Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: mlesac.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_ 00039 #define PCL_SAMPLE_CONSENSUS_MLESAC_H_ 00040 00041 #include <pcl/sample_consensus/sac.h> 00042 #include <pcl/sample_consensus/sac_model.h> 00043 00044 namespace pcl 00045 { 00047 00054 template <typename PointT> 00055 class MaximumLikelihoodSampleConsensus : public SampleConsensus<PointT> 00056 { 00057 using SampleConsensus<PointT>::max_iterations_; 00058 using SampleConsensus<PointT>::threshold_; 00059 using SampleConsensus<PointT>::iterations_; 00060 using SampleConsensus<PointT>::sac_model_; 00061 using SampleConsensus<PointT>::model_; 00062 using SampleConsensus<PointT>::model_coefficients_; 00063 using SampleConsensus<PointT>::inliers_; 00064 using SampleConsensus<PointT>::probability_; 00065 00066 typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr; 00067 typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 00068 00069 public: 00073 MaximumLikelihoodSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus<PointT> (model), 00074 iterations_EM_ (3) // Max number of EM (Expectation Maximization) iterations 00075 { 00076 // Maximum number of trials before we give up. 00077 max_iterations_ = 10000; 00078 } 00079 00084 MaximumLikelihoodSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus<PointT> (model, threshold), 00085 iterations_EM_ (3) // Max number of EM (Expectation Maximization) iterations 00086 { 00087 // Maximum number of trials before we give up. 00088 max_iterations_ = 10000; 00089 } 00090 00094 bool computeModel (int debug_verbosity_level = 0); 00095 00099 inline void setEMIterations (int iterations) { iterations_EM_ = iterations; } 00100 00102 inline int getEMIterations () { return (iterations_EM_); } 00103 00104 00105 protected: 00115 double 00116 computeMedianAbsoluteDeviation (const PointCloudConstPtr &cloud, 00117 const boost::shared_ptr <std::vector<int> > &indices, 00118 double sigma); 00119 00126 void 00127 getMinMax (const PointCloudConstPtr &cloud, 00128 const boost::shared_ptr <std::vector<int> > &indices, 00129 Eigen::Vector4f &min_p, 00130 Eigen::Vector4f &max_p); 00131 00137 void 00138 computeMedian (const PointCloudConstPtr &cloud, 00139 const boost::shared_ptr <std::vector<int> > &indices, 00140 Eigen::Vector4f &median); 00141 00142 private: 00144 int iterations_EM_; 00146 double sigma_; 00147 }; 00148 } 00149 00150 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_