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ransac_applications.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef  ransac_optimizers_H
00029 #define  ransac_optimizers_H
00030 
00031 #include <mrpt/math/ransac.h>
00032 #include <mrpt/math/geometry.h>
00033 
00034 namespace mrpt
00035 {
00036         namespace math
00037         {
00038                 using std::vector;
00039 
00040                 /** @name RANSAC detectors
00041                         @{
00042                   */
00043 
00044                 /** Fit a number of 3-D planes to a given point cloud, automatically determining the number of existing planes by means of the provided threshold and minimum number of supporting inliers.
00045                   * \param out_detected_planes The output list of pairs: number of supporting inliers, detected plane.
00046                   * \param threshold The maximum distance between a point and a temptative plane such as the point is considered an inlier.
00047                   * \param min_inliers_for_valid_plane  The minimum number of supporting inliers to consider a plane as valid.
00048                   */
00049                 template <typename NUMTYPE>
00050                 void BASE_IMPEXP ransac_detect_3D_planes(
00051                         const Eigen::Matrix<NUMTYPE,Eigen::Dynamic,1>  &x,
00052                         const Eigen::Matrix<NUMTYPE,Eigen::Dynamic,1>  &y,
00053                         const Eigen::Matrix<NUMTYPE,Eigen::Dynamic,1>  &z,
00054                         std::vector<std::pair<size_t,TPlane> >   &out_detected_planes,
00055                         const double           threshold,
00056                         const size_t           min_inliers_for_valid_plane = 10
00057                         );
00058 
00059                 /** Fit a number of 2-D lines to a given point cloud, automatically determining the number of existing lines by means of the provided threshold and minimum number of supporting inliers.
00060                   * \param out_detected_lines The output list of pairs: number of supporting inliers, detected line.
00061                   * \param threshold The maximum distance between a point and a temptative line such as the point is considered an inlier.
00062                   * \param min_inliers_for_valid_line  The minimum number of supporting inliers to consider a line as valid.
00063                   */
00064                 template <typename NUMTYPE>
00065                 void BASE_IMPEXP ransac_detect_2D_lines(
00066                         const Eigen::Matrix<NUMTYPE,Eigen::Dynamic,1>  &x,
00067                         const Eigen::Matrix<NUMTYPE,Eigen::Dynamic,1>  &y,
00068                         std::vector<std::pair<size_t,TLine2D> >   &out_detected_lines,
00069                         const double           threshold,
00070                         const size_t           min_inliers_for_valid_line = 5
00071                         );
00072 
00073 
00074                 /** A stub for ransac_detect_3D_planes() with the points given as a mrpt::slam::CPointsMap
00075                   */
00076                 template <class POINTSMAP>
00077                 inline void ransac_detect_3D_planes(
00078                         const POINTSMAP * points_map,
00079                         std::vector<std::pair<size_t,TPlane> >   &out_detected_planes,
00080                         const double           threshold,
00081                         const size_t           min_inliers_for_valid_plane
00082                         )
00083                 {
00084                         vector_float xs,ys,zs;
00085                         points_map->getAllPoints(xs,ys,zs);
00086                         ransac_detect_3D_planes(xs,ys,zs,out_detected_planes,threshold,min_inliers_for_valid_plane);
00087                 }
00088 
00089                 /** @} */
00090 
00091 
00092         } // End of namespace
00093 } // End of namespace
00094 
00095 #endif



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