rransac.h
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00040 
00041 #ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_
00042 #define PCL_SAMPLE_CONSENSUS_RRANSAC_H_
00043 
00044 #include <pcl/sample_consensus/sac.h>
00045 #include <pcl/sample_consensus/sac_model.h>
00046 
00047 namespace pcl
00048 {
00056   template <typename PointT>
00057   class RandomizedRandomSampleConsensus : public SampleConsensus<PointT>
00058   {
00059     typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
00060 
00061     public:
00062       typedef boost::shared_ptr<RandomizedRandomSampleConsensus> Ptr;
00063       typedef boost::shared_ptr<const RandomizedRandomSampleConsensus> 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       RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model) 
00078         : SampleConsensus<PointT> (model)
00079         , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
00080       {
00081         // Maximum number of trials before we give up.
00082         max_iterations_ = 10000;
00083       }
00084 
00089       RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold) 
00090         : SampleConsensus<PointT> (model, threshold)
00091         , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
00092       {
00093         // Maximum number of trials before we give up.
00094         max_iterations_ = 10000;
00095       }
00096 
00100       bool 
00101       computeModel (int debug_verbosity_level = 0);
00102 
00106       inline void 
00107       setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }
00108 
00110       inline double 
00111       getFractionNrPretest () { return (fraction_nr_pretest_); }
00112 
00113     private:
00115       double fraction_nr_pretest_;
00116   };
00117 }
00118 
00119 #ifdef PCL_NO_PRECOMPILE
00120 #include <pcl/sample_consensus/impl/rransac.hpp>
00121 #endif
00122 
00123 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_
00124 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:32:10