OpenGV
A library for solving calibrated central and non-central geometric vision problems
All Classes Namespaces Files Functions Variables Typedefs Enumerations Pages
SampleConsensus.hpp
Go to the documentation of this file.
1 /******************************************************************************
2  * Authors: Laurent Kneip & Paul Furgale *
3  * Contact: kneip.laurent@gmail.com *
4  * License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
5  * *
6  * Redistribution and use in source and binary forms, with or without *
7  * modification, are permitted provided that the following conditions *
8  * are met: *
9  * * Redistributions of source code must retain the above copyright *
10  * notice, this list of conditions and the following disclaimer. *
11  * * Redistributions in binary form must reproduce the above copyright *
12  * notice, this list of conditions and the following disclaimer in the *
13  * documentation and/or other materials provided with the distribution. *
14  * * Neither the name of ANU nor the names of its contributors may be *
15  * used to endorse or promote products derived from this software without *
16  * specific prior written permission. *
17  * *
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
19  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
20  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
21  * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE *
22  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
23  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
24  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
25  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT *
26  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY *
27  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF *
28  * SUCH DAMAGE. *
29  ******************************************************************************/
30 
31 //Note: has been derived from ROS
32 
41 #ifndef OPENGV_SAC_SAMPLECONSENSUS_HPP_
42 #define OPENGV_SAC_SAMPLECONSENSUS_HPP_
43 
44 #include <memory>
45 
49 namespace opengv
50 {
54 namespace sac
55 {
56 
60 template<typename PROBLEM_T>
62 {
63 public:
64  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
66  typedef PROBLEM_T problem_t;
68  typedef typename problem_t::model_t model_t;
69 
79  int maxIterations = 1000,
80  double threshold = 1.0,
81  double probability = 0.99 );
85  virtual ~SampleConsensus();
86 
92  virtual bool computeModel(
93  int debug_verbosity_level = 0 ) = 0;
94 
95  // \todo accessors
96  //private:
97 
103  double threshold_;
105  double probability_;
109  std::vector<int> model_;
111  std::vector<int> inliers_;
113  std::shared_ptr<PROBLEM_T> sac_model_;
114 };
115 
116 } // namespace sac
117 } // namespace opengv
118 
119 #include "implementation/SampleConsensus.hpp"
120 
121 #endif /* OPENGV_SAC_SAMPLECONSENSUS_HPP_ */
std::vector< int > model_
Definition: SampleConsensus.hpp:109
double threshold_
Definition: SampleConsensus.hpp:103
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:47
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef PROBLEM_T problem_t
Definition: SampleConsensus.hpp:66
std::shared_ptr< PROBLEM_T > sac_model_
Definition: SampleConsensus.hpp:113
int max_iterations_
Definition: SampleConsensus.hpp:99
model_t model_coefficients_
Definition: SampleConsensus.hpp:107
int iterations_
Definition: SampleConsensus.hpp:101
Definition: SampleConsensus.hpp:61
virtual ~SampleConsensus()
Destructor.
double probability_
Definition: SampleConsensus.hpp:105
SampleConsensus(int maxIterations=1000, double threshold=1.0, double probability=0.99)
Constructor.
virtual bool computeModel(int debug_verbosity_level=0)=0
Fit the model to the data.
problem_t::model_t model_t
Definition: SampleConsensus.hpp:68
std::vector< int > inliers_
Definition: SampleConsensus.hpp:111