sac_model.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2008-2009 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
 *
 * 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.
 *
 * 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: sac_model.cpp 16379 2009-05-29 19:20:46Z hsujohnhsu $
 *
 */
 
#include <algorithm>
#include <sac_model.h>
 
namespace sample_consensus
{
 
  int
    SACModel::removeInliers ()
  {
    // The point indices used for computing the current model are in indices_
    // What we need to do is subtract the Inliers
    std::vector<int> remaining_indices;
 
    // Sort the inliers and the point cloud indices
    std::sort (best_inliers_.begin (), best_inliers_.end ());
    std::sort (indices_.begin (), indices_.end ());
 
    set_difference (indices_.begin (), indices_.end (), best_inliers_.begin (), best_inliers_.end (),
                    inserter (remaining_indices, remaining_indices.begin ()));
 
    indices_ = remaining_indices;
 
 
    return indices_.size ();
  }
}