Point Cloud Library (PCL)  1.9.1-dev
msac.h
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40 
41 #pragma once
42 
43 #include <algorithm>
44 #include <pcl/sample_consensus/sac.h>
45 #include <pcl/sample_consensus/sac_model.h>
46 
47 namespace pcl
48 {
49  /** \brief @b MEstimatorSampleConsensus represents an implementation of the MSAC (M-estimator SAmple Consensus)
50  * algorithm, as described in: "MLESAC: A new robust estimator with application to estimating image geometry", P.H.S.
51  * Torr and A. Zisserman, Computer Vision and Image Understanding, vol 78, 2000.
52  * \author Radu B. Rusu
53  * \ingroup sample_consensus
54  */
55  template <typename PointT>
57  {
58  using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
59 
60  public:
61  using Ptr = boost::shared_ptr<MEstimatorSampleConsensus<PointT> >;
62  using ConstPtr = boost::shared_ptr<const MEstimatorSampleConsensus<PointT> >;
63 
72 
73  /** \brief MSAC (M-estimator SAmple Consensus) main constructor
74  * \param[in] model a Sample Consensus model
75  */
76  MEstimatorSampleConsensus (const SampleConsensusModelPtr &model)
77  : SampleConsensus<PointT> (model)
78  {
79  // Maximum number of trials before we give up.
80  max_iterations_ = 10000;
81  }
82 
83  /** \brief MSAC (M-estimator SAmple Consensus) main constructor
84  * \param[in] model a Sample Consensus model
85  * \param[in] threshold distance to model threshold
86  */
87  MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
88  : SampleConsensus<PointT> (model, threshold)
89  {
90  // Maximum number of trials before we give up.
91  max_iterations_ = 10000;
92  }
93 
94  /** \brief Compute the actual model and find the inliers
95  * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
96  */
97  bool
98  computeModel (int debug_verbosity_level = 0) override;
99  };
100 }
101 
102 #ifdef PCL_NO_PRECOMPILE
103 #include <pcl/sample_consensus/impl/msac.hpp>
104 #endif
boost::shared_ptr< MEstimatorSampleConsensus< PointT > > Ptr
Definition: msac.h:61
boost::shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:75
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
MEstimatorSampleConsensus represents an implementation of the MSAC (M-estimator SAmple Consensus) alg...
Definition: msac.h:56
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
MSAC (M-estimator SAmple Consensus) main constructor.
Definition: msac.h:76
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition: msac.hpp:48
boost::shared_ptr< const MEstimatorSampleConsensus< PointT > > ConstPtr
Definition: msac.h:62
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
MSAC (M-estimator SAmple Consensus) main constructor.
Definition: msac.h:87
A point structure representing Euclidean xyz coordinates, and the RGB color.
int max_iterations_
Maximum number of iterations before giving up.
Definition: sac.h:324
SampleConsensus represents the base class.
Definition: sac.h:57