stereo_wall_detection: sac_model.cpp Source File

00001 /*
00002  * Copyright (c) 2008-2009 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
00003  *
00004  * All rights reserved.
00005  *
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are met:
00008  *
00009  *     * Redistributions of source code must retain the above copyright
00010  *       notice, this list of conditions and the following disclaimer.
00011  *     * Redistributions in binary form must reproduce the above copyright
00012  *       notice, this list of conditions and the following disclaimer in the
00013  *       documentation and/or other materials provided with the distribution.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  *
00027  * $Id: sac_model.cpp 16379 2009-05-29 19:20:46Z hsujohnhsu $
00028  *
00029  */
00030 
00033 #include <algorithm>
00034 #include <stereo_wall_detection/sample_consensus/sac_model.h>
00035 
00036 namespace sample_consensus
00037 {
00039 
00040   int
00041     SACModel::removeInliers ()
00042   {
00043     // The point indices used for computing the current model are in indices_
00044     // What we need to do is subtract the Inliers
00045     std::vector<int> remaining_indices;
00046 
00047     // Sort the inliers and the point cloud indices
00048     std::sort (best_inliers_.begin (), best_inliers_.end ());
00049     std::sort (indices_.begin (), indices_.end ());
00050 
00051     set_difference (indices_.begin (), indices_.end (), best_inliers_.begin (), best_inliers_.end (),
00052                     inserter (remaining_indices, remaining_indices.begin ()));
00053 
00054     indices_ = remaining_indices;
00055 
00056 
00057     return indices_.size ();
00058   }
00059 }