rmsac.h

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#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_
#define PCL_SAMPLE_CONSENSUS_RMSAC_H_

#include <algorithm>
#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/sac_model.h>

namespace pcl
{
  template <typename PointT>
  class RandomizedMEstimatorSampleConsensus : public SampleConsensus<PointT>
  {
    typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;

    public:
      typedef boost::shared_ptr<RandomizedMEstimatorSampleConsensus> Ptr;
      typedef boost::shared_ptr<const RandomizedMEstimatorSampleConsensus> ConstPtr;

      using SampleConsensus<PointT>::max_iterations_;
      using SampleConsensus<PointT>::threshold_;
      using SampleConsensus<PointT>::iterations_;
      using SampleConsensus<PointT>::sac_model_;
      using SampleConsensus<PointT>::model_;
      using SampleConsensus<PointT>::model_coefficients_;
      using SampleConsensus<PointT>::inliers_;
      using SampleConsensus<PointT>::probability_;

      RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model) 
        : SampleConsensus<PointT> (model)
        , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
      {
        // Maximum number of trials before we give up.
        max_iterations_ = 10000;
      }

      RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) 
        : SampleConsensus<PointT> (model, threshold)
        , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
      {
        // Maximum number of trials before we give up.
        max_iterations_ = 10000;
      }

      bool 
      computeModel (int debug_verbosity_level = 0);

      inline void 
      setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }

      inline double 
      getFractionNrPretest () { return (fraction_nr_pretest_); }

    private:
      double fraction_nr_pretest_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/sample_consensus/impl/rmsac.hpp>
#endif

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_