SampleConsensus.hpp

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 * Authors:  Laurent Kneip & Paul Furgale                                     *
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//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_ */