Point Cloud Library (PCL)  1.3.1
sac.h
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00001 /*
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00034  * $Id: sac.h 1370 2011-06-19 01:06:01Z jspricke $
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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_
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