Point Cloud Library (PCL) 1.12.1
sac_model_circle.h
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40
41#pragma once
42
43#ifdef __SSE__
44#include <xmmintrin.h> // for __m128
45#endif // ifdef __SSE__
46#ifdef __AVX__
47#include <immintrin.h> // for __m256
48#endif // ifdef __AVX__
49
50#include <pcl/sample_consensus/sac_model.h>
51#include <pcl/sample_consensus/model_types.h>
52
53namespace pcl
54{
55 /** \brief SampleConsensusModelCircle2D defines a model for 2D circle segmentation on the X-Y plane.
56 *
57 * The model coefficients are defined as:
58 * - \b center.x : the X coordinate of the circle's center
59 * - \b center.y : the Y coordinate of the circle's center
60 * - \b radius : the circle's radius
61 *
62 * \author Radu B. Rusu
63 * \ingroup sample_consensus
64 */
65 template <typename PointT>
67 {
68 public:
75
79
80 using Ptr = shared_ptr<SampleConsensusModelCircle2D<PointT> >;
81 using ConstPtr = shared_ptr<const SampleConsensusModelCircle2D<PointT>>;
82
83 /** \brief Constructor for base SampleConsensusModelCircle2D.
84 * \param[in] cloud the input point cloud dataset
85 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
86 */
87 SampleConsensusModelCircle2D (const PointCloudConstPtr &cloud, bool random = false)
88 : SampleConsensusModel<PointT> (cloud, random)
89 {
90 model_name_ = "SampleConsensusModelCircle2D";
91 sample_size_ = 3;
92 model_size_ = 3;
93 }
94
95 /** \brief Constructor for base SampleConsensusModelCircle2D.
96 * \param[in] cloud the input point cloud dataset
97 * \param[in] indices a vector of point indices to be used from \a cloud
98 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
99 */
101 const Indices &indices,
102 bool random = false)
103 : SampleConsensusModel<PointT> (cloud, indices, random)
104 {
105 model_name_ = "SampleConsensusModelCircle2D";
106 sample_size_ = 3;
107 model_size_ = 3;
108 }
109
110 /** \brief Copy constructor.
111 * \param[in] source the model to copy into this
112 */
115 {
116 *this = source;
117 model_name_ = "SampleConsensusModelCircle2D";
118 }
119
120 /** \brief Empty destructor */
122
123 /** \brief Copy constructor.
124 * \param[in] source the model to copy into this
125 */
128 {
130 return (*this);
131 }
132
133 /** \brief Check whether the given index samples can form a valid 2D circle model, compute the model coefficients
134 * from these samples and store them in model_coefficients. The circle coefficients are: x, y, R.
135 * \param[in] samples the point indices found as possible good candidates for creating a valid model
136 * \param[out] model_coefficients the resultant model coefficients
137 */
138 bool
139 computeModelCoefficients (const Indices &samples,
140 Eigen::VectorXf &model_coefficients) const override;
141
142 /** \brief Compute all distances from the cloud data to a given 2D circle model.
143 * \param[in] model_coefficients the coefficients of a 2D circle model that we need to compute distances to
144 * \param[out] distances the resultant estimated distances
145 */
146 void
147 getDistancesToModel (const Eigen::VectorXf &model_coefficients,
148 std::vector<double> &distances) const override;
149
150 /** \brief Compute all distances from the cloud data to a given 2D circle model.
151 * \param[in] model_coefficients the coefficients of a 2D circle model that we need to compute distances to
152 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
153 * \param[out] inliers the resultant model inliers
154 */
155 void
156 selectWithinDistance (const Eigen::VectorXf &model_coefficients,
157 const double threshold,
158 Indices &inliers) override;
159
160 /** \brief Count all the points which respect the given model coefficients as inliers.
161 *
162 * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
163 * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
164 * \return the resultant number of inliers
165 */
166 std::size_t
167 countWithinDistance (const Eigen::VectorXf &model_coefficients,
168 const double threshold) const override;
169
170 /** \brief Recompute the 2d circle coefficients using the given inlier set and return them to the user.
171 * @note: these are the coefficients of the 2d circle model after refinement (e.g. after SVD)
172 * \param[in] inliers the data inliers found as supporting the model
173 * \param[in] model_coefficients the initial guess for the optimization
174 * \param[out] optimized_coefficients the resultant recomputed coefficients after non-linear optimization
175 */
176 void
177 optimizeModelCoefficients (const Indices &inliers,
178 const Eigen::VectorXf &model_coefficients,
179 Eigen::VectorXf &optimized_coefficients) const override;
180
181 /** \brief Create a new point cloud with inliers projected onto the 2d circle model.
182 * \param[in] inliers the data inliers that we want to project on the 2d circle model
183 * \param[in] model_coefficients the coefficients of a 2d circle model
184 * \param[out] projected_points the resultant projected points
185 * \param[in] copy_data_fields set to true if we need to copy the other data fields
186 */
187 void
188 projectPoints (const Indices &inliers,
189 const Eigen::VectorXf &model_coefficients,
190 PointCloud &projected_points,
191 bool copy_data_fields = true) const override;
192
193 /** \brief Verify whether a subset of indices verifies the given 2d circle model coefficients.
194 * \param[in] indices the data indices that need to be tested against the 2d circle model
195 * \param[in] model_coefficients the 2d circle model coefficients
196 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
197 */
198 bool
199 doSamplesVerifyModel (const std::set<index_t> &indices,
200 const Eigen::VectorXf &model_coefficients,
201 const double threshold) const override;
202
203 /** \brief Return a unique id for this model (SACMODEL_CIRCLE2D). */
204 inline pcl::SacModel
205 getModelType () const override { return (SACMODEL_CIRCLE2D); }
206
207 protected:
210
211 /** \brief Check whether a model is valid given the user constraints.
212 * \param[in] model_coefficients the set of model coefficients
213 */
214 bool
215 isModelValid (const Eigen::VectorXf &model_coefficients) const override;
216
217 /** \brief Check if a sample of indices results in a good sample of points indices.
218 * \param[in] samples the resultant index samples
219 */
220 bool
221 isSampleGood(const Indices &samples) const override;
222
223 /** This implementation uses no SIMD instructions. It is not intended for normal use.
224 * See countWithinDistance which automatically uses the fastest implementation.
225 */
226 std::size_t
227 countWithinDistanceStandard (const Eigen::VectorXf &model_coefficients,
228 const double threshold,
229 std::size_t i = 0) const;
230
231#if defined (__SSE__) && defined (__SSE2__) && defined (__SSE4_1__)
232 /** This implementation uses SSE, SSE2, and SSE4.1 instructions. It is not intended for normal use.
233 * See countWithinDistance which automatically uses the fastest implementation.
234 */
235 std::size_t
236 countWithinDistanceSSE (const Eigen::VectorXf &model_coefficients,
237 const double threshold,
238 std::size_t i = 0) const;
239#endif
240
241#if defined (__AVX__) && defined (__AVX2__)
242 /** This implementation uses AVX and AVX2 instructions. It is not intended for normal use.
243 * See countWithinDistance which automatically uses the fastest implementation.
244 */
245 std::size_t
246 countWithinDistanceAVX (const Eigen::VectorXf &model_coefficients,
247 const double threshold,
248 std::size_t i = 0) const;
249#endif
250
251 private:
252 /** \brief Functor for the optimization function */
253 struct OptimizationFunctor : pcl::Functor<float>
254 {
255 /** \brief Functor constructor
256 * \param[in] indices the indices of data points to evaluate
257 * \param[in] estimator pointer to the estimator object
258 */
259 OptimizationFunctor (const pcl::SampleConsensusModelCircle2D<PointT> *model, const Indices& indices) :
260 pcl::Functor<float> (indices.size ()), model_ (model), indices_ (indices) {}
261
262 /** Cost function to be minimized
263 * \param[in] x the variables array
264 * \param[out] fvec the resultant functions evaluations
265 * \return 0
266 */
267 int
268 operator() (const Eigen::VectorXf &x, Eigen::VectorXf &fvec) const
269 {
270 for (int i = 0; i < values (); ++i)
271 {
272 // Compute the difference between the center of the circle and the datapoint X_i
273 float xt = (*model_->input_)[indices_[i]].x - x[0];
274 float yt = (*model_->input_)[indices_[i]].y - x[1];
275
276 // g = sqrt ((x-a)^2 + (y-b)^2) - R
277 fvec[i] = std::sqrt (xt * xt + yt * yt) - x[2];
278 }
279 return (0);
280 }
281
283 const Indices &indices_;
284 };
285
286#ifdef __AVX__
287 inline __m256 sqr_dist8 (const std::size_t i, const __m256 a_vec, const __m256 b_vec) const;
288#endif
289
290#ifdef __SSE__
291 inline __m128 sqr_dist4 (const std::size_t i, const __m128 a_vec, const __m128 b_vec) const;
292#endif
293 };
294}
295
296#ifdef PCL_NO_PRECOMPILE
297#include <pcl/sample_consensus/impl/sac_model_circle.hpp>
298#endif
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
SampleConsensusModelCircle2D defines a model for 2D circle segmentation on the X-Y plane.
std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers.
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid 2D circle model, compute the model coefficient...
void projectPoints(const Indices &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const override
Create a new point cloud with inliers projected onto the 2d circle model.
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
SampleConsensusModelCircle2D & operator=(const SampleConsensusModelCircle2D &source)
Copy constructor.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Compute all distances from the cloud data to a given 2D circle model.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given 2D circle model.
void optimizeModelCoefficients(const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the 2d circle coefficients using the given inlier set and return them to the user.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_CIRCLE2D).
~SampleConsensusModelCircle2D()
Empty destructor.
SampleConsensusModelCircle2D(const SampleConsensusModelCircle2D &source)
Copy constructor.
std::size_t countWithinDistanceStandard(const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const
This implementation uses no SIMD instructions.
bool isSampleGood(const Indices &samples) const override
Check if a sample of indices results in a good sample of points indices.
SampleConsensusModelCircle2D(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelCircle2D.
SampleConsensusModelCircle2D(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelCircle2D.
bool doSamplesVerifyModel(const std::set< index_t > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const override
Verify whether a subset of indices verifies the given 2d circle model coefficients.
SampleConsensusModel represents the base model class.
Definition: sac_model.h:70
shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:77
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition: sac_model.h:588
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: sac_model.h:73
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition: sac_model.h:556
std::string model_name_
The model name.
Definition: sac_model.h:550
unsigned int model_size_
The number of coefficients in the model.
Definition: sac_model.h:591
typename PointCloud::Ptr PointCloudPtr
Definition: sac_model.h:74
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
Definition: sac_model.h:78
SacModel
Definition: model_types.h:46
@ SACMODEL_CIRCLE2D
Definition: model_types.h:49
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
Base functor all the models that need non linear optimization must define their own one and implement...
Definition: sac_model.h:679
A point structure representing Euclidean xyz coordinates, and the RGB color.