SampleConsensusProblem.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_SAMPLECONSENSUSPROBLEM_HPP_
#define OPENGV_SAC_SAMPLECONSENSUSPROBLEM_HPP_

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

namespace opengv
{
namespace sac
{

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

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

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

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

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

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

  virtual int getSampleSize() const = 0;

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

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

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

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

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

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

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

  void setUniformIndices( int N );

  int rnd();



  int max_sample_checks_;

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

  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/SampleConsensusProblem.hpp"

#endif /* OPENGV_SAC_SAMPLECONSENSUSPROBLEM_HPP_ */