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 * $Id: ransac.h 5026 2012-03-12 02:51:44Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_RANSAC_H_
#define PCL_SAMPLE_CONSENSUS_RANSAC_H_

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

namespace pcl
{
  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  /** \brief @b RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as 
    * described in: "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and 
    * Automated Cartography", Martin A. Fischler and Robert C. Bolles, Comm. Of the ACM 24: 381–395, June 1981.
    * \author Radu Bogdan Rusu
    * \ingroup sample_consensus
    */
  template <typename PointT>
  class RandomSampleConsensus : 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:
      /** \brief RANSAC (RAndom SAmple Consensus) main constructor
        * \param model a Sample Consensus model
        */
      RandomSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus<PointT> (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
        */
      RandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus<PointT> (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);
  };
}

#include <pcl/sample_consensus/impl/ransac.hpp>

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_RANSAC_H_

