Point Cloud Library (PCL)  1.7.1
prosac.h
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_PROSAC_H_
42 #define PCL_SAMPLE_CONSENSUS_PROSAC_H_
43 
44 #include <pcl/sample_consensus/sac.h>
45 #include <pcl/sample_consensus/sac_model.h>
46 
47 namespace pcl
48 {
49  /** \brief @b RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as
50  * described in: "Matching with PROSAC – Progressive Sample Consensus", Chum, O. and Matas, J.G., CVPR, I: 220-226
51  * 2005.
52  * \author Vincent Rabaud
53  * \ingroup sample_consensus
54  */
55  template<typename PointT>
57  {
58  typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
59 
60  public:
61  typedef boost::shared_ptr<ProgressiveSampleConsensus> Ptr;
62  typedef boost::shared_ptr<const ProgressiveSampleConsensus> ConstPtr;
63 
72 
73  /** \brief PROSAC (Progressive SAmple Consensus) main constructor
74  * \param[in] model a Sample Consensus model
75  */
76  ProgressiveSampleConsensus (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 PROSAC (Progressive SAmple Consensus) main constructor
84  * \param[in] model a Sample Consensus model
85  * \param[in] threshold distance to model threshold
86  */
87  ProgressiveSampleConsensus (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);
99  };
100 }
101 
102 #ifdef PCL_NO_PRECOMPILE
103 #include <pcl/sample_consensus/impl/prosac.hpp>
104 #endif
105 
106 #endif //#ifndef PCL_SAMPLE_CONSENSUS_PROSAC_H_