Point Cloud Library (PCL)  1.7.1
rransac.h
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_
42 #define PCL_SAMPLE_CONSENSUS_RRANSAC_H_
43 
44 #include <pcl/sample_consensus/sac.h>
45 #include <pcl/sample_consensus/sac_model.h>
46 
47 namespace pcl
48 {
49  /** \brief @b RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RAndom SAmple
50  * Consensus), as described in "Randomized RANSAC with Td,d test", O. Chum and J. Matas, Proc. British Machine Vision
51  * Conf. (BMVC '02), vol. 2, BMVA, pp. 448-457, 2002.
52  * \note RRANSAC is useful in situations where most of the data samples belong to the model, and a fast outlier rejection algorithm is needed.
53  * \author Radu B. Rusu
54  * \ingroup sample_consensus
55  */
56  template <typename PointT>
58  {
59  typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
60 
61  public:
62  typedef boost::shared_ptr<RandomizedRandomSampleConsensus> Ptr;
63  typedef boost::shared_ptr<const RandomizedRandomSampleConsensus> ConstPtr;
64 
73 
74  /** \brief RANSAC (Randomized RAndom SAmple Consensus) main constructor
75  * \param[in] model a Sample Consensus model
76  */
77  RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model)
78  : SampleConsensus<PointT> (model)
79  , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
80  {
81  // Maximum number of trials before we give up.
82  max_iterations_ = 10000;
83  }
84 
85  /** \brief RRANSAC (RAndom SAmple Consensus) main constructor
86  * \param[in] model a Sample Consensus model
87  * \param[in] threshold distance to model threshold
88  */
89  RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
90  : SampleConsensus<PointT> (model, threshold)
91  , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
92  {
93  // Maximum number of trials before we give up.
94  max_iterations_ = 10000;
95  }
96 
97  /** \brief Compute the actual model and find the inliers
98  * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
99  */
100  bool
101  computeModel (int debug_verbosity_level = 0);
102 
103  /** \brief Set the percentage of points to pre-test.
104  * \param[in] nr_pretest percentage of points to pre-test
105  */
106  inline void
107  setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }
108 
109  /** \brief Get the percentage of points to pre-test. */
110  inline double
111  getFractionNrPretest () { return (fraction_nr_pretest_); }
112 
113  private:
114  /** \brief Number of samples to randomly pre-test, in percents. */
115  double fraction_nr_pretest_;
116  };
117 }
118 
119 #ifdef PCL_NO_PRECOMPILE
120 #include <pcl/sample_consensus/impl/rransac.hpp>
121 #endif
122 
123 #endif //#ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_
124 
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
Definition: rransac.hpp:48
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
Definition: rransac.h:107
boost::shared_ptr< SampleConsensusModel > Ptr
Definition: sac_model.h:74
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model)
RANSAC (Randomized RAndom SAmple Consensus) main constructor.
Definition: rransac.h:77
boost::shared_ptr< const RandomizedRandomSampleConsensus > ConstPtr
Definition: rransac.h:63
RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RAndom SAmple...
Definition: rransac.h:57
double getFractionNrPretest()
Get the percentage of points to pre-test.
Definition: rransac.h:111
SampleConsensus represents the base class.
Definition: sac.h:56
boost::shared_ptr< RandomizedRandomSampleConsensus > Ptr
Definition: rransac.h:62
A point structure representing Euclidean xyz coordinates, and the RGB color.
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RRANSAC (RAndom SAmple Consensus) main constructor.
Definition: rransac.h:89
int max_iterations_
Maximum number of iterations before giving up.
Definition: sac.h:331