41 #ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_
42 #define PCL_SAMPLE_CONSENSUS_MLESAC_H_
44 #include <pcl/sample_consensus/sac.h>
45 #include <pcl/sample_consensus/sac_model.h>
56 template <
typename Po
intT>
63 typedef boost::shared_ptr<MaximumLikelihoodSampleConsensus>
Ptr;
64 typedef boost::shared_ptr<const MaximumLikelihoodSampleConsensus>
ConstPtr;
127 const boost::shared_ptr <std::vector<int> > &indices,
137 getMinMax (
const PointCloudConstPtr &cloud,
138 const boost::shared_ptr <std::vector<int> > &indices,
139 Eigen::Vector4f &min_p,
140 Eigen::Vector4f &max_p);
149 const boost::shared_ptr <std::vector<int> > &indices,
150 Eigen::Vector4f &median);
160 #ifdef PCL_NO_PRECOMPILE
161 #include <pcl/sample_consensus/impl/mlesac.hpp>
164 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_
double computeMedianAbsoluteDeviation(const PointCloudConstPtr &cloud, const boost::shared_ptr< std::vector< int > > &indices, double sigma)
Compute the median absolute deviation: .
boost::shared_ptr< MaximumLikelihoodSampleConsensus > Ptr
MaximumLikelihoodSampleConsensus(const SampleConsensusModelPtr &model)
MLESAC (Maximum Likelihood Estimator SAmple Consensus) main constructor.
void getMinMax(const PointCloudConstPtr &cloud, const boost::shared_ptr< std::vector< int > > &indices, Eigen::Vector4f &min_p, Eigen::Vector4f &max_p)
Determine the minimum and maximum 3D bounding box coordinates for a given set of points.
boost::shared_ptr< const MaximumLikelihoodSampleConsensus > ConstPtr
MaximumLikelihoodSampleConsensus represents an implementation of the MLESAC (Maximum Likelihood Estim...
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
void computeMedian(const PointCloudConstPtr &cloud, const boost::shared_ptr< std::vector< int > > &indices, Eigen::Vector4f &median)
Compute the median value of a 3D point cloud using a given set point indices and return it as a Point...
MaximumLikelihoodSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
MLESAC (Maximum Likelihood Estimator SAmple Consensus) main constructor.
boost::shared_ptr< SampleConsensusModel > Ptr
int getEMIterations() const
Get the number of EM iterations.
A point structure representing Euclidean xyz coordinates, and the RGB color.
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
int max_iterations_
Maximum number of iterations before giving up.
SampleConsensus represents the base class.
void setEMIterations(int iterations)
Set the number of EM iterations.