ransac.h

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/*
 * Copyright (c) 2008 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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 * $Id$
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 */

#ifndef _SAMPLE_CONSENSUS_RANSAC_H_
#define _SAMPLE_CONSENSUS_RANSAC_H_

#include <door_handle_detector/sample_consensus/sac.h>
#include <door_handle_detector/sample_consensus/sac_model.h>

namespace sample_consensus
{
  class RANSAC : public SAC
  {
    public:

      RANSAC (SACModel* model);
      RANSAC (SACModel* model, double threshold);

      virtual ~RANSAC () { }

      bool computeModel (int debug = 0);
  };
}

#endif