigen::Matrix3f::Zero ();

        computeMeanAndCovarianceMatrix (*cloud, covariance_matrix, xyz_centroid);

        // Check if the covariance matrix is finite or not.
        for (int i = 0; i < 3; ++i)
          for (int j = 0; j < 3; ++j)
            if (!pcl_isfinite (covariance_matrix.coeffRef (i, j)))
              PCL_ERROR ("[pcl::SampleConsensusModelRegistration::computeSampleDistanceThreshold] Covariance matrix has NaN values! Is the input cloud finite?\n");

        Eigen::Vector3f eigen_values;
        pcl::eigen33 (covariance_matrix, eigen_values);

        // Compute the distance threshold for sample selection
        sample_dist_thresh_ = eigen_values.array ().sqrt ().sum () / 3.0;
        sample_dist_thresh_ *= sample_dist_thresh_;
        PCL_DEBUG ("[pcl::SampleConsensusModelRegistration::setInputCloud] Estimated a sample selection distance threshold of: %f\n", sample_dist_thresh_);
      }

      inline void
      computeSampleDistanceThreshold (const PointCloudConstPtr &cloud,
                                      const std::vector<int> &indices)
      {
        // Compute the principal directions via PCA
        Eigen::Vector4f xyz_centroid;
        Eigen::Matrix3f covariance_matrix;
        computeMeanAndCovarianceMatrix (*cloud, indices, covariance_matrix, xyz_centroid);

        // Check if the covariance matrix is finite or not.
        for (int i = 0; i < 3; ++i)
          for (int j = 0; j < 3; ++j)
            if (!pcl_isfinite (covariance_matrix.coeffRef (i, j)))
              PCL_ERROR ("[pcl::SampleConsensusModelRegistration::computeSampleDistanceThreshold] Covariance matrix has NaN values! Is the input cloud finite?\n");

        Eigen::Vector3f eigen_values;
        pcl::eigen33 (covariance_matrix, eigen_values);

        // Compute the distance threshold for sample selection
        sample_dist_thresh_ = eigen_values.array ().sqrt ().sum () / 3.0;
        sample_dist_thresh_ *= sample_dist_thresh_;
        PCL_DEBUG ("[pcl::SampleConsensusModelRegistration::setInputCloud] Estimated a sample selection distance threshold of: %f\n", sample_dist_thresh_);
      }

    private:

      void
      estimateRigidTransformationSVD (const pcl::PointCloud<PointT> &cloud_src,
                                      const std::vector<int> &indices_src,
                                      const pcl::PointCloud<PointT> &cloud_tgt,
                                      const std::vector<int> &indices_tgt,
                                      Eigen::VectorXf &transform);

      void
      computeOriginalIndexMapping ()
      {
        if (!indices_tgt_ || !indices_ || indices_->empty () || indices_->size () != indices_tgt_->size ())
          return;
        for (size_t i = 0; i < indices_->size (); ++i)
          correspondences_[(*indices_)[i]] = (*indices_tgt_)[i];
      }

      PointCloudConstPtr target_;

      boost::shared_ptr <std::vector<int> > indices_tgt_;

      boost::unordered_map<int, int> correspondences_;

      double sample_dist_thresh_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#include <pcl/sample_consensus/impl/sac_model_registration.hpp>

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_H_