Loading...
Searching...
No Matches
SampleConsensus.hpp
Go to the documentation of this file.
/******************************************************************************
* Authors: Laurent Kneip & Paul Furgale *
* Contact: kneip.laurent@gmail.com *
* 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 ROS
#ifndef OPENGV_SAC_SAMPLECONSENSUS_HPP_
#define OPENGV_SAC_SAMPLECONSENSUS_HPP_
#include <memory>
namespace opengv
{
namespace sac
{
template<typename PROBLEM_T>
class SampleConsensus
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef PROBLEM_T problem_t;
typedef typename problem_t::model_t model_t;
SampleConsensus(
int maxIterations = 1000,
double threshold = 1.0,
double probability = 0.99 );
virtual ~SampleConsensus();
virtual bool computeModel(
int debug_verbosity_level = 0 ) = 0;
// \todo accessors
//private:
int max_iterations_;
int iterations_;
double threshold_;
double probability_;
model_t model_coefficients_;
std::vector<int> model_;
std::vector<int> inliers_;
std::shared_ptr<PROBLEM_T> sac_model_;
};
} // namespace sac
} // namespace opengv
#include "implementation/SampleConsensus.hpp"
#endif /* OPENGV_SAC_SAMPLECONSENSUS_HPP_ */
opengv::sac::SampleConsensus::model_
std::vector< int > model_
Definition SampleConsensus.hpp:109
opengv::sac::SampleConsensus::problem_t
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef PROBLEM_T problem_t
Definition SampleConsensus.hpp:66
opengv::sac::SampleConsensus::probability_
double probability_
Definition SampleConsensus.hpp:105
opengv::sac::SampleConsensus::model_t
problem_t::model_t model_t
Definition SampleConsensus.hpp:68
opengv::sac::SampleConsensus::~SampleConsensus
virtual ~SampleConsensus()
Destructor.
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::computeModel
virtual bool computeModel(int debug_verbosity_level=0)=0
Fit the model to the data.
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