Loading...
Searching...
No Matches
Lmeds.hpp
Go to the documentation of this file.
/******************************************************************************
* Authors: Johannes Mikulasch *
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions *
* are met: *
* * Redistributions of source code must retain the above copyright *
* notice, this list of conditions and the following disclaimer. *
* * Redistributions in binary form must reproduce the above copyright *
* notice, this list of conditions and the following disclaimer in the *
* documentation and/or other materials provided with the distribution. *
* * Neither the name of ANU nor the names of its contributors may be *
* used to endorse or promote products derived from this software without *
* specific prior written permission. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
* ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE *
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT *
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY *
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF *
* SUCH DAMAGE. *
******************************************************************************/
//Note: has been derived from Ransac which has been derived from ROS
#ifndef OPENGV_SAC_LMEDS_HPP_
#define OPENGV_SAC_LMEDS_HPP_
#include <vector>
#include <opengv/sac/SampleConsensus.hpp>
#include <cstdio>
namespace opengv
{
namespace sac
{
template<typename PROBLEM_T>
class Lmeds : public SampleConsensus<PROBLEM_T>
{
public:
typedef PROBLEM_T problem_t;
typedef typename problem_t::model_t model_t;
using SampleConsensus<problem_t>::max_iterations_;
using SampleConsensus<problem_t>::threshold_;
using SampleConsensus<problem_t>::iterations_;
using SampleConsensus<problem_t>::sac_model_;
using SampleConsensus<problem_t>::model_;
using SampleConsensus<problem_t>::model_coefficients_;
using SampleConsensus<problem_t>::inliers_;
using SampleConsensus<problem_t>::probability_;
Lmeds(
int maxIterations = 1000,
double threshold = 1.0,
double probability = 0.99);
virtual ~Lmeds();
bool computeModel( int debug_verbosity_level = 0 );
};
} // namespace sac
} // namespace opengv
#include "implementation/Lmeds.hpp"
#endif /* OPENGV_SAC_LMEDS_HPP_ */
SampleConsensus.hpp
This is a base class for sample consensus methods such as Ransac. Derivatives call the three basic fu...
opengv::sac::Lmeds::Lmeds
Lmeds(int maxIterations=1000, double threshold=1.0, double probability=0.99)
Constructor.
opengv::sac::Lmeds::model_t
problem_t::model_t model_t
Definition Lmeds.hpp:65
opengv::sac::Lmeds::~Lmeds
virtual ~Lmeds()
Destructor.
opengv::sac::Lmeds::problem_t
PROBLEM_T problem_t
Definition Lmeds.hpp:63
opengv::sac::Lmeds::computeModel
bool computeModel(int debug_verbosity_level=0)
Fit the model.
opengv::sac::SampleConsensus::model_
std::vector< int > model_
Definition SampleConsensus.hpp:109
opengv::sac::SampleConsensus::probability_
double probability_
Definition SampleConsensus.hpp:105
opengv::sac::SampleConsensus::max_iterations_
int max_iterations_
Definition SampleConsensus.hpp:99
opengv::sac::SampleConsensus::threshold_
double threshold_
Definition SampleConsensus.hpp:103
opengv::sac::SampleConsensus::model_coefficients_
model_t model_coefficients_
Definition SampleConsensus.hpp:107
opengv::sac::SampleConsensus::inliers_
std::vector< int > inliers_
Definition SampleConsensus.hpp:111
opengv::sac::SampleConsensus::SampleConsensus
SampleConsensus(int maxIterations=1000, double threshold=1.0, double probability=0.99)
Constructor.
opengv::sac::SampleConsensus::sac_model_
std::shared_ptr< PROBLEM_T > sac_model_
Definition SampleConsensus.hpp:113
opengv::sac::SampleConsensus::iterations_
int iterations_
Definition SampleConsensus.hpp:101
opengv::sac
The namespace for the sample consensus methods.
Definition Lmeds.hpp:53
opengv
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48