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extract_polygonal_prism_data.hpp
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37 
38 #ifndef PCL_SEGMENTATION_IMPL_EXTRACT_POLYGONAL_PRISM_DATA_H_
39 #define PCL_SEGMENTATION_IMPL_EXTRACT_POLYGONAL_PRISM_DATA_H_
40 
41 #include <pcl/segmentation/extract_polygonal_prism_data.h>
42 #include <pcl/common/centroid.h>
43 #include <pcl/common/eigen.h>
44 
46 template <typename PointT> bool
47 pcl::isPointIn2DPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon)
48 {
49  // Compute the plane coefficients
50  Eigen::Vector4f model_coefficients;
51  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
52  Eigen::Vector4f xyz_centroid;
53 
54  computeMeanAndCovarianceMatrix (polygon, covariance_matrix, xyz_centroid);
55 
56  // Compute the model coefficients
57  EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;
58  EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;
59  eigen33 (covariance_matrix, eigen_value, eigen_vector);
60 
61  model_coefficients[0] = eigen_vector [0];
62  model_coefficients[1] = eigen_vector [1];
63  model_coefficients[2] = eigen_vector [2];
64  model_coefficients[3] = 0;
65 
66  // Hessian form (D = nc . p_plane (centroid here) + p)
67  model_coefficients[3] = -1 * model_coefficients.dot (xyz_centroid);
68 
69  float distance_to_plane = model_coefficients[0] * point.x +
70  model_coefficients[1] * point.y +
71  model_coefficients[2] * point.z +
72  model_coefficients[3];
73  PointT ppoint;
74  // Calculate the projection of the point on the plane
75  ppoint.x = point.x - distance_to_plane * model_coefficients[0];
76  ppoint.y = point.y - distance_to_plane * model_coefficients[1];
77  ppoint.z = point.z - distance_to_plane * model_coefficients[2];
78 
79  // Create a X-Y projected representation for within bounds polygonal checking
80  int k0, k1, k2;
81  // Determine the best plane to project points onto
82  k0 = (fabs (model_coefficients[0] ) > fabs (model_coefficients[1])) ? 0 : 1;
83  k0 = (fabs (model_coefficients[k0]) > fabs (model_coefficients[2])) ? k0 : 2;
84  k1 = (k0 + 1) % 3;
85  k2 = (k0 + 2) % 3;
86  // Project the convex hull
87  pcl::PointCloud<PointT> xy_polygon;
88  xy_polygon.points.resize (polygon.points.size ());
89  for (size_t i = 0; i < polygon.points.size (); ++i)
90  {
91  Eigen::Vector4f pt (polygon.points[i].x, polygon.points[i].y, polygon.points[i].z, 0);
92  xy_polygon.points[i].x = pt[k1];
93  xy_polygon.points[i].y = pt[k2];
94  xy_polygon.points[i].z = 0;
95  }
96  PointT xy_point;
97  xy_point.z = 0;
98  Eigen::Vector4f pt (ppoint.x, ppoint.y, ppoint.z, 0);
99  xy_point.x = pt[k1];
100  xy_point.y = pt[k2];
101 
102  return (pcl::isXYPointIn2DXYPolygon (xy_point, xy_polygon));
103 }
104 
106 template <typename PointT> bool
107 pcl::isXYPointIn2DXYPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon)
108 {
109  bool in_poly = false;
110  double x1, x2, y1, y2;
111 
112  int nr_poly_points = static_cast<int> (polygon.points.size ());
113  double xold = polygon.points[nr_poly_points - 1].x;
114  double yold = polygon.points[nr_poly_points - 1].y;
115  for (int i = 0; i < nr_poly_points; i++)
116  {
117  double xnew = polygon.points[i].x;
118  double ynew = polygon.points[i].y;
119  if (xnew > xold)
120  {
121  x1 = xold;
122  x2 = xnew;
123  y1 = yold;
124  y2 = ynew;
125  }
126  else
127  {
128  x1 = xnew;
129  x2 = xold;
130  y1 = ynew;
131  y2 = yold;
132  }
133 
134  if ( (xnew < point.x) == (point.x <= xold) && (point.y - y1) * (x2 - x1) < (y2 - y1) * (point.x - x1) )
135  {
136  in_poly = !in_poly;
137  }
138  xold = xnew;
139  yold = ynew;
140  }
141  return (in_poly);
142 }
143 
145 template <typename PointT> void
146 pcl::ExtractPolygonalPrismData<PointT>::segment (pcl::PointIndices &output)
147 {
148  output.header = input_->header;
149 
150  if (!initCompute ())
151  {
152  output.indices.clear ();
153  return;
154  }
155 
156  if (static_cast<int> (planar_hull_->points.size ()) < min_pts_hull_)
157  {
158  PCL_ERROR ("[pcl::%s::segment] Not enough points (%zu) in the hull!\n", getClassName ().c_str (), planar_hull_->points.size ());
159  output.indices.clear ();
160  return;
161  }
162 
163  // Compute the plane coefficients
164  Eigen::Vector4f model_coefficients;
165  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
166  Eigen::Vector4f xyz_centroid;
167 
168  computeMeanAndCovarianceMatrix (*planar_hull_, covariance_matrix, xyz_centroid);
169 
170  // Compute the model coefficients
171  EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;
172  EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;
173  eigen33 (covariance_matrix, eigen_value, eigen_vector);
174 
175  model_coefficients[0] = eigen_vector [0];
176  model_coefficients[1] = eigen_vector [1];
177  model_coefficients[2] = eigen_vector [2];
178  model_coefficients[3] = 0;
179 
180  // Hessian form (D = nc . p_plane (centroid here) + p)
181  model_coefficients[3] = -1 * model_coefficients.dot (xyz_centroid);
182 
183  // Need to flip the plane normal towards the viewpoint
184  Eigen::Vector4f vp (vpx_, vpy_, vpz_, 0);
185  // See if we need to flip any plane normals
186  vp -= planar_hull_->points[0].getVector4fMap ();
187  vp[3] = 0;
188  // Dot product between the (viewpoint - point) and the plane normal
189  float cos_theta = vp.dot (model_coefficients);
190  // Flip the plane normal
191  if (cos_theta < 0)
192  {
193  model_coefficients *= -1;
194  model_coefficients[3] = 0;
195  // Hessian form (D = nc . p_plane (centroid here) + p)
196  model_coefficients[3] = -1 * (model_coefficients.dot (planar_hull_->points[0].getVector4fMap ()));
197  }
198 
199  // Project all points
200  PointCloud projected_points;
201  SampleConsensusModelPlane<PointT> sacmodel (input_);
202  sacmodel.projectPoints (*indices_, model_coefficients, projected_points, false);
203 
204  // Create a X-Y projected representation for within bounds polygonal checking
205  int k0, k1, k2;
206  // Determine the best plane to project points onto
207  k0 = (fabs (model_coefficients[0] ) > fabs (model_coefficients[1])) ? 0 : 1;
208  k0 = (fabs (model_coefficients[k0]) > fabs (model_coefficients[2])) ? k0 : 2;
209  k1 = (k0 + 1) % 3;
210  k2 = (k0 + 2) % 3;
211  // Project the convex hull
212  pcl::PointCloud<PointT> polygon;
213  polygon.points.resize (planar_hull_->points.size ());
214  for (size_t i = 0; i < planar_hull_->points.size (); ++i)
215  {
216  Eigen::Vector4f pt (planar_hull_->points[i].x, planar_hull_->points[i].y, planar_hull_->points[i].z, 0);
217  polygon.points[i].x = pt[k1];
218  polygon.points[i].y = pt[k2];
219  polygon.points[i].z = 0;
220  }
221 
222  PointT pt_xy;
223  pt_xy.z = 0;
224 
225  output.indices.resize (indices_->size ());
226  int l = 0;
227  for (size_t i = 0; i < projected_points.points.size (); ++i)
228  {
229  // Check the distance to the user imposed limits from the table planar model
230  double distance = pointToPlaneDistanceSigned (input_->points[(*indices_)[i]], model_coefficients);
231  if (distance < height_limit_min_ || distance > height_limit_max_)
232  continue;
233 
234  // Check what points are inside the hull
235  Eigen::Vector4f pt (projected_points.points[i].x,
236  projected_points.points[i].y,
237  projected_points.points[i].z, 0);
238  pt_xy.x = pt[k1];
239  pt_xy.y = pt[k2];
240 
241  if (!pcl::isXYPointIn2DXYPolygon (pt_xy, polygon))
242  continue;
243 
244  output.indices[l++] = (*indices_)[i];
245  }
246  output.indices.resize (l);
247 
248  deinitCompute ();
249 }
250 
251 #define PCL_INSTANTIATE_ExtractPolygonalPrismData(T) template class PCL_EXPORTS pcl::ExtractPolygonalPrismData<T>;
252 #define PCL_INSTANTIATE_isPointIn2DPolygon(T) template bool PCL_EXPORTS pcl::isPointIn2DPolygon<T>(const T&, const pcl::PointCloud<T> &);
253 #define PCL_INSTANTIATE_isXYPointIn2DXYPolygon(T) template bool PCL_EXPORTS pcl::isXYPointIn2DXYPolygon<T>(const T &, const pcl::PointCloud<T> &);
254 
255 #endif // PCL_SEGMENTATION_IMPL_EXTRACT_POLYGONAL_PRISM_DATA_H_
256 
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