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 * $Id$ 00028 * 00029 */ 00030 00033 #include <algorithm> 00034 #include <door_handle_detector/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 }