Point Cloud Library (PCL)  1.9.1
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msac.h
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37 
38 #ifndef PCL_CUDA_SAMPLE_CONSENSUS_MSAC_H_
39 #define PCL_CUDA_SAMPLE_CONSENSUS_MSAC_H_
40 
41 #include <pcl_cuda/sample_consensus/sac.h>
42 #include <pcl_cuda/sample_consensus/sac_model.h>
43 
44 namespace pcl_cuda
45 {
46 
47  template <template <typename> class Storage>
48  class MEstimatorSampleConsensus : public SampleConsensus<Storage>
49  {
50  using SampleConsensus<Storage>::max_iterations_;
51  using SampleConsensus<Storage>::threshold_;
52  using SampleConsensus<Storage>::iterations_;
53  using SampleConsensus<Storage>::sac_model_;
54  using SampleConsensus<Storage>::model_;
55  using SampleConsensus<Storage>::model_coefficients_;
56  using SampleConsensus<Storage>::inliers_;
57  using SampleConsensus<Storage>::inliers_stencil_;
58  using SampleConsensus<Storage>::probability_;
59 
60  typedef typename SampleConsensusModel<Storage>::Ptr SampleConsensusModelPtr;
61  typedef typename SampleConsensusModel<Storage>::Coefficients Coefficients;
62  typedef typename SampleConsensusModel<Storage>::Indices Indices;
63  typedef typename SampleConsensusModel<Storage>::Hypotheses Hypotheses;
64 
65  public:
66  /** \brief MEstimatorSampleConsensus main constructor
67  * \param model a Sample Consensus model
68  */
69  MEstimatorSampleConsensus (const SampleConsensusModelPtr &model) :
70  SampleConsensus<Storage> (model)
71  {
72  // Maximum number of trials before we give up.
73  max_iterations_ = 10000;
74  }
75 
76  /** \brief RANSAC (RAndom SAmple Consensus) main constructor
77  * \param model a Sample Consensus model
78  * \param threshold distance to model threshold
79  */
80  MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, float threshold) :
81  SampleConsensus<Storage> (model, threshold)
82  {
83  // Maximum number of trials before we give up.
84  max_iterations_ = 10000;
85  }
86 
87  /** \brief Compute the actual model and find the inliers
88  * \param debug_verbosity_level enable/disable on-screen debug
89  * information and set the verbosity level
90  */
91  bool
92  computeModel (int debug_verbosity_level = 0);
93  };
94 }
95 
96 #endif //#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MSAC_H_
97 
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model, float threshold)
RANSAC (RAndom SAmple Consensus) main constructor.
Definition: msac.h:80
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
MEstimatorSampleConsensus main constructor.
Definition: msac.h:69
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.