mlesac.h

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 * $Id: mlesac.h 35810 2011-02-08 00:03:46Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_
#define PCL_SAMPLE_CONSENSUS_MLESAC_H_

#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/sac_model.h>

namespace pcl
{

  template <typename PointT>
  class MaximumLikelihoodSampleConsensus : public SampleConsensus<PointT>
  {
    using SampleConsensus<PointT>::max_iterations_;
    using SampleConsensus<PointT>::threshold_;
    using SampleConsensus<PointT>::iterations_;
    using SampleConsensus<PointT>::sac_model_;
    using SampleConsensus<PointT>::model_;
    using SampleConsensus<PointT>::model_coefficients_;
    using SampleConsensus<PointT>::inliers_;
    using SampleConsensus<PointT>::probability_;

    typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
    typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 

    public:
      MaximumLikelihoodSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus<PointT> (model),
                                                                                iterations_EM_ (3)  // Max number of EM (Expectation Maximization) iterations
      {
        // Maximum number of trials before we give up.
        max_iterations_ = 10000;
      }

      MaximumLikelihoodSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus<PointT> (model, threshold),
                                                                                                  iterations_EM_ (3)  // Max number of EM (Expectation Maximization) iterations
      {
        // Maximum number of trials before we give up.
        max_iterations_ = 10000;
      }

      bool computeModel (int debug_verbosity_level = 0);

      inline void setEMIterations (int iterations) { iterations_EM_ = iterations; }

      inline int getEMIterations () { return (iterations_EM_); }


    protected:
      double computeMedianAbsoluteDeviation (const PointCloudConstPtr &cloud, const IndicesPtr &indices, double sigma);

      void getMinMax (const PointCloudConstPtr &cloud, const IndicesPtr &indices, Eigen::Vector4f &min_p, Eigen::Vector4f &max_p);

      void computeMedian (const PointCloudConstPtr &cloud, const IndicesPtr &indices, Eigen::Vector4f &median);

    private:
      int iterations_EM_;
      double sigma_;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013