41 #ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_
42 #define PCL_SAMPLE_CONSENSUS_MSAC_H_
45 #include <pcl/sample_consensus/sac.h>
46 #include <pcl/sample_consensus/sac_model.h>
56 template <
typename Po
intT>
62 typedef boost::shared_ptr<MEstimatorSampleConsensus>
Ptr;
63 typedef boost::shared_ptr<const MEstimatorSampleConsensus>
ConstPtr;
103 #ifdef PCL_NO_PRECOMPILE
104 #include <pcl/sample_consensus/impl/msac.hpp>
107 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MSAC_H_
boost::shared_ptr< const MEstimatorSampleConsensus > ConstPtr
MEstimatorSampleConsensus represents an implementation of the MSAC (M-estimator SAmple Consensus) alg...
boost::shared_ptr< SampleConsensusModel > Ptr
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
MSAC (M-estimator SAmple Consensus) main constructor.
MEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
MSAC (M-estimator SAmple Consensus) main constructor.
boost::shared_ptr< MEstimatorSampleConsensus > Ptr
SampleConsensus represents the base class.
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.