mlesac.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */

#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_
#define PCL_SAMPLE_CONSENSUS_MLESAC_H_

#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/sac_model.h>

namespace pcl
{
  template <typename PointT>
  class MaximumLikelihoodSampleConsensus : public SampleConsensus<PointT>
  {
    typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
    typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 

    public:
      typedef boost::shared_ptr<MaximumLikelihoodSampleConsensus> Ptr;
      typedef boost::shared_ptr<const MaximumLikelihoodSampleConsensus> ConstPtr;

      using SampleConsensus<PointT>::max_iterations_;
      using SampleConsensus<PointT>::threshold_;
      using SampleConsensus<PointT>::iterations_;
      using SampleConsensus<PointT>::sac_model_;
      using SampleConsensus<PointT>::model_;
      using SampleConsensus<PointT>::model_coefficients_;
      using SampleConsensus<PointT>::inliers_;
      using SampleConsensus<PointT>::probability_;

      MaximumLikelihoodSampleConsensus (const SampleConsensusModelPtr &model) : 
        SampleConsensus<PointT> (model),
        iterations_EM_ (3),      // Max number of EM (Expectation Maximization) iterations
        sigma_ (0)
      {
        max_iterations_ = 10000; // Maximum number of trials before we give up.
      }

      MaximumLikelihoodSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : 
        SampleConsensus<PointT> (model, threshold),
        iterations_EM_ (3),      // Max number of EM (Expectation Maximization) iterations
        sigma_ (0)
      {
        max_iterations_ = 10000; // Maximum number of trials before we give up.
      }

      bool 
      computeModel (int debug_verbosity_level = 0);

      inline void 
      setEMIterations (int iterations) { iterations_EM_ = iterations; }

      inline int 
      getEMIterations () const { return (iterations_EM_); }


    protected:
      double 
      computeMedianAbsoluteDeviation (const PointCloudConstPtr &cloud, 
                                      const boost::shared_ptr <std::vector<int> > &indices, 
                                      double sigma);

      void 
      getMinMax (const PointCloudConstPtr &cloud, 
                 const boost::shared_ptr <std::vector<int> > &indices, 
                 Eigen::Vector4f &min_p, 
                 Eigen::Vector4f &max_p);

      void 
      computeMedian (const PointCloudConstPtr &cloud, 
                     const boost::shared_ptr <std::vector<int> > &indices, 
                     Eigen::Vector4f &median);

    private:
      int iterations_EM_;
      double sigma_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/sample_consensus/impl/mlesac.hpp>
#endif

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_