/******************************************************************************
 * Authors:  Johannes Mikulasch                                               *
 * 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 Ransac which has been derived from ROS

/**
 * \file Lmeds.hpp
 * \brief Implementation of the Lmeds algorithm
 */

#ifndef OPENGV_SAC_LMEDS_HPP_
#define OPENGV_SAC_LMEDS_HPP_

#include <vector>
#include <opengv/sac/SampleConsensus.hpp>
#include <cstdio>

/**
 * \brief The namespace of this library.
 */
namespace opengv
{
/**
 * \brief The namespace for the sample consensus methods.
 */
namespace sac
{
    
/**
 * The LMedS (Least Median of Squares) sample consensus method
 */
template<typename PROBLEM_T>
class Lmeds : public SampleConsensus<PROBLEM_T>
{
public:
  /** A child of SampleConsensusProblem */
  typedef PROBLEM_T problem_t;
  /** The model we trying to fit */
  typedef typename problem_t::model_t model_t;
  
  using SampleConsensus<problem_t>::max_iterations_;
  using SampleConsensus<problem_t>::threshold_;
  using SampleConsensus<problem_t>::iterations_;
  using SampleConsensus<problem_t>::sac_model_;
  using SampleConsensus<problem_t>::model_;
  using SampleConsensus<problem_t>::model_coefficients_;
  using SampleConsensus<problem_t>::inliers_;
  using SampleConsensus<problem_t>::probability_;

  /**
   * \brief Constructor.
   */
  Lmeds(
      int maxIterations = 1000,
      double threshold = 1.0,
      double probability = 0.99);
  /**
   * \brief Destructor.
   */
  virtual ~Lmeds();

  /**
   * \brief Fit the model.
   */
  bool computeModel( int debug_verbosity_level = 0 );
};

} // namespace sac
} // namespace opengv

#include "implementation/Lmeds.hpp"

#endif /* OPENGV_SAC_LMEDS_HPP_ */
