sac_model_normal_plane.hpp

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 * $Id: sac_model_normal_plane.hpp 5026 2012-03-12 02:51:44Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PLANE_H_
#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PLANE_H_

#include <pcl/sample_consensus/sac_model_normal_plane.h>

template <typename PointT, typename PointNT> void
pcl::SampleConsensusModelNormalPlane<PointT, PointNT>::selectWithinDistance (
      const Eigen::VectorXf &model_coefficients, const double threshold, std::vector<int> &inliers)
{
  if (!normals_)
  {
    PCL_ERROR ("[pcl::SampleConsensusModelNormalPlane::selectWithinDistance] No input dataset containing normals was given!\n");
    inliers.clear ();
    return;
  }

  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
  {
    inliers.clear ();
    return;
  }

  // Obtain the plane normal
  Eigen::Vector4f coeff = model_coefficients;
  coeff[3] = 0;

  int nr_p = 0;
  inliers.resize (indices_->size ());
  // Iterate through the 3d points and calculate the distances from them to the plane
  for (size_t i = 0; i < indices_->size (); ++i)
  {
    // Calculate the distance from the point to the plane normal as the dot product
    // D = (P-A).N/|N|
    Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 0);
    Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0);
    double d_euclid = fabs (coeff.dot (p) + model_coefficients[3]);

    // Calculate the angular distance between the point normal and the plane normal
    double d_normal = fabs (getAngle3D (n, coeff));
    d_normal = (std::min) (d_normal, M_PI - d_normal);

    if (fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid) < threshold)
    {
      // Returns the indices of the points whose distances are smaller than the threshold
      inliers[nr_p] = (*indices_)[i];
      nr_p++;
    }
  }
  inliers.resize (nr_p);
}

template <typename PointT, typename PointNT> int
pcl::SampleConsensusModelNormalPlane<PointT, PointNT>::countWithinDistance (
      const Eigen::VectorXf &model_coefficients, const double threshold)
{
  if (!normals_)
  {
    PCL_ERROR ("[pcl::SampleConsensusModelNormalPlane::countWithinDistance] No input dataset containing normals was given!\n");
    return (0);
  }

  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
    return (0);

  // Obtain the plane normal
  Eigen::Vector4f coeff = model_coefficients;
  coeff[3] = 0;

  int nr_p = 0;

  // Iterate through the 3d points and calculate the distances from them to the plane
  for (size_t i = 0; i < indices_->size (); ++i)
  {
    // Calculate the distance from the point to the plane normal as the dot product
    // D = (P-A).N/|N|
    Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 0);
    Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0);
    double d_euclid = fabs (coeff.dot (p) + model_coefficients[3]);

    // Calculate the angular distance between the point normal and the plane normal
    double d_normal = fabs (getAngle3D (n, coeff));
    d_normal = (std::min) (d_normal, M_PI - d_normal);

    if (fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid) < threshold)
      nr_p++;
  }
  return (nr_p);
}

template <typename PointT, typename PointNT> void
pcl::SampleConsensusModelNormalPlane<PointT, PointNT>::getDistancesToModel (
      const Eigen::VectorXf &model_coefficients, std::vector<double> &distances)
{
  if (!normals_)
  {
    PCL_ERROR ("[pcl::SampleConsensusModelNormalPlane::getDistancesToModel] No input dataset containing normals was given!\n");
    return;
  }

  // Check if the model is valid given the user constraints
  if (!isModelValid (model_coefficients))
  {
    distances.clear ();
    return;
  }

  // Obtain the plane normal
  Eigen::Vector4f coeff = model_coefficients;
  coeff[3] = 0;

  distances.resize (indices_->size ());

  // Iterate through the 3d points and calculate the distances from them to the plane
  for (size_t i = 0; i < indices_->size (); ++i)
  {
    // Calculate the distance from the point to the plane normal as the dot product
    // D = (P-A).N/|N|
    Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 0);
    Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0);
    double d_euclid = fabs (coeff.dot (p) + model_coefficients[3]);

    // Calculate the angular distance between the point normal and the plane normal
    double d_normal = fabs (getAngle3D (n, coeff));
    d_normal = (std::min) (d_normal, M_PI - d_normal);

    distances[i] = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid);
  }
}

template <typename PointT, typename PointNT> bool 
pcl::SampleConsensusModelNormalPlane<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients)
{
  // Needs a valid model coefficients
  if (model_coefficients.size () != 4)
  {
    PCL_ERROR ("[pcl::SampleConsensusModelNormalPlane::selectWithinDistance] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
    return (false);
  }

  return (true);
}

#define PCL_INSTANTIATE_SampleConsensusModelNormalPlane(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelNormalPlane<PointT, PointNT>;

#endif    // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PLANE_H_