Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: sac.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_SAMPLE_CONSENSUS_H_ 00039 #define PCL_SAMPLE_CONSENSUS_H_ 00040 00041 #include "pcl/sample_consensus/sac_model.h" 00042 #include <set> 00043 00044 namespace pcl 00045 { 00047 //template <typename ... T> // variadic templates don't work yet 00052 template <typename T> 00053 class SampleConsensus 00054 { 00055 typedef typename SampleConsensusModel<T>::Ptr SampleConsensusModelPtr; 00056 00057 private: 00059 SampleConsensus () {}; 00060 00061 public: 00062 typedef boost::shared_ptr<SampleConsensus> Ptr; 00063 typedef boost::shared_ptr<const SampleConsensus> ConstPtr; 00064 00068 SampleConsensus (const SampleConsensusModelPtr &model) : sac_model_(model), probability_ (0.99), 00069 iterations_ (0), threshold_ (DBL_MAX), max_iterations_ (1000) 00070 { /* srand ((unsigned)time (0)); // set a random seed */ }; 00071 00076 SampleConsensus (const SampleConsensusModelPtr &model, double threshold) : sac_model_(model), probability_ (0.99), 00077 iterations_ (0), threshold_ (threshold), 00078 max_iterations_ (1000) 00079 {}; 00080 00082 00083 virtual ~SampleConsensus () {}; 00084 00088 inline void setDistanceThreshold (double threshold) { threshold_ = threshold; } 00089 00091 inline double getDistanceThreshold () { return (threshold_); } 00092 00096 inline void setMaxIterations (int max_iterations) { max_iterations_ = max_iterations; } 00097 00099 inline int getMaxIterations () { return (max_iterations_); } 00100 00105 inline void setProbability (double probability) { probability_ = probability; } 00106 00108 inline double getProbability () { return (probability_); } 00109 00111 virtual bool computeModel (int debug_verbosity_level = 0) = 0; 00112 00118 inline void 00119 getRandomSamples (const boost::shared_ptr <std::vector<int> > &indices, 00120 size_t nr_samples, 00121 std::set<int> &indices_subset) 00122 { 00123 indices_subset.clear (); 00124 while (indices_subset.size () < nr_samples) 00125 indices_subset.insert ((*indices)[(int) (indices->size () * (rand () / (RAND_MAX + 1.0)))]); 00126 } 00127 00131 inline void getModel (std::vector<int> &model) { model = model_; } 00132 00136 inline void getInliers (std::vector<int> &inliers) { inliers = inliers_; } 00137 00141 inline void getModelCoefficients (Eigen::VectorXf &model_coefficients) { model_coefficients = model_coefficients_; } 00142 00143 protected: 00145 SampleConsensusModelPtr sac_model_; 00146 00148 std::vector<int> model_; 00149 00151 std::vector<int> inliers_; 00152 00154 Eigen::VectorXf model_coefficients_; 00155 00157 double probability_; 00158 00160 int iterations_; 00161 00163 double threshold_; 00164 00166 int max_iterations_; 00167 }; 00168 } 00169 00170 #endif //#ifndef PCL_SAMPLE_CONSENSUS_H_