msac.h
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00001 /*
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00034  * $Id: msac.h 1370 2011-06-19 01:06:01Z jspricke $
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00037 
00038 #ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_
00039 #define PCL_SAMPLE_CONSENSUS_MSAC_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 
00054   template <typename PointT>
00055   class MEstimatorSampleConsensus : public SampleConsensus<PointT>
00056   {
00057     using SampleConsensus<PointT>::max_iterations_;
00058     using SampleConsensus<PointT>::threshold_;
00059     using SampleConsensus<PointT>::iterations_;
00060     using SampleConsensus<PointT>::sac_model_;
00061     using SampleConsensus<PointT>::model_;
00062     using SampleConsensus<PointT>::model_coefficients_;
00063     using SampleConsensus<PointT>::inliers_;
00064     using SampleConsensus<PointT>::probability_;
00065 
00066     typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
00067 
00068     public:
00072       MEstimatorSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus<PointT> (model)
00073       {
00074         // Maximum number of trials before we give up.
00075         max_iterations_ = 10000;
00076       }
00077 
00082       MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus<PointT> (model, threshold)
00083       {
00084         // Maximum number of trials before we give up.
00085         max_iterations_ = 10000;
00086       }
00087 
00091       bool computeModel (int debug_verbosity_level = 0);
00092   };
00093 }
00094 
00095 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:44