msac.h
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00040 
00041 #ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_
00042 #define PCL_SAMPLE_CONSENSUS_MSAC_H_
00043 
00044 #include <algorithm>
00045 #include <pcl/sample_consensus/sac.h>
00046 #include <pcl/sample_consensus/sac_model.h>
00047 
00048 namespace pcl
00049 {
00056   template <typename PointT>
00057   class MEstimatorSampleConsensus : public SampleConsensus<PointT>
00058   {
00059     typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
00060 
00061     public:
00062       typedef boost::shared_ptr<MEstimatorSampleConsensus> Ptr;
00063       typedef boost::shared_ptr<const MEstimatorSampleConsensus> ConstPtr;
00064 
00065       using SampleConsensus<PointT>::max_iterations_;
00066       using SampleConsensus<PointT>::threshold_;
00067       using SampleConsensus<PointT>::iterations_;
00068       using SampleConsensus<PointT>::sac_model_;
00069       using SampleConsensus<PointT>::model_;
00070       using SampleConsensus<PointT>::model_coefficients_;
00071       using SampleConsensus<PointT>::inliers_;
00072       using SampleConsensus<PointT>::probability_;
00073 
00077       MEstimatorSampleConsensus (const SampleConsensusModelPtr &model) 
00078         : SampleConsensus<PointT> (model)
00079       {
00080         // Maximum number of trials before we give up.
00081         max_iterations_ = 10000;
00082       }
00083 
00088       MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) 
00089         : SampleConsensus<PointT> (model, threshold)
00090       {
00091         // Maximum number of trials before we give up.
00092         max_iterations_ = 10000;
00093       }
00094 
00098       bool 
00099       computeModel (int debug_verbosity_level = 0);
00100   };
00101 }
00102 
00103 #ifdef PCL_NO_PRECOMPILE
00104 #include <pcl/sample_consensus/impl/msac.hpp>
00105 #endif
00106 
00107 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:25:40