rmsac.h
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00001 /*
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00034  * $Id: rmsac.h 1370 2011-06-19 01:06:01Z jspricke $
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00037 
00038 #ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_
00039 #define PCL_SAMPLE_CONSENSUS_RMSAC_H_
00040 
00041 #include <algorithm>
00042 #include <pcl/sample_consensus/sac.h>
00043 #include <pcl/sample_consensus/sac_model.h>
00044 
00045 namespace pcl
00046 {
00048 
00055   template <typename PointT>
00056   class RandomizedMEstimatorSampleConsensus : public SampleConsensus<PointT>
00057   {
00058     using SampleConsensus<PointT>::max_iterations_;
00059     using SampleConsensus<PointT>::threshold_;
00060     using SampleConsensus<PointT>::iterations_;
00061     using SampleConsensus<PointT>::sac_model_;
00062     using SampleConsensus<PointT>::model_;
00063     using SampleConsensus<PointT>::model_coefficients_;
00064     using SampleConsensus<PointT>::inliers_;
00065     using SampleConsensus<PointT>::probability_;
00066 
00067     typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
00068 
00069     public:
00073       RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus<PointT> (model),
00074                                                                                    fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
00075       {
00076         // Maximum number of trials before we give up.
00077         max_iterations_ = 10000;
00078       }
00079 
00084       RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus<PointT> (model, threshold),
00085                                                                                                      fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
00086       {
00087         // Maximum number of trials before we give up.
00088         max_iterations_ = 10000;
00089       }
00090 
00094       bool computeModel (int debug_verbosity_level = 0);
00095 
00099       inline void setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }
00100 
00102       inline double getFractionNrPretest () { return (fraction_nr_pretest_); }
00103 
00104     private:
00106       double fraction_nr_pretest_;
00107   };
00108 }
00109 
00110 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:41