MultiRansac.hpp

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 * Authors:  Laurent Kneip & Paul Furgale                                     *
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//Note: has been derived from ROS

#ifndef OPENGV_SAC_MULTIRANSAC_HPP_
#define OPENGV_SAC_MULTIRANSAC_HPP_

#include <vector>
#include <opengv/sac/MultiSampleConsensus.hpp>
#include <cstdio>

namespace opengv
{
namespace sac
{
    
template<typename PROBLEM_T>
class MultiRansac : public MultiSampleConsensus<PROBLEM_T>
{
public:
  typedef PROBLEM_T problem_t;
  typedef typename problem_t::model_t model_t;
  
  using MultiSampleConsensus<problem_t>::max_iterations_;
  using MultiSampleConsensus<problem_t>::threshold_;
  using MultiSampleConsensus<problem_t>::iterations_;
  using MultiSampleConsensus<problem_t>::sac_model_;
  using MultiSampleConsensus<problem_t>::model_;
  using MultiSampleConsensus<problem_t>::model_coefficients_;
  using MultiSampleConsensus<problem_t>::inliers_;
  using MultiSampleConsensus<problem_t>::probability_;

  MultiRansac(
      int maxIterations = 1000,
      double threshold = 1.0,
      double probability = 0.99 );
  virtual ~MultiRansac();

  bool computeModel( int debug_verbosity_level = 0 );
};

} // namespace sac
} // namespace opengv

#include "implementation/MultiRansac.hpp"

#endif /* OPENGV_SAC_MULTIRANSAC_HPP_ */