msac.h

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

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

namespace pcl
{

  template <typename PointT>
  class MEstimatorSampleConsensus : 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:
      MEstimatorSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus<PointT> (model)
      {
        // Maximum number of trials before we give up.
        max_iterations_ = 10000;
      }

      MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus<PointT> (model, threshold)
      {
        // Maximum number of trials before we give up.
        max_iterations_ = 10000;
      }

      bool computeModel (int debug_verbosity_level = 0);
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_