door_handle_detector: mlesac.h Source File

00001 /*
00002  * Copyright (c) 2008 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
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00026  *
00027  * $Id$
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00029  */
00030 
00033 #ifndef _SAMPLE_CONSENSUS_MLESAC_H_
00034 #define _SAMPLE_CONSENSUS_MLESAC_H_
00035 
00036 #include <door_handle_detector/sample_consensus/sac.h>
00037 #include <door_handle_detector/sample_consensus/sac_model.h>
00038 
00039 namespace sample_consensus
00040 {
00041   class MLESAC : public SAC
00042   {
00043     public:
00044 
00045       MLESAC (SACModel* model);
00046       MLESAC (SACModel* model, double threshold);
00047 
00048       virtual ~MLESAC () { }
00049 
00050       bool computeModel (int debug = 0);
00051 
00052     private:
00054       int iterations_EM_;
00055       double sigma_;
00056   };
00057 }
00058 
00059 #endif