rmsac.h

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 * $Id: rmsac.h 1370 2011-06-19 01:06:01Z jspricke $
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#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_
#define PCL_SAMPLE_CONSENSUS_RMSAC_H_

#include <algorithm>
#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/sac_model.h>

namespace pcl
{

  template <typename PointT>
  class RandomizedMEstimatorSampleConsensus : public SampleConsensus<PointT>
  {
    using SampleConsensus<PointT>::max_iterations_;
    using SampleConsensus<PointT>::threshold_;
    using SampleConsensus<PointT>::iterations_;
    using SampleConsensus<PointT>::sac_model_;
    using SampleConsensus<PointT>::model_;
    using SampleConsensus<PointT>::model_coefficients_;
    using SampleConsensus<PointT>::inliers_;
    using SampleConsensus<PointT>::probability_;

    typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;

    public:
      RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus<PointT> (model),
                                                                                   fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
      {
        // Maximum number of trials before we give up.
        max_iterations_ = 10000;
      }

      RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus<PointT> (model, threshold),
                                                                                                     fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
      {
        // Maximum number of trials before we give up.
        max_iterations_ = 10000;
      }

      bool computeModel (int debug_verbosity_level = 0);

      inline void setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }

      inline double getFractionNrPretest () { return (fraction_nr_pretest_); }

    private:
      double fraction_nr_pretest_;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_