38 #ifndef PCL_CUDA_SAMPLE_CONSENSUS_MSAC_H_
39 #define PCL_CUDA_SAMPLE_CONSENSUS_MSAC_H_
41 #include <pcl_cuda/sample_consensus/sac.h>
42 #include <pcl_cuda/sample_consensus/sac_model.h>
47 template <
template <
typename>
class Storage>
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_;
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;
70 SampleConsensus<Storage> (model)
73 max_iterations_ = 10000;
81 SampleConsensus<Storage> (model, threshold)
84 max_iterations_ = 10000;
96 #endif //#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MSAC_H_
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model, float threshold)
RANSAC (RAndom SAmple Consensus) main constructor.
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
MEstimatorSampleConsensus main constructor.
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.