1 /******************************************************************************
2  * Author:   Laurent Kneip                                                    *
3  * Contact:  kneip.laurent@gmail.com                                          *
4  * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
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30 
31 
32 #include <opengv/sac_problems/point_cloud/PointCloudSacProblem.hpp>
33 #include <opengv/point_cloud/methods.hpp>
34 
35 bool
36 opengv::sac_problems::
computeModelCoefficients(const std::vector<int> & indices,model_t & outModel) const37     point_cloud::PointCloudSacProblem::computeModelCoefficients(
38     const std::vector<int> &indices,
39     model_t & outModel) const
40 {
41   outModel = opengv::point_cloud::threept_arun(_adapter,indices);
42   return true;
43 }
44 
45 void
46 opengv::sac_problems::
getSelectedDistancesToModel(const model_t & model,const std::vector<int> & indices,std::vector<double> & scores) const47     point_cloud::PointCloudSacProblem::getSelectedDistancesToModel(
48     const model_t & model,
49     const std::vector<int> & indices,
50     std::vector<double> & scores) const
51 {
52   Eigen::Matrix<double,4,1> p_hom;
53   p_hom[3] = 1.0;
54 
55   for( size_t i = 0; i < indices.size(); i++ )
56   {
57     p_hom.block<3,1>(0,0) = _adapter.getPoint2(indices[i]);
58     point_t transformedPoint = model * p_hom;
59     translation_t error = _adapter.getPoint1(indices[i]) - transformedPoint;
60     scores.push_back(error.norm());
61   }
62 }
63 
64 void
65 opengv::sac_problems::
optimizeModelCoefficients(const std::vector<int> & inliers,const model_t & model,model_t & optimized_model)66     point_cloud::PointCloudSacProblem::optimizeModelCoefficients(
67     const std::vector<int> & inliers,
68     const model_t & model,
69     model_t & optimized_model)
70 {
71   optimized_model = opengv::point_cloud::threept_arun(_adapter,inliers);
72 }
73 
74 int
75 opengv::sac_problems::
getSampleSize() const76     point_cloud::PointCloudSacProblem::getSampleSize() const
77 {
78   int sampleSize = 3;
79   return sampleSize;
80 }
81