mlesac.h

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 * $Id: mlesac.h 4710 2012-02-23 17:51:24Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_
#define PCL_SAMPLE_CONSENSUS_MLESAC_H_

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

namespace pcl
{

  template <typename PointT>
  class MaximumLikelihoodSampleConsensus : 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;
    typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 

    public:
      MaximumLikelihoodSampleConsensus (const SampleConsensusModelPtr &model) : 
        SampleConsensus<PointT> (model),
        iterations_EM_ (3),      // Max number of EM (Expectation Maximization) iterations
        sigma_ (0)
      {
        max_iterations_ = 10000; // Maximum number of trials before we give up.
      }

      MaximumLikelihoodSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : 
        SampleConsensus<PointT> (model, threshold),
        iterations_EM_ (3),      // Max number of EM (Expectation Maximization) iterations
        sigma_ (0)
      {
        max_iterations_ = 10000; // Maximum number of trials before we give up.
      }

      bool 
      computeModel (int debug_verbosity_level = 0);

      inline void 
      setEMIterations (int iterations) { iterations_EM_ = iterations; }

      inline int 
      getEMIterations () const { return (iterations_EM_); }


    protected:
      double 
      computeMedianAbsoluteDeviation (const PointCloudConstPtr &cloud, 
                                      const boost::shared_ptr <std::vector<int> > &indices, 
                                      double sigma);

      void 
      getMinMax (const PointCloudConstPtr &cloud, 
                 const boost::shared_ptr <std::vector<int> > &indices, 
                 Eigen::Vector4f &min_p, 
                 Eigen::Vector4f &max_p);

      void 
      computeMedian (const PointCloudConstPtr &cloud, 
                     const boost::shared_ptr <std::vector<int> > &indices, 
                     Eigen::Vector4f &median);

    private:
      int iterations_EM_;
      double sigma_;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_