OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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SampleConsensus.hpp
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1/******************************************************************************
2 * Authors: Laurent Kneip & Paul Furgale *
3 * Contact: kneip.laurent@gmail.com *
4 * License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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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
49namespace opengv
50{
54namespace sac
55{
56
60template<typename PROBLEM_T>
62{
63public:
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 );
86
92 virtual bool computeModel(
93 int debug_verbosity_level = 0 ) = 0;
94
95 // \todo accessors
96 //private:
97
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_ */
Definition SampleConsensus.hpp:62
std::vector< int > model_
Definition SampleConsensus.hpp:109
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef PROBLEM_T problem_t
Definition SampleConsensus.hpp:66
double probability_
Definition SampleConsensus.hpp:105
problem_t::model_t model_t
Definition SampleConsensus.hpp:68
virtual ~SampleConsensus()
Destructor.
int max_iterations_
Definition SampleConsensus.hpp:99
double threshold_
Definition SampleConsensus.hpp:103
model_t model_coefficients_
Definition SampleConsensus.hpp:107
std::vector< int > inliers_
Definition SampleConsensus.hpp:111
virtual bool computeModel(int debug_verbosity_level=0)=0
Fit the model to the data.
SampleConsensus(int maxIterations=1000, double threshold=1.0, double probability=0.99)
Constructor.
std::shared_ptr< PROBLEM_T > sac_model_
Definition SampleConsensus.hpp:113
int iterations_
Definition SampleConsensus.hpp:101
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48