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MultiSampleConsensus.hpp
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/******************************************************************************
* Authors: Laurent Kneip & Paul Furgale *
* Contact: kneip.laurent@gmail.com *
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
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//Note: has been derived from ROS
#ifndef OPENGV_SAC_MULTISAMPLECONSENSUS_HPP_
#define OPENGV_SAC_MULTISAMPLECONSENSUS_HPP_
namespace opengv
{
namespace sac
{
template<typename PROBLEM_T>
class MultiSampleConsensus
{
public:
typedef PROBLEM_T problem_t;
typedef typename problem_t::model_t model_t;
MultiSampleConsensus(
int maxIterations = 1000,
double threshold = 1.0,
double probability = 0.99 );
virtual ~MultiSampleConsensus();
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< std::vector<int> > model_;
std::vector< std::vector<int> > inliers_;
std::shared_ptr<PROBLEM_T> sac_model_;
};
} // namespace sac
} // namespace opengv
#include "implementation/MultiSampleConsensus.hpp"
#endif /* OPENGV_MULTISAMPLECONSENSUS_HPP_ */
opengv::sac::MultiSampleConsensus::model_t
problem_t::model_t model_t
Definition MultiSampleConsensus.hpp:68
opengv::sac::MultiSampleConsensus::computeModel
virtual bool computeModel(int debug_verbosity_level=0)=0
Fit the model to the data.
opengv::sac::MultiSampleConsensus::iterations_
int iterations_
Definition MultiSampleConsensus.hpp:100
opengv::sac::MultiSampleConsensus::sac_model_
std::shared_ptr< PROBLEM_T > sac_model_
Definition MultiSampleConsensus.hpp:112
opengv::sac::MultiSampleConsensus::MultiSampleConsensus
MultiSampleConsensus(int maxIterations=1000, double threshold=1.0, double probability=0.99)
Constructor.
opengv::sac::MultiSampleConsensus::problem_t
PROBLEM_T problem_t
Definition MultiSampleConsensus.hpp:66
opengv::sac::MultiSampleConsensus::model_
std::vector< std::vector< int > > model_
Definition MultiSampleConsensus.hpp:108
opengv::sac::MultiSampleConsensus::threshold_
double threshold_
Definition MultiSampleConsensus.hpp:102
opengv::sac::MultiSampleConsensus::model_coefficients_
model_t model_coefficients_
Definition MultiSampleConsensus.hpp:106
opengv::sac::MultiSampleConsensus::inliers_
std::vector< std::vector< int > > inliers_
Definition MultiSampleConsensus.hpp:110
opengv::sac::MultiSampleConsensus::max_iterations_
int max_iterations_
Definition MultiSampleConsensus.hpp:98
opengv::sac::MultiSampleConsensus::probability_
double probability_
Definition MultiSampleConsensus.hpp:104
opengv::sac::MultiSampleConsensus::~MultiSampleConsensus
virtual ~MultiSampleConsensus()
Destructor.
opengv::sac
The namespace for the sample consensus methods.
Definition Lmeds.hpp:53
opengv
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48