prosac.h
Go to the documentation of this file.
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: prosac.h 4719 2012-02-24 01:23:17Z rusu $
00035  *
00036  */
00037 
00038 #ifndef PCL_SAMPLE_CONSENSUS_PROSAC_H_
00039 #define PCL_SAMPLE_CONSENSUS_PROSAC_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 ProgressiveSampleConsensus : 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       ProgressiveSampleConsensus (const SampleConsensusModelPtr &model) :
00072         SampleConsensus<PointT> (model)
00073       {
00074         // Maximum number of trials before we give up.
00075         max_iterations_ = 10000;
00076       }
00077 
00082       ProgressiveSampleConsensus (const SampleConsensusModelPtr &model, double threshold) :
00083         SampleConsensus<PointT> (model, threshold)
00084       {
00085         // Maximum number of trials before we give up.
00086         max_iterations_ = 10000;
00087       }
00088 
00092       bool 
00093       computeModel (int debug_verbosity_level = 0);
00094   };
00095 }
00096 
00097 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_PROSAC_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:28