iLab Neuromorphic Robotics Toolkit  0.1
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RandomSampleConcensus.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
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27  // PURPOSE. See the GNU General Public License for more details. //
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32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef INCLUDE_NRT_POINTCLOUD2_SAMPLECONCENSUS_RANDOMSAMPLECONCENSUS_H_
37 #define INCLUDE_NRT_POINTCLOUD2_SAMPLECONCENSUS_RANDOMSAMPLECONCENSUS_H_
38 
40 
41 namespace nrt
42 {
43  //! Interface for all sample concensus methods
45  {
46  typedef PointCloud2::VectorX VectorX;
47 
48  public:
49  //! Constructor
50  /*! @param probability The probability of choosing one sample free of outliers
51  @param maxIterations The maximum number of iterations */
53  double probability = 0.99,
54  size_t maxIterations = 1000 );
55 
56  //! Attempts to compute a set of inliers
57  /*! @param model The model to use
58  @return true if the model successfully converged on a set of inliers */
59  virtual bool evaluate( ModelBase::SharedPtr const model );
60 
61  private:
65 
66  //! Probability of choosing one sample free of outliers
67  const double itsSampleProbability;
68 
69  //! Maximum number of iterations
70  const size_t itsMaxIterations;
71  };
72 } //namespace nrt
73 
74 #endif // INCLUDE_NRT_POINTCLOUD2_SAMPLECONCENSUS_RANDOMSAMPLECONCENSUS_H_
75 #endif // NRT_HAVE_CLOUD