Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/sample_consensus/include/pcl/sample_consensus/msac.h
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00040 
00041 #ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_
00042 #define PCL_SAMPLE_CONSENSUS_MSAC_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 {
00050   /** \brief @b MEstimatorSampleConsensus represents an implementation of the MSAC (M-estimator SAmple Consensus) 
00051     * algorithm, as described in: "MLESAC: A new robust estimator with application to estimating image geometry", P.H.S. 
00052     * Torr and A. Zisserman, Computer Vision and Image Understanding, vol 78, 2000.
00053     * \author Radu B. Rusu
00054     * \ingroup sample_consensus
00055     */
00056   template <typename PointT>
00057   class MEstimatorSampleConsensus : public SampleConsensus<PointT>
00058   {
00059     typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
00060 
00061     public:
00062       typedef boost::shared_ptr<MEstimatorSampleConsensus> Ptr;
00063       typedef boost::shared_ptr<const MEstimatorSampleConsensus> 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 
00074       /** \brief MSAC (M-estimator SAmple Consensus) main constructor
00075         * \param[in] model a Sample Consensus model
00076         */
00077       MEstimatorSampleConsensus (const SampleConsensusModelPtr &model) 
00078         : SampleConsensus<PointT> (model)
00079       {
00080         // Maximum number of trials before we give up.
00081         max_iterations_ = 10000;
00082       }
00083 
00084       /** \brief MSAC (M-estimator SAmple Consensus) main constructor
00085         * \param[in] model a Sample Consensus model
00086         * \param[in] threshold distance to model threshold
00087         */
00088       MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) 
00089         : SampleConsensus<PointT> (model, threshold)
00090       {
00091         // Maximum number of trials before we give up.
00092         max_iterations_ = 10000;
00093       }
00094 
00095       /** \brief Compute the actual model and find the inliers
00096         * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
00097         */
00098       bool 
00099       computeModel (int debug_verbosity_level = 0);
00100   };
00101 }
00102 
00103 #ifdef PCL_NO_PRECOMPILE
00104 #include <pcl/sample_consensus/impl/msac.hpp>
00105 #endif
00106 
00107 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_