Point Cloud Library (PCL) 1.15.0
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msac.h
1/*
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37
38#pragma once
39
40#include <pcl_cuda/sample_consensus/sac.h>
41#include <pcl_cuda/sample_consensus/sac_model.h>
42
43namespace pcl_cuda
44{
45
46 template <template <typename> class Storage>
47 class MEstimatorSampleConsensus : public SampleConsensus<Storage>
48 {
49 using SampleConsensus<Storage>::max_iterations_;
50 using SampleConsensus<Storage>::threshold_;
51 using SampleConsensus<Storage>::iterations_;
52 using SampleConsensus<Storage>::sac_model_;
53 using SampleConsensus<Storage>::model_;
54 using SampleConsensus<Storage>::model_coefficients_;
55 using SampleConsensus<Storage>::inliers_;
56 using SampleConsensus<Storage>::inliers_stencil_;
57 using SampleConsensus<Storage>::probability_;
58
59 using SampleConsensusModelPtr = typename SampleConsensusModel<Storage>::Ptr;
60 using Coefficients = typename SampleConsensusModel<Storage>::Coefficients;
61 using Indices = typename SampleConsensusModel<Storage>::Indices;
62 using Hypotheses = typename SampleConsensusModel<Storage>::Hypotheses;
63
64 public:
65 /** \brief MEstimatorSampleConsensus main constructor
66 * \param model a Sample Consensus model
67 */
68 MEstimatorSampleConsensus (const SampleConsensusModelPtr &model) :
69 SampleConsensus<Storage> (model)
70 {
71 // Maximum number of trials before we give up.
72 max_iterations_ = 10000;
73 }
74
75 /** \brief RANSAC (RAndom SAmple Consensus) main constructor
76 * \param model a Sample Consensus model
77 * \param threshold distance to model threshold
78 */
79 MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, float threshold) :
80 SampleConsensus<Storage> (model, threshold)
81 {
82 // Maximum number of trials before we give up.
83 max_iterations_ = 10000;
84 }
85
86 /** \brief Compute the actual model and find the inliers
87 * \param debug_verbosity_level enable/disable on-screen debug
88 * information and set the verbosity level
89 */
90 bool
91 computeModel (int debug_verbosity_level = 0);
92 };
93}
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model, float threshold)
RANSAC (RAndom SAmple Consensus) main constructor.
Definition msac.h:79
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
MEstimatorSampleConsensus main constructor.
Definition msac.h:68