Point Cloud Library (PCL)
1.7.0
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_SAMPLE_CONSENSUS_LMEDS_H_ 00042 #define PCL_SAMPLE_CONSENSUS_LMEDS_H_ 00043 00044 #include <pcl/sample_consensus/sac.h> 00045 #include <pcl/sample_consensus/sac_model.h> 00046 00047 namespace pcl 00048 { 00049 /** \brief @b LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm. LMedS 00050 * is a RANSAC-like model-fitting algorithm that can tolerate up to 50% outliers without requiring thresholds to be 00051 * set. See Andrea Fusiello's "Elements of Geometric Computer Vision" 00052 * (http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/FUSIELLO4/tutorial.html#x1-520007) for more details. 00053 * \author Radu B. Rusu 00054 * \ingroup sample_consensus 00055 */ 00056 template <typename PointT> 00057 class LeastMedianSquares : public SampleConsensus<PointT> 00058 { 00059 typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr; 00060 00061 public: 00062 typedef boost::shared_ptr<LeastMedianSquares> Ptr; 00063 typedef boost::shared_ptr<const LeastMedianSquares> ConstPtr; 00064 00065 using SampleConsensus<PointT>::max_iterations_; 00066 using SampleConsensus<PointT>::threshold_; 00067 using SampleConsensus<PointT>::iterations_; 00068 using SampleConsensus<PointT>::sac_model_; 00069 using SampleConsensus<PointT>::model_; 00070 using SampleConsensus<PointT>::model_coefficients_; 00071 using SampleConsensus<PointT>::inliers_; 00072 00073 /** \brief LMedS (Least Median of Squares) main constructor 00074 * \param[in] model a Sample Consensus model 00075 */ 00076 LeastMedianSquares (const SampleConsensusModelPtr &model) 00077 : SampleConsensus<PointT> (model) 00078 { 00079 // Maximum number of trials before we give up. 00080 max_iterations_ = 50; 00081 } 00082 00083 /** \brief LMedS (Least Median of Squares) main constructor 00084 * \param[in] model a Sample Consensus model 00085 * \param[in] threshold distance to model threshold 00086 */ 00087 LeastMedianSquares (const SampleConsensusModelPtr &model, double threshold) 00088 : SampleConsensus<PointT> (model, threshold) 00089 { 00090 // Maximum number of trials before we give up. 00091 max_iterations_ = 50; 00092 } 00093 00094 /** \brief Compute the actual model and find the inliers 00095 * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level 00096 */ 00097 bool 00098 computeModel (int debug_verbosity_level = 0); 00099 }; 00100 } 00101 00102 #ifdef PCL_NO_PRECOMPILE 00103 #include <pcl/sample_consensus/impl/lmeds.hpp> 00104 #endif 00105 00106 #endif //#ifndef PCL_SAMPLE_CONSENSUS_LMEDS_H_ 00107