00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: ransac.h 5026 2012-03-12 02:51:44Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_SAMPLE_CONSENSUS_RANSAC_H_ 00039 #define PCL_SAMPLE_CONSENSUS_RANSAC_H_ 00040 00041 #include <pcl/sample_consensus/sac.h> 00042 #include <pcl/sample_consensus/sac_model.h> 00043 00044 namespace pcl 00045 { 00047 00053 template <typename PointT> 00054 class RandomSampleConsensus : public SampleConsensus<PointT> 00055 { 00056 using SampleConsensus<PointT>::max_iterations_; 00057 using SampleConsensus<PointT>::threshold_; 00058 using SampleConsensus<PointT>::iterations_; 00059 using SampleConsensus<PointT>::sac_model_; 00060 using SampleConsensus<PointT>::model_; 00061 using SampleConsensus<PointT>::model_coefficients_; 00062 using SampleConsensus<PointT>::inliers_; 00063 using SampleConsensus<PointT>::probability_; 00064 00065 typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr; 00066 00067 public: 00071 RandomSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus<PointT> (model) 00072 { 00073 // Maximum number of trials before we give up. 00074 max_iterations_ = 10000; 00075 } 00076 00081 RandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus<PointT> (model, threshold) 00082 { 00083 // Maximum number of trials before we give up. 00084 max_iterations_ = 10000; 00085 } 00086 00090 bool computeModel (int debug_verbosity_level = 0); 00091 }; 00092 } 00093 00094 #include <pcl/sample_consensus/impl/ransac.hpp> 00095 00096 #endif //#ifndef PCL_SAMPLE_CONSENSUS_RANSAC_H_ 00097