MultiSampleConsensusProblem.hpp

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 * Authors:  Laurent Kneip & Paul Furgale                                     *
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//Note: has been derived from ROS

#ifndef OPENGV_SAC_MULTISAMPLECONSENSUSPROBLEM_HPP_
#define OPENGV_SAC_MULTISAMPLECONSENSUSPROBLEM_HPP_

#include <stdlib.h>
#include <stdio.h>
#include <memory>
#include <functional>
#include <random>
#include <ctime>

namespace opengv
{
namespace sac
{

template<typename MODEL_T>
class MultiSampleConsensusProblem
{
public:
  typedef MODEL_T model_t;

  MultiSampleConsensusProblem( bool randomSeed = true );
  virtual ~MultiSampleConsensusProblem();

  virtual void getSamples(
      int &iterations,
      std::vector< std::vector<int> > &samples );

  virtual bool isSampleGood(
      const std::vector< std::vector<int> > & sample ) const;

  std::shared_ptr< std::vector< std::vector<int> > > getIndices() const;

  void drawIndexSample( std::vector< std::vector<int> > & sample );

  virtual std::vector<int> getSampleSizes() const = 0;

  virtual bool computeModelCoefficients(
      const std::vector< std::vector<int> > & indices,
      model_t & outModel) const = 0;

  virtual void optimizeModelCoefficients(
      const std::vector< std::vector<int> > & inliers,
      const model_t & model_coefficients,
      model_t & optimized_coefficients ) = 0;

  virtual void getSelectedDistancesToModel(
      const model_t & model,
      const std::vector< std::vector<int> > & indices,
      std::vector< std::vector<double> > & scores ) const = 0;

  virtual void getDistancesToModel(
      const model_t & model_coefficients,
      std::vector< std::vector<double> > &distances );

  virtual void selectWithinDistance(
      const model_t &model_coefficients,
      const double threshold,
      std::vector< std::vector<int> > &inliers );

  virtual int countWithinDistance(
      const model_t &model_coefficients,
      const double threshold);

  void setIndices(const std::vector< std::vector<int> > & indices);

  void setUniformIndices(std::vector<int> N);

  int rnd();



  int max_sample_checks_;

  std::shared_ptr< std::vector< std::vector<int> > > indices_;

  std::vector< std::vector<int> > shuffled_indices_;

  std::mt19937 rng_alg_;

  std::shared_ptr< std::uniform_int_distribution<> > rng_dist_;

  std::shared_ptr< std::function<int()> > rng_gen_;

};

} // namespace sac
} // namespace opengv

#include "implementation/MultiSampleConsensusProblem.hpp"

#endif /* OPENGV_SAC_MULTISAMPLECONSENSUS_PROBLEM_HPP_ */