PointCloudSacProblem.hpp

Go to the documentation of this file.

/******************************************************************************
 * Author:   Laurent Kneip                                                    *
 * 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.                                                               *
 ******************************************************************************/

#ifndef OPENGV_SAC_PROBLEMS_POINT_CLOUD_POINTCLOUDSACPROBLEM_HPP_
#define OPENGV_SAC_PROBLEMS_POINT_CLOUD_POINTCLOUDSACPROBLEM_HPP_

#include <opengv/sac/SampleConsensusProblem.hpp>
#include <opengv/types.hpp>
#include <opengv/point_cloud/PointCloudAdapterBase.hpp>

namespace opengv
{
namespace sac_problems
{
namespace point_cloud
{

class PointCloudSacProblem :
    public sac::SampleConsensusProblem<transformation_t>
{
public:
  typedef transformation_t model_t;
  typedef opengv::point_cloud::PointCloudAdapterBase adapter_t;


  PointCloudSacProblem(adapter_t & adapter, bool randomSeed = true) :
    sac::SampleConsensusProblem<model_t> (randomSeed),
    _adapter(adapter)
  {
    setUniformIndices(adapter.getNumberCorrespondences());
  };

  PointCloudSacProblem(
      adapter_t & adapter,
      const std::vector<int> & indices,
      bool randomSeed = true) :
      sac::SampleConsensusProblem<model_t> (randomSeed),
      _adapter(adapter)
  {
    setIndices(indices);
  };

  virtual ~PointCloudSacProblem() {};

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

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

  virtual void optimizeModelCoefficients(
      const std::vector<int> & inliers,
      const model_t & model,
      model_t & optimized_model);

  virtual int getSampleSize() const;

protected:
  adapter_t & _adapter;
};

}
}
}

#endif  //#ifndef OPENGV_SAC_PROBLEMS_POINT_CLOUD_POINTCLOUDSACPROBLEM_HPP_