100 lines
3.7 KiB
C++
100 lines
3.7 KiB
C++
/******************************************************************************
|
|
* 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_ */
|