ransac.h

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00001 /*
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00034  * $Id: ransac.h 1370 2011-06-19 01:06:01Z jspricke $
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00037 
00038 #ifndef PCL_SAMPLE_CONSENSUS_RANSAC_H_
00039 #define PCL_SAMPLE_CONSENSUS_RANSAC_H_
00040 
00041 #include <pcl/sample_consensus/sac.h>
00042 #include <pcl/sample_consensus/sac_model.h>
00043 
00044 namespace pcl
00045 {
00047 
00053   template <typename PointT>
00054   class RandomSampleConsensus : public SampleConsensus<PointT>
00055   {
00056     using SampleConsensus<PointT>::max_iterations_;
00057     using SampleConsensus<PointT>::threshold_;
00058     using SampleConsensus<PointT>::iterations_;
00059     using SampleConsensus<PointT>::sac_model_;
00060     using SampleConsensus<PointT>::model_;
00061     using SampleConsensus<PointT>::model_coefficients_;
00062     using SampleConsensus<PointT>::inliers_;
00063     using SampleConsensus<PointT>::probability_;
00064 
00065     typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
00066 
00067     public:
00071       RandomSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus<PointT> (model)
00072       {
00073         // Maximum number of trials before we give up.
00074         max_iterations_ = 10000;
00075       }
00076 
00081       RandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus<PointT> (model, threshold)
00082       {
00083         // Maximum number of trials before we give up.
00084         max_iterations_ = 10000;
00085       }
00086 
00090       bool computeModel (int debug_verbosity_level = 0);
00091   };
00092 }
00093 
00094 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_RANSAC_H_
00095