msac.h
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#pragma once
#include <pcl_cuda/sample_consensus/sac.h>
#include <pcl_cuda/sample_consensus/sac_model.h>
namespace pcl_cuda
{
template <template <typename> class Storage>
class MEstimatorSampleConsensus : public SampleConsensus<Storage>
{
using SampleConsensus<Storage>::max_iterations_;
using SampleConsensus<Storage>::threshold_;
using SampleConsensus<Storage>::iterations_;
using SampleConsensus<Storage>::sac_model_;
using SampleConsensus<Storage>::model_;
using SampleConsensus<Storage>::model_coefficients_;
using SampleConsensus<Storage>::inliers_;
using SampleConsensus<Storage>::inliers_stencil_;
using SampleConsensus<Storage>::probability_;
using SampleConsensusModelPtr = typename SampleConsensusModel<Storage>::Ptr;
using Coefficients = typename SampleConsensusModel<Storage>::Coefficients;
using Indices = typename SampleConsensusModel<Storage>::Indices;
using Hypotheses = typename SampleConsensusModel<Storage>::Hypotheses;
public:
/** \brief MEstimatorSampleConsensus main constructor
* \param model a Sample Consensus model
*/
MEstimatorSampleConsensus (const SampleConsensusModelPtr &model) :
SampleConsensus<Storage> (model)
{
// Maximum number of trials before we give up.
max_iterations_ = 10000;
}
/** \brief RANSAC (RAndom SAmple Consensus) main constructor
* \param model a Sample Consensus model
* \param threshold distance to model threshold
*/
MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, float threshold) :
SampleConsensus<Storage> (model, threshold)
{
// Maximum number of trials before we give up.
max_iterations_ = 10000;
}
/** \brief Compute the actual model and find the inliers
* \param debug_verbosity_level enable/disable on-screen debug
* information and set the verbosity level
*/
bool
computeModel (int debug_verbosity_level = 0);
};
}
pcl_cuda::MEstimatorSampleConsensus
Definition: msac.h:48
pcl_cuda::MEstimatorSampleConsensus::computeModel
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
pcl_cuda::MEstimatorSampleConsensus::MEstimatorSampleConsensus
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model, float threshold)
RANSAC (RAndom SAmple Consensus) main constructor.
Definition: msac.h:79
pcl_cuda::MEstimatorSampleConsensus::MEstimatorSampleConsensus
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
MEstimatorSampleConsensus main constructor.
Definition: msac.h:68
pcl_cuda
Definition: filter.h:42
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133