sac.h

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/*
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 * $Id: sac.h 35810 2011-02-08 00:03:46Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_H_
#define PCL_SAMPLE_CONSENSUS_H_

#include "pcl/pcl_base.h"
#include "pcl/sample_consensus/sac_model.h"
#include <set>

namespace pcl
{
  //template <typename ... T> // variadic templates don't work yet
  template <typename T>
  class SampleConsensus
  {
    typedef typename SampleConsensusModel<T>::Ptr SampleConsensusModelPtr;

    private:
      SampleConsensus () {};

    public:
      typedef boost::shared_ptr<SampleConsensus> Ptr;
      typedef boost::shared_ptr<const SampleConsensus> ConstPtr;

      SampleConsensus (const SampleConsensusModelPtr &model) : sac_model_(model), probability_ (0.99),
                                                               iterations_ (0), threshold_ (DBL_MAX), max_iterations_ (1000)
      { /* srand ((unsigned)time (0)); // set a random seed */ };

      SampleConsensus (const SampleConsensusModelPtr &model, double threshold) : sac_model_(model), probability_ (0.99),
                                                                                 iterations_ (0), threshold_ (threshold),
                                                                                 max_iterations_ (1000)
                                                                                 {};


      virtual ~SampleConsensus () {};

      inline void setDistanceThreshold (double threshold)  { threshold_ = threshold; }

      inline double getDistanceThreshold () { return (threshold_); }

      inline void setMaxIterations (int max_iterations) { max_iterations_ = max_iterations; }

      inline int getMaxIterations () { return (max_iterations_); }

      inline void setProbability (double probability) { probability_ = probability; }

      inline double getProbability () { return (probability_); }

      virtual bool computeModel (int debug_verbosity_level = 0) = 0;

      inline void
        getRandomSamples (const IndicesPtr &indices, size_t nr_samples, std::set<int> &indices_subset)
      {
        indices_subset.clear ();
        while (indices_subset.size () < nr_samples)
          indices_subset.insert ((*indices)[(int) (indices->size () * (rand () / (RAND_MAX + 1.0)))]);
      }

      inline void getModel (std::vector<int> &model) { model = model_; }

      inline void getInliers (std::vector<int> &inliers) { inliers = inliers_; }

      inline void getModelCoefficients (Eigen::VectorXf &model_coefficients) { model_coefficients = model_coefficients_; }

    protected:
      SampleConsensusModelPtr sac_model_;

      std::vector<int> model_;

      std::vector<int> inliers_;

      Eigen::VectorXf model_coefficients_;

      double probability_;

      int iterations_;
      
      double threshold_;
      
      int max_iterations_;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:23 2013