rmsac.h
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00040 
00041 #ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_
00042 #define PCL_SAMPLE_CONSENSUS_RMSAC_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 {
00057   template <typename PointT>
00058   class RandomizedMEstimatorSampleConsensus : public SampleConsensus<PointT>
00059   {
00060     typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
00061 
00062     public:
00063       typedef boost::shared_ptr<RandomizedMEstimatorSampleConsensus> Ptr;
00064       typedef boost::shared_ptr<const RandomizedMEstimatorSampleConsensus> ConstPtr;
00065 
00066       using SampleConsensus<PointT>::max_iterations_;
00067       using SampleConsensus<PointT>::threshold_;
00068       using SampleConsensus<PointT>::iterations_;
00069       using SampleConsensus<PointT>::sac_model_;
00070       using SampleConsensus<PointT>::model_;
00071       using SampleConsensus<PointT>::model_coefficients_;
00072       using SampleConsensus<PointT>::inliers_;
00073       using SampleConsensus<PointT>::probability_;
00074 
00078       RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model) 
00079         : SampleConsensus<PointT> (model)
00080         , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
00081       {
00082         // Maximum number of trials before we give up.
00083         max_iterations_ = 10000;
00084       }
00085 
00090       RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) 
00091         : SampleConsensus<PointT> (model, threshold)
00092         , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
00093       {
00094         // Maximum number of trials before we give up.
00095         max_iterations_ = 10000;
00096       }
00097 
00101       bool 
00102       computeModel (int debug_verbosity_level = 0);
00103 
00107       inline void 
00108       setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }
00109 
00111       inline double 
00112       getFractionNrPretest () { return (fraction_nr_pretest_); }
00113 
00114     private:
00116       double fraction_nr_pretest_;
00117   };
00118 }
00119 
00120 #ifdef PCL_NO_PRECOMPILE
00121 #include <pcl/sample_consensus/impl/rmsac.hpp>
00122 #endif
00123 
00124 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_


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