iLab Neuromorphic Robotics Toolkit  0.1
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SampleConcensusBase.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 //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef INCLUDE_NRT_POINTCLOUD2_SAMPLECONCENSUS_SAMPLECONCENSUSBASE_H_
37 #define INCLUDE_NRT_POINTCLOUD2_SAMPLECONCENSUS_SAMPLECONCENSUSBASE_H_
38 
41 
42 namespace nrt
43 {
44  //! Interface for all sample concensus methods
46  {
47  typedef PointCloud2::VectorX VectorX;
48 
49  public:
50  //! Constructor
51  SampleConcensusBase() = default;
52 
53  //! Virtual destructor
54  virtual ~SampleConcensusBase();
55 
56  //! Attempts to compute a set of inliers using some model
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 ) = 0;
60 
61  //! Gets the model indices found by the latest run of evaluate succeeded
62  Indices getModelIndices() const;
63 
64  //! Gets the current best set of inliers found by the latest run of evaluate that succeeded
65  Indices getInliers() const;
66 
67  //! Gets the current best set of model coefficients found by the latest run of evaluate that succeeded
68  VectorX getCoefficients() const;
69 
70  protected:
71  //! The model to use
73 
74  //! The indices that correspond to the best model thus far
76 
77  //! The best set of inliers found
79 
80  //! The best set of model coefficients
82  };
83 } //namespace nrt
84 
85 #endif // INCLUDE_NRT_POINTCLOUD2_SAMPLECONCENSUS_SAMPLECONCENSUSBASE_H_
86 #endif // NRT_HAVE_CLOUD