107 lines
4.4 KiB
C++
107 lines
4.4 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2009, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/sample_consensus/sac.h>
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#include <pcl/sample_consensus/sac_model.h>
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namespace pcl
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{
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/** \brief @b LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm. LMedS
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* is a RANSAC-like model-fitting algorithm that can tolerate up to 50% outliers without requiring thresholds to be
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* set. See Andrea Fusiello's "Elements of Geometric Computer Vision"
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* (http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/FUSIELLO4/tutorial.html#x1-520007) for more details.
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* In contrast to RANSAC, LMedS does not divide the points into inliers and outliers when finding the model. Instead,
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* it uses the median of all point-model distances as the measure of how good a model is. A threshold is only needed
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* at the end, when it is determined which points belong to the found model.
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* \author Radu B. Rusu
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* \ingroup sample_consensus
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*/
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template <typename PointT>
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class LeastMedianSquares : public SampleConsensus<PointT>
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{
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using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
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public:
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using Ptr = shared_ptr<LeastMedianSquares<PointT> >;
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using ConstPtr = shared_ptr<const LeastMedianSquares<PointT> >;
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using SampleConsensus<PointT>::max_iterations_;
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using SampleConsensus<PointT>::threshold_;
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using SampleConsensus<PointT>::iterations_;
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using SampleConsensus<PointT>::sac_model_;
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using SampleConsensus<PointT>::model_;
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using SampleConsensus<PointT>::model_coefficients_;
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using SampleConsensus<PointT>::inliers_;
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/** \brief LMedS (Least Median of Squares) main constructor
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* \param[in] model a Sample Consensus model
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*/
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LeastMedianSquares (const SampleConsensusModelPtr &model)
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: SampleConsensus<PointT> (model)
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{
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// Maximum number of trials before we give up.
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max_iterations_ = 50;
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}
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/** \brief LMedS (Least Median of Squares) main constructor
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* \param[in] model a Sample Consensus model
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* \param[in] threshold distance to model threshold
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*/
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LeastMedianSquares (const SampleConsensusModelPtr &model, double threshold)
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: SampleConsensus<PointT> (model, threshold)
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{
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// Maximum number of trials before we give up.
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max_iterations_ = 50;
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}
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/** \brief Compute the actual model and find the inliers
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* \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
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*/
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bool
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computeModel (int debug_verbosity_level = 0) override;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/sample_consensus/impl/lmeds.hpp>
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#endif
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